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Merge pull request #120 from nasa-jpl/feat-el2809-driver-addition
Feat el2809 driver addition
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,117 @@ | ||
| // Include related header (for cc files) | ||
| #include "fastcat/jsd/el2809.h" | ||
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| // Include c then c++ libraries | ||
| #include <string.h> | ||
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| #include <cmath> | ||
| #include <iostream> | ||
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| // Include external then project includes | ||
| #include "fastcat/yaml_parser.h" | ||
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| fastcat::El2809::El2809() | ||
| { | ||
| MSG_DEBUG("Constructed El2809"); | ||
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| state_ = std::make_shared<DeviceState>(); | ||
| state_->type = EL2809_STATE; | ||
| } | ||
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| bool fastcat::El2809::ConfigFromYaml(YAML::Node node) | ||
| { | ||
| bool retval = ConfigFromYamlCommon(node); | ||
| jsd_set_slave_config((jsd_t*)context_, slave_id_, jsd_slave_config_); | ||
| return retval; | ||
| } | ||
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| bool fastcat::El2809::ConfigFromYamlCommon(YAML::Node node) | ||
| { | ||
| if (!ParseVal(node, "name", name_)) { | ||
| return false; | ||
| } | ||
| state_->name = name_; | ||
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| jsd_slave_config_.configuration_active = true; | ||
| jsd_slave_config_.product_code = JSD_EL2809_PRODUCT_CODE; | ||
| snprintf(jsd_slave_config_.name, JSD_NAME_LEN, "%s", name_.c_str()); | ||
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| return true; | ||
| } | ||
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| bool fastcat::El2809::Read() | ||
| { | ||
| const jsd_el2809_state_t* jsd_state = | ||
| jsd_el2809_get_state((jsd_t*)context_, slave_id_); | ||
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| state_->el2809_state.level_ch1 = jsd_state->output[0]; | ||
| state_->el2809_state.level_ch2 = jsd_state->output[1]; | ||
| state_->el2809_state.level_ch3 = jsd_state->output[2]; | ||
| state_->el2809_state.level_ch4 = jsd_state->output[3]; | ||
| state_->el2809_state.level_ch5 = jsd_state->output[4]; | ||
| state_->el2809_state.level_ch6 = jsd_state->output[5]; | ||
| state_->el2809_state.level_ch7 = jsd_state->output[6]; | ||
| state_->el2809_state.level_ch8 = jsd_state->output[7]; | ||
| state_->el2809_state.level_ch9 = jsd_state->output[8]; | ||
| state_->el2809_state.level_ch10 = jsd_state->output[9]; | ||
| state_->el2809_state.level_ch11 = jsd_state->output[10]; | ||
| state_->el2809_state.level_ch12 = jsd_state->output[11]; | ||
| state_->el2809_state.level_ch13 = jsd_state->output[12]; | ||
| state_->el2809_state.level_ch14 = jsd_state->output[13]; | ||
| state_->el2809_state.level_ch15 = jsd_state->output[14]; | ||
| state_->el2809_state.level_ch16 = jsd_state->output[15]; | ||
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| return true; | ||
| } | ||
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| fastcat::FaultType fastcat::El2809::Process() | ||
| { | ||
| jsd_el2809_process((jsd_t*)context_, slave_id_); | ||
| return NO_FAULT; | ||
| } | ||
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| bool fastcat::El2809::Write(DeviceCmd& cmd) | ||
| { | ||
| // If device supports async SDO requests | ||
| AsyncSdoRetVal sdoResult = WriteAsyncSdoRequest(cmd); | ||
| if (sdoResult != SDO_RET_VAL_NOT_APPLICABLE) { | ||
| return (sdoResult == SDO_RET_VAL_SUCCESS); | ||
| } | ||
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| if (cmd.type == EL2809_WRITE_CHANNEL_CMD) { | ||
| uint8_t ch = cmd.el2809_write_channel_cmd.channel; | ||
| if (ch < 1 || ch > JSD_EL2809_NUM_CHANNELS) { | ||
| ERROR("Channel must be in range (1,%u)", JSD_EL2809_NUM_CHANNELS); | ||
| return false; | ||
| } | ||
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| jsd_el2809_write_single_channel((jsd_t*)context_, slave_id_, ch - 1, | ||
| cmd.el2809_write_channel_cmd.level); | ||
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| } else if (cmd.type == EL2809_WRITE_ALL_CHANNELS_CMD) { | ||
| uint8_t output_array[JSD_EL2809_NUM_CHANNELS] = { | ||
| cmd.el2809_write_all_channels_cmd.channel_ch1, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch2, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch3, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch4, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch5, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch6, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch7, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch8, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch9, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch10, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch11, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch12, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch13, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch14, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch15, | ||
| cmd.el2809_write_all_channels_cmd.channel_ch16}; | ||
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| jsd_el2809_write_all_channels((jsd_t*)context_, slave_id_, output_array); | ||
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| } else { | ||
| ERROR("Bad EL2809 Command"); | ||
| return false; | ||
| } | ||
| return true; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| #ifndef FASTCAT_EL2809_H_ | ||
| #define FASTCAT_EL2809_H_ | ||
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| // Include related header (for cc files) | ||
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| // Include c then c++ libraries | ||
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| // Include external then project includes | ||
| #include "fastcat/jsd/jsd_device_base.h" | ||
| #include "jsd/jsd_el2809_pub.h" | ||
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| namespace fastcat | ||
| { | ||
| class El2809 : public JsdDeviceBase | ||
| { | ||
| public: | ||
| El2809(); | ||
| bool ConfigFromYaml(YAML::Node node) override; | ||
| bool Read() override; | ||
| FaultType Process() override; | ||
| bool Write(DeviceCmd& cmd) override; | ||
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| protected: | ||
| bool ConfigFromYamlCommon(YAML::Node node); | ||
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| private: | ||
| jsd_slave_config_t jsd_slave_config_ = {0}; | ||
| }; | ||
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| } // namespace fastcat | ||
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| #endif |
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