added unfinished wago750_455 ethercat-hal device

ethercat-hal/src/devices/wago_modules/mod.rs

@@ -1,4 +1,5 @@
 pub mod ip20_ec_di8_do8;
 pub mod wago_750_1506;
+pub mod wago_750_455;
 pub mod wago_750_501;
 pub mod wago_750_652;

ethercat-hal/src/devices/wago_modules/wago_750_455.rs

@@ -0,0 +1,100 @@
+use units::{ElectricCurrent, electric_current::milliampere};
+
+use crate::{
+    devices::{
+        DynamicEthercatDevice, EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed,
+        EthercatDynamicPDO, Module, NewEthercatDevice, SubDeviceProductTuple,
+    },
+    helpers::signing_converter_u16::U16SigningConverter,
+    io::{
+        analog_input::{AnalogInputDevice, AnalogInputInput, physical::AnalogInputRange},
+        digital_input::DigitalInputInput,
+    },
+};
+
+Wago750_455Presentation {
+
+}
+
+#[derive(Clone)]
+pub struct Wago750_455 {
+    configuration: (),
+    txpdo: Wago750_455RxPdo,
+    isUsed: bool,
+}
+
+pub struct Wago750_455Configuration {
+
+}
+
+#[derive(Debug, Clone)]
+pub enum Wago750_455InputPort {
+    AI1,
+    AI2,
+    AI3,
+    AI4,
+}
+
+impl From<Wago750_455InputPort> for usize {
+    fn from(value: Wago750_455InputPort) -> Self {
+        match value {
+            Wago750_455InputPort::AI1 => 0,
+            Wago750_455InputPort::AI2 => 1,
+            Wago750_455InputPort::AI3 => 2,
+            Wago750_455InputPort::AI4 => 3,
+        }
+    }
+}
+
+#[derive(Clone, Default)]
+/**
+# Data Word, 16 bits
+- B15 ... B4 hold the measured value (B15 is the sign bit which should always be 0)
+- B3 and B2 are 00 when measuring <~3.0mA, 11 when measuring >~21.0mA and undefined inbetween.
+- B1 and B0 are 11' on an overflow, underflow or wire break. 00' otherwise
+*/
+pub struct Wago750_455RxPdo {
+    /** Low Byte: D0, High Byte: D1 */
+    channel_1: u16,
+    /** Low Byte: D2, High Byte: D3 */
+    channel_2: u16,
+    /** Low Byte: D4, High Byte: D5 */
+    channel_3: u16,
+    /** Low Byte: D6, High Byte: D7 */
+    channel_4: u16,
+}
+
+impl AnalogInputDevice<Wago750_455InputPort> for Wago750_455 {
+    fn get_input(&self, port: Wago750_455InputPort) -> AnalogInputInput {
+        let raw_value = match port {
+            Wago750_455InputPort::AI1 => self.txpdo.channel_1,
+            Wago750_455InputPort::AI2 => self.txpdo.channel_2,
+            Wago750_455InputPort::AI3 => self.txpdo.channel_3,
+            Wago750_455InputPort::AI4 => self.txpdo.channel_4,
+        };
+
+        let signing_bit = raw_value & 0x8000;
+        // The 4 least significant bits are reserved and diagnostic and the MSB is the signing bit.
+        let shifted_raw_value = (raw_value & 0x7FF0) >> 4;
+        // Since only 11 bits actually represent the measurement (ignoring the signing bit) only 2048 different states can be measured.
+        let prepared_value = U16SigningConverter::load_raw(shifted_raw_value | signing_bit);
+
+        let value = prepared_value.as_signed() as i16;
+
+        let normalized = f32::from(value) / f32::from(2047);
+
+        AnalogInputInput {
+            normalized,
+            wiring_error: false,
+        }
+    }
+
+    fn analog_input_range(&self) -> AnalogInputRange {
+        AnalogInputRange::Current {
+            min: ElectricCurrent::new::<milliampere>(4.0),
+            max: ElectricCurrent::new::<milliampere>(20.0),
+            min_raw: 0,
+            max_raw: 2047,
+        }
+    }
+}