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// =============================================================================
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// WAGO 750-XXX Device Driver Boilerplate
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// =============================================================================
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//
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// HOW TO USE:
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// 1. Copy this file and rename it to `wago_750_XXX.rs`
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// 2. Find & replace the following placeholders:
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// - `Wago750_XXX` -> Your device struct name (e.g. `Wago750_554`)
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// - `WAGO_750_XXX` -> Your constant prefix (e.g. `WAGO_750_554`)
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// - `750_XXX` -> Your module number (e.g. `750_554`)
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// 3. Uncomment one of the device type sections (A through E)
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// 4. Delete all other device type sections
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// 5. Adjust port count / PDO fields to match your device
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// 6. Set PRODUCT_ID at the bottom
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// 7. Add `pub mod wago_750_XXX;` to mod.rs
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//
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// =============================================================================
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use crate::devices::{
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DynamicEthercatDevice, EthercatDevice, EthercatDeviceProcessing, EthercatDeviceUsed,
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EthercatDynamicPDO, Module, NewEthercatDevice, SubDeviceProductTuple,
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};
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// =============================================================================
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// DEVICE TYPE SECTIONS — Uncomment ONE, delete the rest
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// =============================================================================
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// ╔═══════════════════════════════════════════════════════════════════════════╗
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// ║ Section A: Digital Input ║
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// ╚═══════════════════════════════════════════════════════════════════════════╝
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//
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// use crate::io::digital_input::{DigitalInputDevice, DigitalInputInput};
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//
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// #[derive(Debug, Clone)]
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// pub enum Wago750_XXXInputPort {
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// DI1,
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// DI2,
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// DI3,
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// DI4,
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// }
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//
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// impl From<Wago750_XXXInputPort> for usize {
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// fn from(value: Wago750_XXXInputPort) -> Self {
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// match value {
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// Wago750_XXXInputPort::DI1 => 0,
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// Wago750_XXXInputPort::DI2 => 1,
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// Wago750_XXXInputPort::DI3 => 2,
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// Wago750_XXXInputPort::DI4 => 3,
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// }
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// }
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// }
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//
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// #[derive(Clone, Default)]
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// pub struct Wago750_XXXTxPdo {
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// port1: bool,
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// port2: bool,
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// port3: bool,
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// port4: bool,
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// }
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//
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// impl DigitalInputDevice<Wago750_XXXInputPort> for Wago750_XXX {
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// fn get_input(&self, port: Wago750_XXXInputPort) -> Result<DigitalInputInput, anyhow::Error> {
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// Ok(DigitalInputInput {
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// value: match port {
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// Wago750_XXXInputPort::DI1 => self.tx_pdo.port1,
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// Wago750_XXXInputPort::DI2 => self.tx_pdo.port2,
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// Wago750_XXXInputPort::DI3 => self.tx_pdo.port3,
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// Wago750_XXXInputPort::DI4 => self.tx_pdo.port4,
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// },
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// })
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// }
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// }
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//
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// // Paste into EthercatDevice::input():
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// // let base = self.tx_bit_offset;
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// // self.tx_pdo.port1 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI1)).expect("Bit 1 out of bounds");
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// // self.tx_pdo.port2 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI2)).expect("Bit 2 out of bounds");
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// // self.tx_pdo.port3 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI3)).expect("Bit 3 out of bounds");
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// // self.tx_pdo.port4 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI4)).expect("Bit 4 out of bounds");
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// //
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// // input_len: 4 (number of digital input ports)
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// // output_len: 0
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// // output(): Ok(())
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// // Struct fields: tx_pdo: Wago750_XXXTxPdo
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// // NewEthercatDevice fields: tx_pdo: Wago750_XXXTxPdo::default()
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// ╔═══════════════════════════════════════════════════════════════════════════╗
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// ║ Section B: Digital Output ║
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// ╚═══════════════════════════════════════════════════════════════════════════╝
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//
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// use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput};
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//
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// #[derive(Debug, Clone)]
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// pub enum Wago750_XXXOutputPort {
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// DO1,
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// DO2,
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// DO3,
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// DO4,
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// }
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//
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// impl From<Wago750_XXXOutputPort> for usize {
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// fn from(value: Wago750_XXXOutputPort) -> Self {
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// match value {
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// Wago750_XXXOutputPort::DO1 => 0,
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// Wago750_XXXOutputPort::DO2 => 1,
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// Wago750_XXXOutputPort::DO3 => 2,
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// Wago750_XXXOutputPort::DO4 => 3,
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// }
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// }
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// }
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//
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// #[derive(Clone, Default)]
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// pub struct Wago750_XXXRxPdo {
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// port1: bool,
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// port2: bool,
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// port3: bool,
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// port4: bool,
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// }
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//
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// impl DigitalOutputDevice<Wago750_XXXOutputPort> for Wago750_XXX {
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// fn set_output(&mut self, port: Wago750_XXXOutputPort, value: DigitalOutputOutput) {
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// let output_value: bool = value.into();
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// match port {
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// Wago750_XXXOutputPort::DO1 => self.rx_pdo.port1 = output_value,
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// Wago750_XXXOutputPort::DO2 => self.rx_pdo.port2 = output_value,
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// Wago750_XXXOutputPort::DO3 => self.rx_pdo.port3 = output_value,
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// Wago750_XXXOutputPort::DO4 => self.rx_pdo.port4 = output_value,
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// }
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// }
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//
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// fn get_output(&self, port: Wago750_XXXOutputPort) -> DigitalOutputOutput {
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// let current_value = match port {
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// Wago750_XXXOutputPort::DO1 => self.rx_pdo.port1,
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// Wago750_XXXOutputPort::DO2 => self.rx_pdo.port2,
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// Wago750_XXXOutputPort::DO3 => self.rx_pdo.port3,
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// Wago750_XXXOutputPort::DO4 => self.rx_pdo.port4,
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// };
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// DigitalOutputOutput(current_value)
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// }
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// }
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//
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// // Paste into EthercatDevice::output():
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO1), self.rx_pdo.port1);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO2), self.rx_pdo.port2);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO3), self.rx_pdo.port3);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO4), self.rx_pdo.port4);
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// //
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// // input_len: 0
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// // output_len: 4 (number of digital output ports)
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// // input(): Ok(())
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// // Struct fields: rx_pdo: Wago750_XXXRxPdo
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// // NewEthercatDevice fields: rx_pdo: Wago750_XXXRxPdo::default()
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// ╔═══════════════════════════════════════════════════════════════════════════╗
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// ║ Section C: Digital Input + Output (combined) ║
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// ╚═══════════════════════════════════════════════════════════════════════════╝
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//
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// use crate::io::digital_input::{DigitalInputDevice, DigitalInputInput};
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// use crate::io::digital_output::{DigitalOutputDevice, DigitalOutputOutput};
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//
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// #[derive(Debug, Clone)]
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// pub enum Wago750_XXXInputPort {
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// DI1,
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// DI2,
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// DI3,
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// DI4,
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// }
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//
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// impl From<Wago750_XXXInputPort> for usize {
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// fn from(value: Wago750_XXXInputPort) -> Self {
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// match value {
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// Wago750_XXXInputPort::DI1 => 0,
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// Wago750_XXXInputPort::DI2 => 1,
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// Wago750_XXXInputPort::DI3 => 2,
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// Wago750_XXXInputPort::DI4 => 3,
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// }
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// }
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// }
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//
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// #[derive(Debug, Clone)]
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// pub enum Wago750_XXXOutputPort {
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// DO1,
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// DO2,
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// DO3,
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// DO4,
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// }
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//
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// impl From<Wago750_XXXOutputPort> for usize {
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// fn from(value: Wago750_XXXOutputPort) -> Self {
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// match value {
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// Wago750_XXXOutputPort::DO1 => 0,
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// Wago750_XXXOutputPort::DO2 => 1,
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// Wago750_XXXOutputPort::DO3 => 2,
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// Wago750_XXXOutputPort::DO4 => 3,
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// }
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// }
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// }
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//
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// #[derive(Clone, Default)]
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// pub struct Wago750_XXXTxPdo {
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// port1: bool,
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// port2: bool,
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// port3: bool,
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// port4: bool,
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// }
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//
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// #[derive(Clone, Default)]
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// pub struct Wago750_XXXRxPdo {
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// port1: bool,
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// port2: bool,
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// port3: bool,
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// port4: bool,
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// }
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//
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// impl DigitalInputDevice<Wago750_XXXInputPort> for Wago750_XXX {
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// fn get_input(&self, port: Wago750_XXXInputPort) -> Result<DigitalInputInput, anyhow::Error> {
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// Ok(DigitalInputInput {
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// value: match port {
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// Wago750_XXXInputPort::DI1 => self.tx_pdo.port1,
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// Wago750_XXXInputPort::DI2 => self.tx_pdo.port2,
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// Wago750_XXXInputPort::DI3 => self.tx_pdo.port3,
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// Wago750_XXXInputPort::DI4 => self.tx_pdo.port4,
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// },
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// })
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// }
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// }
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//
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// impl DigitalOutputDevice<Wago750_XXXOutputPort> for Wago750_XXX {
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// fn set_output(&mut self, port: Wago750_XXXOutputPort, value: DigitalOutputOutput) {
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// let output_value: bool = value.into();
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// match port {
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// Wago750_XXXOutputPort::DO1 => self.rx_pdo.port1 = output_value,
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// Wago750_XXXOutputPort::DO2 => self.rx_pdo.port2 = output_value,
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// Wago750_XXXOutputPort::DO3 => self.rx_pdo.port3 = output_value,
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// Wago750_XXXOutputPort::DO4 => self.rx_pdo.port4 = output_value,
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// }
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// }
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//
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// fn get_output(&self, port: Wago750_XXXOutputPort) -> DigitalOutputOutput {
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// let current_value = match port {
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// Wago750_XXXOutputPort::DO1 => self.rx_pdo.port1,
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// Wago750_XXXOutputPort::DO2 => self.rx_pdo.port2,
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// Wago750_XXXOutputPort::DO3 => self.rx_pdo.port3,
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// Wago750_XXXOutputPort::DO4 => self.rx_pdo.port4,
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// };
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// DigitalOutputOutput(current_value)
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// }
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// }
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//
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// // Paste into EthercatDevice::input():
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// // let base = self.tx_bit_offset;
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// // self.tx_pdo.port1 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI1)).expect("Bit 1 out of bounds");
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// // self.tx_pdo.port2 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI2)).expect("Bit 2 out of bounds");
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// // self.tx_pdo.port3 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI3)).expect("Bit 3 out of bounds");
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// // self.tx_pdo.port4 = *input.get(base + Into::<usize>::into(Wago750_XXXInputPort::DI4)).expect("Bit 4 out of bounds");
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// //
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// // Paste into EthercatDevice::output():
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO1), self.rx_pdo.port1);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO2), self.rx_pdo.port2);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO3), self.rx_pdo.port3);
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// // output.set(self.rx_bit_offset + Into::<usize>::into(Wago750_XXXOutputPort::DO4), self.rx_pdo.port4);
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// //
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// // input_len: 4 (number of digital input ports)
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// // output_len: 4 (number of digital output ports)
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// // Struct fields: tx_pdo: Wago750_XXXTxPdo, rx_pdo: Wago750_XXXRxPdo
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// // NewEthercatDevice fields: tx_pdo: Wago750_XXXTxPdo::default(), rx_pdo: Wago750_XXXRxPdo::default()
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// ╔═══════════════════════════════════════════════════════════════════════════╗
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// ║ Section D: Analog Input ║
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// ╚═══════════════════════════════════════════════════════════════════════════╝
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//
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// use bitvec::field::BitField;
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// use crate::io::analog_input::physical::AnalogInputRange;
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// use crate::io::analog_input::{AnalogInputDevice, AnalogInputInput};
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//
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// #[derive(Debug, Clone)]
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// pub enum Wago750_XXXPort {
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// AI1,
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// AI2,
|
|
|
|
|
// AI3,
|
|
|
|
|
// AI4,
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// impl From<Wago750_XXXPort> for usize {
|
|
|
|
|
// fn from(value: Wago750_XXXPort) -> Self {
|
|
|
|
|
// match value {
|
|
|
|
|
// Wago750_XXXPort::AI1 => 0,
|
|
|
|
|
// Wago750_XXXPort::AI2 => 16,
|
|
|
|
|
// Wago750_XXXPort::AI3 => 32,
|
|
|
|
|
// Wago750_XXXPort::AI4 => 48,
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// #[derive(Clone, Default)]
|
|
|
|
|
// pub struct Wago750_XXXTxPdo {
|
|
|
|
|
// ai1: u16,
|
|
|
|
|
// ai2: u16,
|
|
|
|
|
// ai3: u16,
|
|
|
|
|
// ai4: u16,
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// impl AnalogInputDevice<Wago750_XXXPort> for Wago750_XXX {
|
|
|
|
|
// fn get_input(&self, port: Wago750_XXXPort) -> AnalogInputInput {
|
|
|
|
|
// let raw = match port {
|
|
|
|
|
// Wago750_XXXPort::AI1 => self.tx_pdo.ai1,
|
|
|
|
|
// Wago750_XXXPort::AI2 => self.tx_pdo.ai2,
|
|
|
|
|
// Wago750_XXXPort::AI3 => self.tx_pdo.ai3,
|
|
|
|
|
// Wago750_XXXPort::AI4 => self.tx_pdo.ai4,
|
|
|
|
|
// };
|
|
|
|
|
// let wiring_error = (raw & 0x0003) == 0x0003;
|
|
|
|
|
// let raw_value = (raw & 0x7FF0) as i16;
|
|
|
|
|
// let normalized = self.analog_input_range().raw_to_normalized(raw_value) as f32;
|
|
|
|
|
// AnalogInputInput {
|
|
|
|
|
// normalized,
|
|
|
|
|
// wiring_error,
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// fn analog_input_range(&self) -> AnalogInputRange {
|
|
|
|
|
// // Adjust to match your device. Common examples:
|
|
|
|
|
// // Current 4-20mA: AnalogInputRange::Current { min: ..milliampere(4.0), max: ..milliampere(20.0), min_raw: 0, max_raw: 0x7FF0 }
|
|
|
|
|
// // Voltage 0-10V: AnalogInputRange::Voltage { min: ..volt(0.0), max: ..volt(10.0), min_raw: 0, max_raw: 0x7FF0 }
|
|
|
|
|
// todo!("Set the analog input range for your device")
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// // Paste into EthercatDevice::input():
|
|
|
|
|
// // let base = self.tx_bit_offset;
|
|
|
|
|
// // self.tx_pdo.ai1 = input[base..(base + 16)].load_le::<u16>();
|
|
|
|
|
// // self.tx_pdo.ai2 = input[(base + 16)..(base + 32)].load_le::<u16>();
|
|
|
|
|
// // self.tx_pdo.ai3 = input[(base + 32)..(base + 48)].load_le::<u16>();
|
|
|
|
|
// // self.tx_pdo.ai4 = input[(base + 48)..(base + 64)].load_le::<u16>();
|
|
|
|
|
// //
|
|
|
|
|
// // input_len: 64 (channels * 16 bits)
|
|
|
|
|
// // output_len: 0
|
|
|
|
|
// // output(): Ok(())
|
|
|
|
|
// // input_checked(): self.input(_input) (delegate, not Ok(()))
|
|
|
|
|
// // Struct fields: tx_pdo: Wago750_XXXTxPdo
|
|
|
|
|
// // NewEthercatDevice fields: tx_pdo: Wago750_XXXTxPdo::default()
|
|
|
|
|
|
|
|
|
|
// ╔═══════════════════════════════════════════════════════════════════════════╗
|
|
|
|
|
// ║ Section E: Analog Output ║
|
|
|
|
|
// ╚═══════════════════════════════════════════════════════════════════════════╝
|
|
|
|
|
// AnalogOutputOutput is a newtype around f32 in clip space (0.0..1.0).
|
|
|
|
|
// Convert to/from raw u16 using your device's raw range (e.g. 0x0000..0x7FFF).
|
|
|
|
|
//
|
|
|
|
|
// use bitvec::field::BitField;
|
|
|
|
|
// use crate::io::analog_output::{AnalogOutputDevice, AnalogOutputOutput};
|
|
|
|
|
//
|
|
|
|
|
// #[derive(Debug, Clone)]
|
|
|
|
|
// pub enum Wago750_XXXPort {
|
|
|
|
|
// AO1,
|
|
|
|
|
// AO2,
|
|
|
|
|
// AO3,
|
|
|
|
|
// AO4,
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// impl From<Wago750_XXXPort> for usize {
|
|
|
|
|
// fn from(value: Wago750_XXXPort) -> Self {
|
|
|
|
|
// match value {
|
|
|
|
|
// Wago750_XXXPort::AO1 => 0,
|
|
|
|
|
// Wago750_XXXPort::AO2 => 16,
|
|
|
|
|
// Wago750_XXXPort::AO3 => 32,
|
|
|
|
|
// Wago750_XXXPort::AO4 => 48,
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// #[derive(Clone, Default)]
|
|
|
|
|
// pub struct Wago750_XXXRxPdo {
|
|
|
|
|
// ao1: u16,
|
|
|
|
|
// ao2: u16,
|
|
|
|
|
// ao3: u16,
|
|
|
|
|
// ao4: u16,
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// impl AnalogOutputDevice<Wago750_XXXPort> for Wago750_XXX {
|
|
|
|
|
// fn set_output(&mut self, port: Wago750_XXXPort, value: AnalogOutputOutput) {
|
|
|
|
|
// // Convert clip-space f32 (0.0..1.0) to raw u16 — adjust 0x7FFF to your device's max
|
|
|
|
|
// let raw = (value.0.clamp(0.0, 1.0) * 0x7FFF as f32) as u16;
|
|
|
|
|
// match port {
|
|
|
|
|
// Wago750_XXXPort::AO1 => self.rx_pdo.ao1 = raw,
|
|
|
|
|
// Wago750_XXXPort::AO2 => self.rx_pdo.ao2 = raw,
|
|
|
|
|
// Wago750_XXXPort::AO3 => self.rx_pdo.ao3 = raw,
|
|
|
|
|
// Wago750_XXXPort::AO4 => self.rx_pdo.ao4 = raw,
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// fn get_output(&self, port: Wago750_XXXPort) -> AnalogOutputOutput {
|
|
|
|
|
// let raw = match port {
|
|
|
|
|
// Wago750_XXXPort::AO1 => self.rx_pdo.ao1,
|
|
|
|
|
// Wago750_XXXPort::AO2 => self.rx_pdo.ao2,
|
|
|
|
|
// Wago750_XXXPort::AO3 => self.rx_pdo.ao3,
|
|
|
|
|
// Wago750_XXXPort::AO4 => self.rx_pdo.ao4,
|
|
|
|
|
// };
|
|
|
|
|
// // Convert raw u16 back to clip-space f32 — adjust 0x7FFF to your device's max
|
|
|
|
|
// AnalogOutputOutput(raw as f32 / 0x7FFF as f32)
|
|
|
|
|
// }
|
|
|
|
|
// }
|
|
|
|
|
//
|
|
|
|
|
// // Paste into EthercatDevice::output():
|
|
|
|
|
// // let base = self.rx_bit_offset;
|
|
|
|
|
// // output[base..(base + 16)].store_le::<u16>(self.rx_pdo.ao1);
|
|
|
|
|
// // output[(base + 16)..(base + 32)].store_le::<u16>(self.rx_pdo.ao2);
|
|
|
|
|
// // output[(base + 32)..(base + 48)].store_le::<u16>(self.rx_pdo.ao3);
|
|
|
|
|
// // output[(base + 48)..(base + 64)].store_le::<u16>(self.rx_pdo.ao4);
|
|
|
|
|
// //
|
|
|
|
|
// // input_len: 0
|
|
|
|
|
// // output_len: 64 (channels * 16 bits)
|
|
|
|
|
// // input(): Ok(())
|
|
|
|
|
// // Struct fields: rx_pdo: Wago750_XXXRxPdo
|
|
|
|
|
// // NewEthercatDevice fields: rx_pdo: Wago750_XXXRxPdo::default()
|
|
|
|
|
|
|
|
|
|
// =============================================================================
|
|
|
|
|
// Main Device Struct
|
|
|
|
|
// =============================================================================
|
|
|
|
|
// Add the PDO fields from your chosen section's instructions.
|
|
|
|
|
|
|
|
|
|
#[derive(Clone)]
|
|
|
|
|
pub struct Wago750_XXX {
|
|
|
|
|
is_used: bool,
|
|
|
|
|
tx_bit_offset: usize,
|
|
|
|
|
rx_bit_offset: usize,
|
|
|
|
|
module: Option<Module>,
|
|
|
|
|
// TODO: add PDO fields from your chosen section above
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// =============================================================================
|
|
|
|
|
// Required Trait Implementations (always needed)
|
|
|
|
|
// =============================================================================
|
|
|
|
|
// Fill in input()/output()/input_len()/output_len() using the snippets
|
|
|
|
|
// from your chosen section's "Paste into" instructions above.
|
|
|
|
|
|
|
|
|
|
impl DynamicEthercatDevice for Wago750_XXX {}
|
|
|
|
|
|
|
|
|
|
impl EthercatDynamicPDO for Wago750_XXX {
|
|
|
|
|
fn get_tx_offset(&self) -> usize {
|
|
|
|
|
self.tx_bit_offset
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn get_rx_offset(&self) -> usize {
|
|
|
|
|
self.rx_bit_offset
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn set_tx_offset(&mut self, offset: usize) {
|
|
|
|
|
self.tx_bit_offset = offset
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn set_rx_offset(&mut self, offset: usize) {
|
|
|
|
|
self.rx_bit_offset = offset
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
impl EthercatDeviceUsed for Wago750_XXX {
|
|
|
|
|
fn is_used(&self) -> bool {
|
|
|
|
|
self.is_used
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn set_used(&mut self, used: bool) {
|
|
|
|
|
self.is_used = used;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
impl EthercatDevice for Wago750_XXX {
|
|
|
|
|
fn input(
|
|
|
|
|
&mut self,
|
|
|
|
|
_input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
|
|
|
|
) -> Result<(), anyhow::Error> {
|
|
|
|
|
// TODO: paste input body from your chosen section
|
|
|
|
|
Ok(())
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn input_len(&self) -> usize {
|
|
|
|
|
todo!("Set input bit length (see section instructions)")
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn output(
|
|
|
|
|
&self,
|
|
|
|
|
_output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
|
|
|
|
) -> Result<(), anyhow::Error> {
|
|
|
|
|
// TODO: paste output body from your chosen section
|
|
|
|
|
Ok(())
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn output_len(&self) -> usize {
|
|
|
|
|
todo!("Set output bit length (see section instructions)")
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn as_any(&self) -> &dyn std::any::Any {
|
|
|
|
|
self
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
|
|
|
|
|
self
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn is_module(&self) -> bool {
|
|
|
|
|
true
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn input_checked(
|
|
|
|
|
&mut self,
|
|
|
|
|
_input: &bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
|
|
|
|
) -> Result<(), anyhow::Error> {
|
|
|
|
|
// For analog inputs: self.input(_input)
|
|
|
|
|
// For everything else: Ok(())
|
|
|
|
|
Ok(())
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn output_checked(
|
|
|
|
|
&self,
|
|
|
|
|
_output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>,
|
|
|
|
|
) -> Result<(), anyhow::Error> {
|
|
|
|
|
Ok(())
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn get_module(&self) -> Option<Module> {
|
|
|
|
|
self.module.clone()
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
fn set_module(&mut self, module: Module) {
|
|
|
|
|
self.tx_bit_offset = module.tx_offset;
|
|
|
|
|
self.rx_bit_offset = module.rx_offset;
|
|
|
|
|
self.module = Some(module);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
impl EthercatDeviceProcessing for Wago750_XXX {}
|
|
|
|
|
|
|
|
|
|
impl NewEthercatDevice for Wago750_XXX {
|
|
|
|
|
fn new() -> Self {
|
|
|
|
|
Self {
|
|
|
|
|
is_used: false,
|
|
|
|
|
tx_bit_offset: 0,
|
|
|
|
|
rx_bit_offset: 0,
|
|
|
|
|
module: None,
|
|
|
|
|
// TODO: add PDO defaults from your chosen section
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
impl std::fmt::Debug for Wago750_XXX {
|
|
|
|
|
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
|
|
|
|
|
write!(f, "Wago750_XXX")
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// =============================================================================
|
|
|
|
|
// Device Identity
|
|
|
|
|
// =============================================================================
|
|
|
|
|
|
|
|
|
|
pub const WAGO_750_XXX_VENDOR_ID: u32 = 0x00000021;
|
|
|
|
|
pub const WAGO_750_XXX_PRODUCT_ID: u32 = todo!("Set product ID from ESI file");
|
|
|
|
|
pub const WAGO_750_XXX_MODULE_IDENT: SubDeviceProductTuple =
|
|
|
|
|
(WAGO_750_XXX_VENDOR_ID, WAGO_750_XXX_PRODUCT_ID);
|
Hans Sebastian Pöhlmann