changed el3024
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@@ -1,23 +1,40 @@
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use crate::{
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coe::{ConfigurableDevice, Configuration}, pdo::{
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el30xx::{AiCompact, AiStandard},
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PredefinedPdoAssignment, TxPdo,
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}, shared_config::el30xx::{EL30XXConfiguration, EL30XXPresentation}, signing::Integer16
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PredefinedPdoAssignment,
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}, shared_config::el30xx::{EL30XXChannelConfiguration, EL30XXPresentation}, signing::Integer16
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};
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use crate::{
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io::analog_input::{AnalogInputDevice, AnalogInputInput, AnalogInputState},
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types::EthercrabSubDevicePreoperational,
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};
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use ethercat_hal_derive::{Device, RxPdo, TxPdo};
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use super::{NewDevice, SubDeviceIdentityTuple};
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use crate::pdo::RxPdo;
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use crate::pdo::TxPdo;
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#[derive(Debug, Clone)]
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pub struct EL3024Configuration {
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pub pdo_assignment: EL3024PdoPreset,
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// Input1+ and Input1-
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pub channel1 : EL30XXChannelConfiguration,
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// Input2+ and Input2-
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pub channel2 : EL30XXChannelConfiguration,
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// Input3+ and Input3-
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pub channel3 : EL30XXChannelConfiguration,
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// Input4+ and Input4-
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pub channel4 : EL30XXChannelConfiguration
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}
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#[derive(Device)]
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pub struct EL3024 {
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pub input_ts: u64,
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pub configuration: EL3024Configuration,
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pub txpdo: EL3024TxPdo,
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pub configuration: EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo>,
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pub rxpdo: EL3024RxPdo,
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pub output_ts: u64,
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pub input_ts: u64,
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}
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impl std::fmt::Debug for EL3024 {
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@@ -32,13 +49,27 @@ impl Default for EL3024PdoPreset {
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}
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}
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impl Default for EL3024Configuration {
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fn default() -> Self {
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Self {
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pdo_assignment: EL3024PdoPreset::Standard,
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channel1: EL30XXChannelConfiguration::default(),
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channel2: EL30XXChannelConfiguration::default(),
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channel3: EL30XXChannelConfiguration::default(),
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channel4: EL30XXChannelConfiguration::default(),
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}
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}
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}
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impl NewDevice for EL3024 {
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fn new() -> Self {
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let configuration: EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo> = EL30XXConfiguration::default();
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let configuration = EL3024Configuration::default(); // Initialize first
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Self {
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input_ts: 0,
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configuration: configuration.clone(),
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txpdo: configuration.pdo_assignment.txpdo_assignment(),
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configuration,
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rxpdo: configuration.pdo_assignment.rxpdo_assignment(),
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output_ts: 0,
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input_ts: 0,
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}
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}
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}
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@@ -92,11 +123,22 @@ impl AnalogInputDevice<EL3024Port> for EL3024 {
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},
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};
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let raw_value = Integer16::from(raw_value);
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let value: i16 = match self.configuration.presentation {
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println!("{}",raw_value);
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let presentation = match port {
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EL3024Port::AI1 => self.configuration.channel1.presentation,
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EL3024Port::AI2 => self.configuration.channel2.presentation,
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EL3024Port::AI3 => self.configuration.channel3.presentation,
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EL3024Port::AI4 => self.configuration.channel4.presentation
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};
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let value: i16 = match presentation {
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EL30XXPresentation::Unsigned => raw_value.into_unsigned() as i16,
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EL30XXPresentation::Signed => raw_value.into_signed(),
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EL30XXPresentation::SignedMagnitude => raw_value.into_signed_magnitude(),
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};
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let normalized = f32::from(value) / f32::from(i16::MAX);
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AnalogInputState {
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input_ts: self.input_ts,
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@@ -105,11 +147,11 @@ impl AnalogInputDevice<EL3024Port> for EL3024 {
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}
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}
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impl ConfigurableDevice<EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo>> for EL3024 {
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impl ConfigurableDevice<EL3024Configuration> for EL3024 {
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async fn write_config<'maindevice>(
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&mut self,
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device: &EthercrabSubDevicePreoperational<'maindevice>,
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config: &EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo>,
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config: &EL3024Configuration,
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) -> Result<(), anyhow::Error> {
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config.write_config(device).await?;
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self.configuration = config.clone();
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@@ -117,7 +159,7 @@ impl ConfigurableDevice<EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024Rx
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Ok(())
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}
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fn get_config(&self) -> EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo> {
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fn get_config(&self) -> EL3024Configuration {
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self.configuration.clone()
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}
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}
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@@ -156,12 +198,26 @@ pub struct EL3024TxPdo {
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#[derive(Debug, Clone, RxPdo)]
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pub struct EL3024RxPdo {}
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impl Configuration for EL30XXConfiguration<EL3024PdoPreset,EL3024TxPdo,EL3024RxPdo> {
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impl Configuration for EL3024Configuration {
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async fn write_config<'a>(
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&self,
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device: &EthercrabSubDevicePreoperational<'a>,
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) -> Result<(), anyhow::Error> {
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// Write configuration for Channel 1
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self.channel1.write_channel_config(device, 0x8000)
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.await?;
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// Write configuration for Channel 2
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self.channel2.write_channel_config(device, 0x8010)
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.await?;
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// Write configuration for Channel 3
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self.channel3.write_channel_config(device, 0x8020)
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.await?;
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// Write configuration for Channel 4
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self.channel4.write_channel_config(device, 0x8030)
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.await?;
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self.pdo_assignment
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.txpdo_assignment()
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.write_config(device)
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@@ -1,178 +1,131 @@
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use crate::coe::Configuration;
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use crate::pdo::PredefinedPdoAssignment;
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use crate::types::EthercrabSubDevicePreoperational;
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use std::marker::PhantomData; // needed to avoid compile error
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/// 0x8000 CoE
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#[derive(Debug, Clone)]
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pub struct EL30XXConfiguration<T,A,B> where T:PredefinedPdoAssignment<A,B> {
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/// # 0x8000:01
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/// Enable user scale
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///
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/// default: `false`
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pub enable_user_scale: bool,
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/// # 0x8000:02
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/// Presentation
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///
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/// default: `Signed`
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pub presentation: EL30XXPresentation,
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/// # 0x8000:05
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/// Siemens bits
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///
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/// default: `false`
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pub siemens_bits: bool,
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/// # 0x8000:06
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/// Enable filter
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///
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/// default: `true`
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pub enable_filter: bool,
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/// # 0x8000:07
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/// Enable limit 1
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///
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/// default: `false`
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pub enable_limit_1: bool,
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/// # 0x8000:08
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/// Enable limit 2
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///
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/// default: `false`
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pub enable_limit_2: bool,
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/// # 0x8000:0A
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/// Enable user calibration
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///
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/// default: `false`
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pub enable_user_calibration: bool,
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/// # 0x8000:0B
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/// Enable vendor calibration
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///
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/// default: `true`
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pub enable_vendor_calibration: bool,
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/// # 0x8000:0E
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/// Swap limit bits
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///
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/// default: `false`
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pub swap_limit_bits: bool,
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/// # 0x8000:11
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/// User scale offset
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///
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/// default: `0`
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pub user_scale_offset: i16,
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/// # 0x8000:12
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/// User scale gain
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///
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/// default: `65536`
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pub user_scale_gain: i32,
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/// # 0x8000:13
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/// Limit 1
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///
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/// default: `0`
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pub limit_1: i16,
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/// # 0x8000:14
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/// Limit 2
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///
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/// default: `0`
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pub limit_2: i16,
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/// # 0x8000:15
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/// Filter settings
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///
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/// default: `50 Hz FIR`
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pub filter_settings: EL30XXFilterSettings,
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/// # 0x8000:17
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/// User calibration offset
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///
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/// default: `0`
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pub user_calibration_offset: i16,
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/// # 0x8000:18
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/// User calibration gain
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///
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/// default: `16384`
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pub user_calibration_gain: i16,
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/// # 0x1400 & 0x1600
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pub pdo_assignment: T,
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// PhantomData ensures A and B are "used" without being stored
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pub _marker_a: PhantomData<A>, // needed to avoid compile error
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pub _marker_b: PhantomData<B>, // needed to avoid compile error
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}
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impl<T, A, B> Configuration for EL30XXConfiguration<T, A, B>
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where
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T: PredefinedPdoAssignment<A, B> + Configuration,
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A: Configuration, // Ensures pdo_assignment can call write_config()
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B: Configuration
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{
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async fn write_config<'a>(
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impl EL30XXChannelConfiguration {
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pub async fn write_channel_config<'a>(
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&self,
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device: &EthercrabSubDevicePreoperational<'a>,
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base_index: u16,
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) -> Result<(), anyhow::Error> {
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device
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.sdo_write(0x8000, 0x01, self.enable_user_scale)
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.sdo_write(base_index, 0x01, self.enable_user_scale)
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.await?;
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device
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.sdo_write(0x8000, 0x02, u8::from(self.presentation))
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.sdo_write(base_index, 0x02, u8::from(self.presentation))
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.await?;
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device.sdo_write(0x8000, 0x05, self.siemens_bits).await?;
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device.sdo_write(0x8000, 0x06, self.enable_filter).await?;
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device.sdo_write(0x8000, 0x07, self.enable_limit_1).await?;
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device.sdo_write(0x8000, 0x08, self.enable_limit_2).await?;
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device.sdo_write(base_index, 0x05, self.siemens_bits).await?;
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device.sdo_write(base_index, 0x06, self.enable_filter).await?;
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device.sdo_write(base_index, 0x07, self.enable_limit_1).await?;
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device.sdo_write(base_index, 0x08, self.enable_limit_2).await?;
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device
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.sdo_write(0x8000, 0x0A, self.enable_user_calibration)
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.sdo_write(base_index, 0x0A, self.enable_user_calibration)
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.await?;
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device
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.sdo_write(0x8000, 0x0B, self.enable_vendor_calibration)
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.sdo_write(base_index, 0x0B, self.enable_vendor_calibration)
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.await?;
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device.sdo_write(0x8000, 0x0E, self.swap_limit_bits).await?;
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device.sdo_write(base_index, 0x0E, self.swap_limit_bits).await?;
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device
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.sdo_write(0x8000, 0x11, self.user_scale_offset)
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.sdo_write(base_index, 0x11, self.user_scale_offset)
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.await?;
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device.sdo_write(0x8000, 0x12, self.user_scale_gain).await?;
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device.sdo_write(0x8000, 0x13, self.limit_1).await?;
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device.sdo_write(0x8000, 0x14, self.limit_2).await?;
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device.sdo_write(base_index, 0x12, self.user_scale_gain).await?;
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device.sdo_write(base_index, 0x13, self.limit_1).await?;
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device.sdo_write(base_index, 0x14, self.limit_2).await?;
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device
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.sdo_write(0x8000, 0x15, u16::from(self.filter_settings))
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.sdo_write(base_index, 0x15, u16::from(self.filter_settings))
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.await?;
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device
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.sdo_write(0x8000, 0x17, self.user_calibration_offset)
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.sdo_write(base_index, 0x17, self.user_calibration_offset)
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.await?;
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device
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.sdo_write(0x8000, 0x18, self.user_calibration_gain)
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.await?;
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self.pdo_assignment
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.txpdo_assignment()
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.write_config(device)
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.await?;
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self.pdo_assignment
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.rxpdo_assignment()
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.write_config(device)
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.sdo_write(base_index, 0x18, self.user_calibration_gain)
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.await?;
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Ok(())
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}
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}
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impl<T, A, B> Default for EL30XXConfiguration<T, A, B>
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where
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T: PredefinedPdoAssignment<A, B>,
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T: Default, // Ensure `T` has a default value
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#[derive(Debug, Clone)]
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pub struct EL30XXChannelConfiguration {
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// 80n0:01 User Scaling is Active
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pub enable_user_scale : bool,
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// 80n0:02
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// 0: Signed presentation
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// 1: Unsigned presentation
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// 2: Absolute value with MSB as sign
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// Signed amount representation
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pub presentation : EL30XXPresentation,
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// 80n0:03
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// the S5 bits are displayed in the three low-order bits
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pub siemens_bits : bool,
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// 80n0:04
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// Enable filter, which makes PLC-cycle-synchronous
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// data exchange unnecessary
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pub enable_filter : bool,
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// 80n0:05
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// limit 1 enabled
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pub enable_limit_1 : bool,
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// 80n0:06
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// limit2 enabled
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pub enable_limit_2 : bool,
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// 80n0:07
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// enabling of user_calibration
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pub enable_user_calibration : bool,
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// 80n0:08
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// enabling of vendor_calibration
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pub enable_vendor_calibration : bool,
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// 80n0:09
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// Swap Limit Bits
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pub swap_limit_bits : bool,
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// 80n0:10
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// User Scaling Offset
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pub user_scale_offset : i16,
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// 80n0:11
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// Gain of the user scaling
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// The gain has a fixed-point-representation with the factor
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// 2^-16 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFFF
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pub user_scale_gain : i32,
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// 80n0:12
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// First limit value for setting the status bits
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pub limit_1: i16,
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// 80n0:13
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// Second limit value for setting the status bits
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pub limit_2: i16,
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// 80n0:14
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/*
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This object determines the digital filter settings if it is
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active via Enable filter (Index base_index:06 [} 320]).
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The possible settings are numbered consecutively.
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0: 50 Hz FIR
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1: 60 Hz FIR
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2: IIR 1
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3: IIR 2
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...
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9: IIR 8
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*/
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pub filter_settings: EL30XXFilterSettings,
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// 80n0:15
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// User calibration offset
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pub user_calibration_offset: i16,
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// 80n0:16
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// User calibration gain
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pub user_calibration_gain: i16
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}
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impl Default for EL30XXChannelConfiguration
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{
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fn default() -> Self {
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Self {
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@@ -191,16 +144,11 @@ where
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limit_2: 0,
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filter_settings: EL30XXFilterSettings::FIR50Hz,
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user_calibration_offset: 0,
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user_calibration_gain: 16384,
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pdo_assignment: T::default(), // Use the default for `T`
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_marker_a: PhantomData, // needed to avoid compile error
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_marker_b: PhantomData // needed to avoid compile error
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user_calibration_gain: 16384,
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}
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}
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}
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#[derive(Debug, Clone, Copy)]
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pub enum EL30XXPresentation {
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Signed,
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@@ -7,11 +7,14 @@ use crate::{
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ethercat::config::{MAX_FRAMES, MAX_PDU_DATA, MAX_SUBDEVICES, PDI_LEN},
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};
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use bitvec::prelude::*;
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use control_core::actors::analog_input_getter::{AnalogInputDevice, AnalogInputGetter};
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use control_core::actors::Actor;
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use control_core::identification::identify_device_groups;
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use control_core::socketio::event::EventBuilder;
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use control_core::socketio::room::RoomCacheingLogic;
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use ethercat_hal::devices::devices_from_subdevices;
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use ethercat_hal::devices::el3024::{EL3024Port, EL3024};
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use ethercat_hal::devices::{devices_from_subdevices, downcast_device};
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use ethercat_hal::io::analog_input::AnalogInput;
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use ethercrab::std::{ethercat_now, tx_rx_task};
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use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, RetryBehaviour, Timeouts};
|
||||
use smol::lock::RwLock;
|
||||
@@ -133,6 +136,11 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
|
||||
}
|
||||
}
|
||||
|
||||
let el3024 = downcast_device::<EL3024>(devices.get(1).unwrap().clone()).await.unwrap();
|
||||
let analog_input = AnalogInput::new(el3024, EL3024Port::AI1);
|
||||
let analog_input_getter = AnalogInputGetter::new(analog_input, AnalogInputDevice::EL305x.into());
|
||||
actors.push(Arc::new(RwLock::new(analog_input_getter)));
|
||||
|
||||
// Write all this stuff to `app_state`
|
||||
{
|
||||
let mut ethercat_setup_guard = app_state.ethercat_setup.write().await;
|
||||
|
||||
@@ -16,7 +16,7 @@ use ethercat_hal::devices::el2521::{EL2521Configuration, EL2521Port, EL2521};
|
||||
use ethercat_hal::devices::el2522::{
|
||||
EL2522ChannelConfiguration, EL2522Configuration, EL2522Port, EL2522,
|
||||
};
|
||||
use ethercat_hal::devices::el3001::{EL3001PdoPreset, EL3001Port, EL3001};
|
||||
use ethercat_hal::devices::el3001::{EL3001Configuration, EL3001PdoPreset, EL3001Port, EL3001};
|
||||
use ethercat_hal::devices::{downcast_device, subdevice_identity_to_tuple, Device};
|
||||
use ethercat_hal::devices::{
|
||||
ek1100::EK1100_IDENTITY_A,
|
||||
@@ -28,7 +28,6 @@ use ethercat_hal::devices::{
|
||||
use ethercat_hal::io::analog_input::AnalogInput;
|
||||
use ethercat_hal::io::digital_output::DigitalOutput;
|
||||
use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
|
||||
use ethercat_hal::shared_config::el30xx::EL30XXConfiguration;
|
||||
use ethercat_hal::types::EthercrabSubDevicePreoperational;
|
||||
use futures::executor::block_on;
|
||||
use smol::lock::RwLock;
|
||||
@@ -120,7 +119,7 @@ impl MachineNewTrait for WinderV1 {
|
||||
.await
|
||||
.write_config(
|
||||
&subdevice,
|
||||
&EL30XXConfiguration {
|
||||
&EL3001Configuration {
|
||||
pdo_assignment: EL3001PdoPreset::Compact,
|
||||
..Default::default()
|
||||
},
|
||||
|
||||
Reference in new issue
Block a user