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Support for EL3255 module #8

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3 changes: 3 additions & 0 deletions soem_beckhoff_drivers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,8 @@ orocos_plugin(soem_el30xx src/soem_beckhoff_drivers.cpp src/soem_el30xx.cpp)
target_link_libraries(soem_el30xx ${soem_LIBRARIES})
orocos_plugin(soem_el3104 src/soem_beckhoff_drivers.cpp src/soem_el3104.cpp)
target_link_libraries(soem_el3104 ${soem_LIBRARIES})
orocos_plugin(soem_el3255 src/soem_beckhoff_drivers.cpp src/soem_el3255.cpp)
target_link_libraries(soem_el3255 ${soem_LIBRARIES})

if(NOT ORO_USE_ROSBUILD)
add_dependencies(soem_el1xxx ${PROJECT_NAME}_generate_messages_cpp)
Expand All @@ -72,5 +74,6 @@ if(NOT ORO_USE_ROSBUILD)
add_dependencies(soem_el6022 ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(soem_el30xx ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(soem_el3104 ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(soem_el3255 ${PROJECT_NAME}_generate_messages_cpp)
endif()
orocos_generate_package()
211 changes: 211 additions & 0 deletions soem_beckhoff_drivers/src/soem_el3255.cpp
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/***************************************************************************
tag: Sergio Portoles Tue Oct 27 13:36:50 CET 2015 soem_el3255.cpp
Based on EL3104 of Ruben Smits

soem_el3255.cpp - description
-------------------
begin : Tue October 27 2015
copyright : (C) 2015 Sergio Portoles
email : [email protected]

***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/

#include "soem_el3255.h"
#include <soem_master/soem_driver_factory.h>
#include <rtt/Property.hpp>
#include <iostream>

using namespace RTT;

namespace soem_beckhoff_drivers
{

SoemEL3255::SoemEL3255(ec_slavet* mem_loc) :
soem_master::SoemDriver(mem_loc), m_size(5), m_raw_range(65535), m_lowest(
0.0), m_highest(1.0), m_values(m_size), m_raw_values(m_size),m_params(m_size),
m_values_port("values"), m_raw_values_port("raw_values")

{
m_service->doc(std::string("Services for Beckhoff ") + std::string(
m_datap->name) + std::string(" module"));
m_service->addOperation("rawRead", &SoemEL3255::rawRead, this,
RTT::OwnThread).doc("Read raw value of channel i").arg("i",
"channel nr");
m_service->addOperation("read", &SoemEL3255::read, this, RTT::OwnThread).doc(
"Read value to channel i").arg("i", "channel nr");
m_service->addOperation("Over_Range", &SoemEL3255::isOverrange, this,
RTT::OwnThread).doc(
"For the channel i : 1 = overrange ; 0 = no overrange ").arg("i",
"channel nr");
m_service->addOperation("Under_Range", &SoemEL3255::isUnderrange, this,
RTT::OwnThread).doc(
"For the channel i : 1 = Underrange ; 0 = no Underrange ").arg("i",
"channel nr");
m_service->addOperation("Comp_val_to_lim", &SoemEL3255::checkLimit,
this, RTT::OwnThread).doc(
"Limit 1/2 value monitoring of channel i : 0= not active, 1= Value is higher than limit 1/2 value, 2= Value is lower than limit 1/2 value, 3: Value equals limit 1/2 value").arg(
"i", "channel nr").arg("x", "Limit nr");
m_service->addOperation("Error", &SoemEL3255::is_error, this).doc(
"For the channel i : 1 = error (Overrange or Underrange ; 0 = no error ").arg(
"i", "channel nr");

m_resolution = ((m_highest - m_lowest) / (double) m_raw_range);

m_service->addConstant("raw_range", m_raw_range);
m_service->addConstant("resolution", m_resolution);
m_service->addConstant("lowest", m_lowest);
m_service->addConstant("highest", m_highest);

m_service->addPort(m_values_port).doc(
"AnalogMsg contain the read values of _all_ channels");
m_service->addPort(m_raw_values_port).doc(
"AnalogMsg containing the read values of _all_ channels");

m_msg.values.resize(m_size);
m_raw_msg.values.resize(m_size);
}

bool SoemEL3255::configure()
{
return true;
}

void SoemEL3255::update()
{

m_raw_msg.values[0] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->val_ch1;
m_raw_msg.values[1] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->val_ch2;
m_raw_msg.values[2] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->val_ch3;
m_raw_msg.values[3] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->val_ch4;
m_raw_msg.values[4] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->val_ch5;
m_raw_values_port.write(m_raw_msg);

for(int i=0;i<m_size;i++){
m_msg.values[i] = m_raw_msg.values[i] * m_resolution;
}


m_values_port.write(m_msg);

m_params[0] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->param_ch1;
m_params[1] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->param_ch2;
m_params[2] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->param_ch3;
m_params[3] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->param_ch4;
m_params[4] = ((in_el3225_rtd_standard_t*) (m_datap->inputs))->param_ch5;

}

//rawRead : read the raw value of the input /////////////////////////////////////////////////////
int SoemEL3255::rawRead(unsigned int chan)
{
if (chan < m_size)
{
return m_raw_msg.values[chan];
}
else
log(Error) << "Channel " << chan << " outside of module's range"
<< endlog();
return false;
}

//read: read the value of one of the 2 channels in Volts ///////////////////////////
double SoemEL3255::read(unsigned int chan)
{

if (chan < m_size)
{
return m_msg.values[chan];
}
else
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return 0.0;

}

//Checking overrange////////////////////////////////////////////////////////////////

bool SoemEL3255::isOverrange(unsigned int chan)
{
if (chan < m_size)
return m_params[chan].test(OVERRANGE);
else
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return false;
}

//Checking Underrange////////////////////////////////////////////////////////////////

bool SoemEL3255::isUnderrange(unsigned int chan)
{
if (chan < m_size)
return m_params[chan].test(UNDERRANGE);
else
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return false;
}

// Comparing the Value of Channel chan with its own limits (1/2)
bool SoemEL3255::checkLimit(unsigned int chan, unsigned int lim_num)
{
if (!chan < m_size)
{
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return false;
}
if (!(lim_num > 0 && lim_num < 3))
{
log(Error) << "Limit nr " << lim_num << " should be 1 or 2" << endlog();
return false;
}
if (lim_num == 1)
return m_params[chan].test(LIMIT1SMALLER);
else
return m_params[chan].test(LIMIT2SMALLER);
}

// Checking for errors
bool SoemEL3255::is_error(unsigned int chan)
{
if (chan < m_size)
return m_params[chan].test(ERROR);
else
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return false;
}

namespace
{
soem_master::SoemDriver* createSoemEL3255(ec_slavet* mem_loc)
{
return new SoemEL3255(mem_loc);
}


REGISTER_SOEM_DRIVER(EL3255, createSoemEL3255)

}

} //namespace soem_beckhoff_drivers


121 changes: 121 additions & 0 deletions soem_beckhoff_drivers/src/soem_el3255.h
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/***************************************************************************
tag: Sergio Portoles Tue Oct 27 13:36:50 CET 2015 soem_el3255.h
Based on EL3104 of Ruben Smits

soem_el3255.h - description
-------------------
begin : Tue October 27 2015
copyright : (C) 2015 Sergio Portoles
email : [email protected]

***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/

#ifndef SOEM_EL3255_H
#define SOEM_EL3255_H

#include <soem_master/soem_driver.h>
#include <soem_beckhoff_drivers/AnalogMsg.h>
#include <rtt/Port.hpp>
#include <bitset>
#include <rtt/Property.hpp>
#include "COE_config.h"

namespace soem_beckhoff_drivers
{

class SoemEL3255: public soem_master::SoemDriver
{
enum
{
UNDERRANGE = 0,
OVERRANGE,
LIMIT1SMALLER,
LIMIT1HIGHER,
LIMIT2SMALLER,
LIMIT2HIGHER,
ERROR,
ST_1,
ST_2,
ST_3,
ST_4,
ST_5,
ST_6,
SYNC_ERROR,
TXPDO_STATE,
TXPDO_TOGGLE,
};

typedef struct
PACKED {
int16 param_ch1;
int16 val_ch1;
int16 param_ch2;
int16 val_ch2;
int16 param_ch3;
int16 val_ch3;
int16 param_ch4;
int16 val_ch4;
int16 param_ch5;
int16 val_ch5;
} in_el3225_rtd_standard_t;

typedef struct
PACKED {
int16 value;
} in_el3225_rtd_compact_t;

public:
SoemEL3255(ec_slavet* mem_loc);
~SoemEL3255()
{
}
;

int rawRead(unsigned int chan);
double read(unsigned int chan);
bool isOverrange(unsigned int chan = 0);
bool isUnderrange(unsigned int chan = 0);
bool checkLimit(unsigned int chan = 0, unsigned int Lim_num = 0);
bool is_error(unsigned int chan);

void update();
bool configure();

private:

const unsigned int m_size;
const unsigned int m_raw_range;
const double m_lowest;
const double m_highest;
double m_resolution;
std::vector<std::bitset<16> > m_params;
AnalogMsg m_msg;
AnalogMsg m_raw_msg;
std::vector<double> m_values;
std::vector<double> m_raw_values;

//Ports///////////
RTT::OutputPort<AnalogMsg> m_values_port;
RTT::OutputPort<AnalogMsg> m_raw_values_port;

}; // End of class SoemEL3255

} // End of namespace soem_beckhoff_drivers

#endif