Add the el5042 driver

CMakeLists.txt

@@ -74,7 +74,7 @@ find_package(YamlCpp REQUIRED 0.6.3)
 include(FetchContent)
 FetchContent_Declare(jsd
     GIT_REPOSITORY https://github.com/nasa-jpl/jsd.git
-    GIT_TAG v3.0.1
+    GIT_TAG prestonr-add-el5042
     )
 FetchContent_MakeAvailable(jsd)
 

doc/fastcat_device_config_parameters.md

@@ -15,6 +15,9 @@ For every `JSD Device` there is an `Offline Device` to emulate the behavior of t
 | El3602           | Beckhoff      | 2-channel +/-10v Diff. Analog Input       |
 | El2124           | Beckhoff      | 4-channel 5v Digital Output               |
 | El2809           | Beckhoff      | 16-channel 24v Digital Output             |
+| El5042           | Beckhoff      | 2-channel Encoder                         |
+| El2828           | Beckhoff      | 8-channel 24v 2A Digital Output           |
+| El2798           | Beckhoff      | 8-channel 30v AC/48v DC 2A Solid State Relay Output |
 | El4102           | Beckhoff      | 2-channel 0-10v Analog Output             |
 | Ild1900          | Micro-Epsilon | Distance Laser Sensor                     |
 | AtiFts           | ATI           | Force-Torque Sensor                       |
@@ -425,6 +428,73 @@ The permitted range values are:
   name: el2809_1
 ```
 
+## El5042 (2-channel BiSS-C Encoder Interface)
+
+| Parameter         | Description                                                  |
+| ----------------- | ------------------------------------------------------------ |
+| `invert_feedback_direction`         | Negates the position value (0 for don't invert and 1 for invert) |
+| `disable_status_bits`      | Tell the slave whether or not to send status bits (0 for don't disable and 1 for disable) |
+| `invert_checksum` | Inverts the checksum bits (CRC) received by the encoder (0 for don't inver and 1 for invert) |
+| `checksum_polynomial`   | Polynomial used for calculating checksum. This is a 32 bit polynomial. |
+| `supply_voltage`  | Set the encoder supply voltage, either 50 for 5V or 90 for 9V |
+| `clock_frequency`  | Clock frequency for the BiSS-C protocol (250 kHz to 10 MHz as specified below) |
+| `gray_code`  | Option to either use dual code or gray code for accurate data (0 for dual code and 1 for gray code) |
+| `multiturn_bits`  | Set the number of multiturn bits (how many complete rotations) |
+| `singleturn_bits`  | Set the number of singleturn bits (resolution of a single rotation) |
+| `offset_bits`  | If there are addition null bits at the end of the packet, we shift by offset bits to get data |
+| `ssi_mode`  | Opt for SSI mode over BiSS-C (0 for BiSS-C and 1 for SSI) |
+
+Clock frequency correspondances
+
+* 10MHz: 10 MHz
+* 5MHz: 5 MHz
+* 3_33MHz: 3.3 MHz
+* 2_5MHz: 2.5 MHz
+* 2MHz: 2 MHz
+* 1MHz: 1 MHz
+* 500KHz: 500 kHz
+* 250KHz: 250 kHz
+
+#### Example
+
+```yaml
+- device_class: El5042
+  name: el5042_1
+  invert_feedback_direction: [0,       0]
+  disable_status_bits:       [0,       0]
+  invert_checksum:           [1,       1]
+  checksum_polynomial:       [67,     67]
+  supply_voltage:            [50,     50]
+  clock_frequency:           [5MHz, 5MHz]
+  gray_code:                 [0,       0]
+  multiturn_bits:            [0,       0]
+  singleturn_bits:           [19,     19]
+  offset_bits:               [0,       0]
+  ssi_mode:                  [0,       0]
+```
+
+## El2828 (8-channel 24v 2A Digital Output)
+
+**The El2828 device has no configuration parameters**
+
+#### Example
+
+``` yaml
+- device_class: El2828
+  name: el2828_1
+```
+
+## El2798 (8-channel 30v AC/48v DC 2A Solid State Relay Output)
+
+**The El2798 device has no configuration parameters**
+
+#### Example
+
+``` yaml
+- device_class: El2798
+  name: el2798_1
+```
+
 ## El4102 (2-channel 0-10v Analog Output)
 
 **The El4102 device has no configuration parameters.**

src/CMakeLists.txt

@@ -76,12 +76,15 @@ add_library(fastcat STATIC
     jsd/el3602.cc
     jsd/el2124.cc
     jsd/el2809.cc
+    jsd/el2828.cc
+    jsd/el2798.cc
     jsd/el4102.cc
     jsd/el3162.cc
     jsd/el1008.cc
     jsd/el3104.cc
     jsd/el3202.cc
     jsd/el3318.cc
+    jsd/el5042.cc
     jsd/gold_actuator.cc
     jsd/ild1900.cc
     jsd/jed0101.cc
@@ -92,6 +95,8 @@ add_library(fastcat STATIC
     jsd/egd_offline.cc
     jsd/el2124_offline.cc
     jsd/el2809_offline.cc
+    jsd/el2828_offline.cc
+    jsd/el2798_offline.cc
     jsd/el4102_offline.cc
     jsd/el3208_offline.cc
     jsd/el3602_offline.cc
@@ -100,6 +105,7 @@ add_library(fastcat STATIC
     jsd/el3104_offline.cc
     jsd/el3202_offline.cc
     jsd/el3318_offline.cc
+    jsd/el5042_offline.cc
     jsd/ild1900_offline.cc
     jsd/gold_actuator_offline.cc
     jsd/jed0101_offline.cc

src/fcgen/fastcat_types.yaml

@@ -348,6 +348,44 @@ states:
       type: uint8_t
     - name: level_ch16
       type: uint8_t
+
+  - name: el2828
+    fields:
+    - name: level_ch1
+      type: uint8_t
+    - name: level_ch2
+      type: uint8_t
+    - name: level_ch3
+      type: uint8_t
+    - name: level_ch4
+      type: uint8_t
+    - name: level_ch5
+      type: uint8_t
+    - name: level_ch6
+      type: uint8_t
+    - name: level_ch7
+      type: uint8_t
+    - name: level_ch8
+      type: uint8_t
+
+  - name: el2798
+    fields:
+    - name: level_ch1
+      type: uint8_t
+    - name: level_ch2
+      type: uint8_t
+    - name: level_ch3
+      type: uint8_t
+    - name: level_ch4
+      type: uint8_t
+    - name: level_ch5
+      type: uint8_t
+    - name: level_ch6
+      type: uint8_t
+    - name: level_ch7
+      type: uint8_t
+    - name: level_ch8
+      type: uint8_t
 
   - name: el4102
     fields:
@@ -486,6 +524,25 @@ states:
       - name: adc_value_ch8
         type: int16_t
 
+  - name: el5042
+    fields:
+      - name: position_ch1
+        type: int64_t
+      - name: warning_ch1
+        type: int8_t
+      - name: error_ch1
+        type: int8_t
+      - name: ready_ch1
+        type: int8_t
+      - name: position_ch2
+        type: int64_t
+      - name: warning_ch2
+        type: int8_t
+      - name: error_ch2
+        type: int8_t
+      - name: ready_ch2
+        type: int8_t
+
   - name: ild1900
     fields:
     - name: distance_m
@@ -759,6 +816,58 @@ commands:
     - name: channel_ch16
       type: uint8_t
 
+  - name: el2828_write_channel
+    fields:
+    - name: channel
+      type: uint8_t
+    - name: level
+      type: uint8_t
+
+  - name: el2798_write_channel
+    fields:
+    - name: channel
+      type: uint8_t
+    - name: level
+      type: uint8_t
+
+  - name: el2828_write_all_channels
+    fields:
+    - name: channel_ch1
+      type: uint8_t
+    - name: channel_ch2
+      type: uint8_t
+    - name: channel_ch3
+      type: uint8_t
+    - name: channel_ch4
+      type: uint8_t
+    - name: channel_ch5
+      type: uint8_t
+    - name: channel_ch6
+      type: uint8_t
+    - name: channel_ch7
+      type: uint8_t
+    - name: channel_ch8
+      type: uint8_t
+
+  - name: el2798_write_all_channels
+    fields:
+    - name: channel_ch1
+      type: uint8_t
+    - name: channel_ch2
+      type: uint8_t
+    - name: channel_ch3
+      type: uint8_t
+    - name: channel_ch4
+      type: uint8_t
+    - name: channel_ch5
+      type: uint8_t
+    - name: channel_ch6
+      type: uint8_t
+    - name: channel_ch7
+      type: uint8_t
+    - name: channel_ch8
+      type: uint8_t
+
   - name: el4102_write_channel
     fields:
     - name: channel

src/jsd/el2798.cc

@@ -0,0 +1,101 @@
+// Include related header (for cc files)
+#include "fastcat/jsd/el2798.h"
+
+// Include c then c++ libraries
+#include <string.h>
+
+#include <cmath>
+#include <iostream>
+
+// Include external then project includes
+#include "fastcat/yaml_parser.h"
+
+fastcat::El2798::El2798()
+{
+  MSG_DEBUG("Constructed El2798");
+
+  state_       = std::make_shared<DeviceState>();
+  state_->type = EL2798_STATE;
+}
+
+bool fastcat::El2798::ConfigFromYaml(const YAML::Node& node)
+{
+  bool retval = ConfigFromYamlCommon(node);
+  jsd_set_slave_config((jsd_t*)context_, slave_id_, jsd_slave_config_);
+  return retval;
+}
+
+bool fastcat::El2798::ConfigFromYamlCommon(const YAML::Node& node)
+{
+  if (!ParseVal(node, "name", name_)) {
+    return false;
+  }
+  state_->name = name_;
+
+  jsd_slave_config_.configuration_active = true;
+  jsd_slave_config_.driver_type          = JSD_DRIVER_TYPE_EL2798;
+  snprintf(jsd_slave_config_.name, JSD_NAME_LEN, "%s", name_.c_str());
+
+  return true;
+}
+
+bool fastcat::El2798::Read()
+{
+  const jsd_el2798_state_t* jsd_state =
+      jsd_el2798_get_state((jsd_t*)context_, slave_id_);
+
+  state_->el2798_state.level_ch1 = jsd_state->output[0];
+  state_->el2798_state.level_ch2 = jsd_state->output[1];
+  state_->el2798_state.level_ch3 = jsd_state->output[2];
+  state_->el2798_state.level_ch4 = jsd_state->output[3];
+  state_->el2798_state.level_ch5 = jsd_state->output[4];
+  state_->el2798_state.level_ch6 = jsd_state->output[5];
+  state_->el2798_state.level_ch7 = jsd_state->output[6];
+  state_->el2798_state.level_ch8 = jsd_state->output[7];
+
+  return true;
+}
+
+fastcat::FaultType fastcat::El2798::Process()
+{
+  jsd_el2798_process((jsd_t*)context_, slave_id_);
+  return NO_FAULT;
+}
+
+bool fastcat::El2798::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);
+  }
+
+  if (cmd.type == EL2798_WRITE_CHANNEL_CMD) {
+    uint8_t ch = cmd.el2798_write_channel_cmd.channel;
+    if (ch < 1 || ch > JSD_EL2798_NUM_CHANNELS) {
+      ERROR("Channel must be in range (1,%u)", JSD_EL2798_NUM_CHANNELS);
+      return false;
+    }
+
+    jsd_el2798_write_single_channel((jsd_t*)context_, slave_id_, ch - 1,
+                                    cmd.el2798_write_channel_cmd.level);
+
+  } else if (cmd.type == EL2798_WRITE_ALL_CHANNELS_CMD) {
+    uint8_t output_array[JSD_EL2798_NUM_CHANNELS] = {
+        cmd.el2798_write_all_channels_cmd.channel_ch1,
+        cmd.el2798_write_all_channels_cmd.channel_ch2,
+        cmd.el2798_write_all_channels_cmd.channel_ch3,
+        cmd.el2798_write_all_channels_cmd.channel_ch4,
+        cmd.el2798_write_all_channels_cmd.channel_ch5,
+        cmd.el2798_write_all_channels_cmd.channel_ch6,
+        cmd.el2798_write_all_channels_cmd.channel_ch7,
+        cmd.el2798_write_all_channels_cmd.channel_ch8};
+
+    jsd_el2798_write_all_channels((jsd_t*)context_, slave_id_, output_array);
+
+  } else {
+    ERROR("Bad EL2798 Command");
+    return false;
+  }
+  return true;
+}

src/jsd/el2798.h

@@ -0,0 +1,32 @@
+#ifndef FASTCAT_EL2798_H_
+#define FASTCAT_EL2798_H_
+
+// Include related header (for cc files)
+
+// Include c then c++ libraries
+
+// Include external then project includes
+#include "fastcat/jsd/jsd_device_base.h"
+#include "jsd/jsd_el2798_pub.h"
+
+namespace fastcat
+{
+class El2798 : public JsdDeviceBase
+{
+ public:
+  El2798();
+  bool      ConfigFromYaml(const YAML::Node& node) override;
+  bool      Read() override;
+  FaultType Process() override;
+  bool      Write(DeviceCmd& cmd) override;
+
+ protected:
+  bool ConfigFromYamlCommon(const YAML::Node& node);
+
+ private:
+  jsd_slave_config_t jsd_slave_config_ = {0};
+};
+
+}  // namespace fastcat
+
+#endif