139 lines
3.4 KiB
C++
139 lines
3.4 KiB
C++
/*****************************************************************************
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*
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* Copyright (C) 2024 Bjarne von Horn, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT master userspace library.
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*
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* The IgH EtherCAT master userspace library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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*
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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****************************************************************************/
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#pragma once
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#include <ecrt.h>
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#include <iostream>
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#include <iomanip>
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#include <list>
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#include <map>
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#include <vector>
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struct Offset
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{
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int bytes;
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int bits;
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constexpr Offset(int bytes,
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int bits) : bytes(bytes), bits(bits) {}
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constexpr bool operator!=(const Offset &other) const noexcept
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{
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return bytes != other.bytes || bits != other.bits;
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}
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};
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constexpr Offset NotFound(-1, -1);
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struct pdo
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{
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std::vector<ec_pdo_entry_info_t> entries;
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size_t sizeInBytes() const;
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Offset findEntry(uint16_t idx, uint8_t subindex) const;
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};
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struct syncManager
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{
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ec_direction_t dir;
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std::map<uint16_t /* address */, pdo> pdos;
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};
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class ec_address
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{
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uint32_t value;
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public:
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ec_address(uint16_t alias, /**< Slave alias. */
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uint16_t position /**< Slave position. */)
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: value(static_cast<uint32_t>(alias) << 16 | position)
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{
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}
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uint16_t getAlias() const { return value >> 16; }
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uint16_t getPosition() const { return value & 0xFFFF; }
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bool operator<(const ec_address &other) const noexcept
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{
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return value < other.value;
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}
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bool operator==(const ec_address &other) const noexcept
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{
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return value == other.value;
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}
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};
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struct ec_slave_config
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{
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ec_address address;
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uint32_t vendor_id; /**< Expected vendor ID. */
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uint32_t product_code; /**< Expected product code. */
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std::map<unsigned int, syncManager> sync_managers;
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ec_slave_config(
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ec_address address,
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uint32_t vendor_id, /**< Expected vendor ID. */
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uint32_t product_code /**< Expected product code. */)
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: address(address), vendor_id(vendor_id), product_code(product_code)
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{
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}
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};
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struct ec_domain
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{
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struct PdoMap
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{
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size_t offset;
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ec_address slave_address;
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unsigned int syncManager;
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uint16_t pdo_index;
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PdoMap(
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size_t offset,
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ec_address slave_address,
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unsigned int syncManager,
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uint16_t pdo_index)
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: offset(offset), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index)
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{
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}
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};
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std::vector<uint8_t> data;
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std::vector<PdoMap> mapped_pdos;
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void activate();
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ssize_t map(ec_slave_config const &config, unsigned int syncManager,
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uint16_t pdo_index);
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};
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struct ec_master
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{
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std::list<ec_domain> domains;
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std::map<ec_address, ec_slave_config> slaves;
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};
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