Adding the el2828 driver

src/CMakeLists.txt

@@ -11,6 +11,7 @@ add_library(jsd-lib STATIC
     jsd_el3208.c
     jsd_el2124.c
     jsd_el2809.c
+    jsd_el2828.c
     jsd_egd.c
     jsd_el3356.c
     jsd_jed0101.c

src/jsd.c

@@ -11,6 +11,7 @@
 #include "jsd/jsd_el1008.h"
 #include "jsd/jsd_el2124.h"
 #include "jsd/jsd_el2809.h"
+#include "jsd/jsd_el2828.h"
 #include "jsd/jsd_el3104.h"
 #include "jsd/jsd_el3162.h"
 #include "jsd/jsd_el3202.h"
@@ -373,6 +374,8 @@ const char* jsd_driver_type_to_string(jsd_driver_type_t driver_type) {
       return "JSD_DRIVER_TYPE_EL2124";
     case JSD_DRIVER_TYPE_EL2809:
       return "JSD_DRIVER_TYPE_EL2809";
+    case JSD_DRIVER_TYPE_EL2828:
+      return "JSD_DRIVER_TYPE_EL2828";
     case JSD_DRIVER_TYPE_EL3104:
       return "JSD_DRIVER_TYPE_EL3104";
     case JSD_DRIVER_TYPE_EL3162:
@@ -479,6 +482,9 @@ bool jsd_driver_is_compatible_with_product_code(jsd_driver_type_t driver_type,
     case JSD_DRIVER_TYPE_EL2809:
       is_compatible = jsd_el2809_product_code_is_compatible(product_code);
       break;
+    case JSD_DRIVER_TYPE_EL2828:
+      is_compatible = jsd_el2828_product_code_is_compatible(product_code);
+      break;
     case JSD_DRIVER_TYPE_EGD:
       is_compatible = jsd_egd_product_code_is_compatible(product_code);
       break;
@@ -549,6 +555,9 @@ bool jsd_init_single_device(jsd_t* self, uint16_t slave_id) {
     case JSD_DRIVER_TYPE_EL2809:
       return jsd_el2809_init(self, slave_id);
       break;
+    case JSD_DRIVER_TYPE_EL2828:
+      return jsd_el2828_init(self, slave_id);
+      break;
     case JSD_DRIVER_TYPE_EL2124:
       return jsd_el2124_init(self, slave_id);
       break;

src/jsd_el2828.c

@@ -0,0 +1,84 @@
+#include "jsd/jsd_el2828.h"
+
+#include <assert.h>
+
+#include "jsd/jsd_sdo.h"
+
+/****************************************************
+ * Public functions
+ ****************************************************/
+
+/**
+ * @brief RxPDO struct used to set device command data in SOEM IOmap
+ */
+typedef struct __attribute__((__packed__)) {
+  uint8_t flags;
+} jsd_el2828_rxpdo_t;
+
+const jsd_el2828_state_t* jsd_el2828_get_state(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el2828_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+
+  return &self->slave_states[slave_id].el2828;
+}
+
+void jsd_el2828_process(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el2828_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+
+  jsd_el2828_rxpdo_t* rxpdo =
+      (jsd_el2828_rxpdo_t*)self->ecx_context.slavelist[slave_id].outputs;
+
+  int ch;
+  for (ch = 0; ch < JSD_EL2828_NUM_CHANNELS; ch++) {
+    uint8_t output = self->slave_states[slave_id].el2828.output[ch];
+
+    if (output > 0) {
+      rxpdo->flags |= 0x01 << ch;
+    } else {
+      rxpdo->flags &= ~(0x01 << ch);
+    }
+  }
+}
+
+void jsd_el2828_write_single_channel(jsd_t* self, uint16_t slave_id,
+                                     uint8_t channel, uint8_t output) {
+  assert(self);
+  assert(jsd_el2828_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+
+  self->slave_states[slave_id].el2828.output[channel] = output;
+}
+
+void jsd_el2828_write_all_channels(jsd_t* self, uint16_t slave_id,
+                                   uint8_t output[JSD_EL2828_NUM_CHANNELS]) {
+  int ch;
+  for (ch = 0; ch < JSD_EL2828_NUM_CHANNELS; ch++) {
+    jsd_el2828_write_single_channel(self, slave_id, ch, output[ch]);
+  }
+}
+
+/****************************************************
+ * Private functions
+ ****************************************************/
+
+bool jsd_el2828_init(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el2828_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+  assert(self->ecx_context.slavelist[slave_id].eep_man ==
+         JSD_BECKHOFF_VENDOR_ID);
+
+  jsd_slave_config_t* config = &self->slave_configs[slave_id];
+
+  // no PO2SO callback for 2828 devices, so set the success flag now
+  config->PO2SO_success = true;
+
+  return true;
+}
+
+bool jsd_el2828_product_code_is_compatible(uint32_t product_code) {
+  return product_code == JSD_EL2828_PRODUCT_CODE;
+}

src/jsd_el2828.h

@@ -0,0 +1,30 @@
+#ifndef JSD_EL2828_H
+#define JSD_EL2828_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "jsd/jsd_el2828_pub.h"
+
+/** @brief Initializes el2828
+ *
+ * @param self pointer JSD context
+ * @param slave_id index of device on EtherCAT bus
+ * @return true on success, false on failure
+ */
+bool jsd_el2828_init(jsd_t* self, uint16_t slave_id);
+
+/**
+ * @brief Checks whether a product code is compatible with EL2828.
+ *
+ * @param product_code The product code to be checked
+ * @return True if the product code is compatible, false otherwise.
+ */
+bool jsd_el2828_product_code_is_compatible(uint32_t product_code);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/jsd_el2828_pub.h

@@ -0,0 +1,56 @@
+#ifndef JSD_EL2828_PUB_H
+#define JSD_EL2828_PUB_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "jsd/jsd_el2828_types.h"
+#include "jsd/jsd_pub.h"
+
+/**
+ * @brief Read the EL2828 State
+ *
+ * Note: this device does not actually provide PDO feedback on state,
+ * This function reads back the cmd sent to the EL2828 device
+ *
+ * @param self pointer to JSD context
+ * @param slave_id id of EL2828 device
+ * @return Pointer to EL2828 device state
+ */
+const jsd_el2828_state_t* jsd_el2828_get_state(jsd_t* self, uint16_t slave_id);
+
+/**
+ * @brief process loop required for proper device function
+ *
+ * @param self pointer to JSD context
+ * @param slave_id id of EL2828 device
+ */
+void jsd_el2828_process(jsd_t* self, uint16_t slave_id);
+
+/**
+ * @brief Sets a specified channel level
+ *
+ * @param self pointer to JSD context
+ * @param slave_id id of EL2828 device
+ * @param channel specified device channel to command
+ * @param output command level (0 or 1)
+ */
+void jsd_el2828_write_single_channel(jsd_t* self, uint16_t slave_id,
+                                     uint8_t channel, uint8_t output);
+
+/**
+ * @brief Sets all channel levels
+ *
+ * @param self pointer to JSD context
+ * @param slave_id id of EL2828 device
+ * @param output command level (0 or 1)
+ */
+void jsd_el2828_write_all_channels(jsd_t* self, uint16_t slave_id,
+                                   uint8_t output[JSD_EL2828_NUM_CHANNELS]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/jsd_el2828_types.h

@@ -0,0 +1,31 @@
+#ifndef JSD_EL2828_TYPES_H
+#define JSD_EL2828_TYPES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "jsd/jsd_common_device_types.h"
+
+#define JSD_EL2828_PRODUCT_CODE (uint32_t)0x0B0C3052
+
+#define JSD_EL2828_NUM_CHANNELS 8
+
+/**
+ * @brief EL2828 State Data
+ */
+typedef struct {
+  uint8_t output[JSD_EL2828_NUM_CHANNELS];  ///< digital output level (0 or 1)
+} jsd_el2828_state_t;
+
+/**
+ * @brief EL2828 device configuration
+ */
+typedef struct {
+} jsd_el2828_config_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/jsd_types.h

@@ -14,6 +14,7 @@ extern "C" {
 #include "jsd/jsd_el1008_types.h"
 #include "jsd/jsd_el2124_types.h"
 #include "jsd/jsd_el2809_types.h"
+#include "jsd/jsd_el2828_types.h"
 #include "jsd/jsd_el3104_types.h"
 #include "jsd/jsd_el3162_types.h"
 #include "jsd/jsd_el3202_types.h"
@@ -35,6 +36,7 @@ typedef enum {
   JSD_DRIVER_TYPE_EL1008,
   JSD_DRIVER_TYPE_EL2124,
   JSD_DRIVER_TYPE_EL2809,
+  JSD_DRIVER_TYPE_EL2828,
   JSD_DRIVER_TYPE_EL3104,
   JSD_DRIVER_TYPE_EL3162,
   JSD_DRIVER_TYPE_EL3202,
@@ -60,6 +62,7 @@ typedef struct {
     jsd_el3208_config_t  el3208;
     jsd_el2124_config_t  el2124;
     jsd_el2809_config_t  el2809;
+    jsd_el2828_config_t  el2828;
     jsd_egd_config_t     egd;
     jsd_el3356_config_t  el3356;
     jsd_jed0101_config_t jed0101;
@@ -85,6 +88,7 @@ typedef struct {
     jsd_el3208_state_t      el3208;
     jsd_el2124_state_t      el2124;
     jsd_el2809_state_t      el2809;
+    jsd_el2828_state_t      el2828;
     jsd_egd_private_state_t egd;
     jsd_el3356_state_t      el3356;
     jsd_jed0101_state_t     jed0101;