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Merge pull request #17 from nasa-jpl/jed-dev
Jed dev
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| #ifndef JSD_JED0101_PUB_H | ||
| #define JSD_JED0101_PUB_H | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| #include "jsd/jsd_pub.h" | ||
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| /** | ||
| * @brief Read the JED0101 state | ||
| * | ||
| * @param self pointer to JSD context | ||
| * @param slave_id slave id of JED0101 | ||
| * @return Pointer to JED0101 state | ||
| */ | ||
| const jsd_jed0101_state_t* jsd_jed0101_get_state(jsd_t* self, uint16_t slave_id); | ||
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| /** | ||
| * @brief Sets the cmd PDO register on the JED0101 board | ||
| * | ||
| * @param self pointer to JSD context | ||
| * @param slave_id id of JED0101 | ||
| * @param cmd Command integer value | ||
| */ | ||
| void jsd_jed0101_set_cmd_value(jsd_t* self, uint16_t slave_id, uint16_t cmd); | ||
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| /** | ||
| * @brief Converts raw PDO data to state data | ||
| * | ||
| * @param self pointer to JSD context | ||
| * @param slave_id id of JED0101 | ||
| */ | ||
| void jsd_jed0101_read(jsd_t* self, uint16_t slave_id); | ||
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| /** | ||
| * @brief Processes Async SDO responses | ||
| * | ||
| * @param self pointer to JSD context | ||
| * @param slave_id id of JED0101 | ||
| */ | ||
| void jsd_jed0101_process(jsd_t* self, uint16_t slave_id); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| #include "jsd/jsd_jed0200.h" | ||
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| #include <assert.h> | ||
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| #include "jsd/jsd.h" | ||
| #include "jsd/jsd_sdo.h" | ||
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| /**************************************************** | ||
| * Public functions | ||
| ****************************************************/ | ||
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| const jsd_jed0200_state_t* jsd_jed0200_get_state(jsd_t* self, uint16_t slave_id) { | ||
| assert(self); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_id == JSD_JED0200_PRODUCT_CODE); | ||
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| jsd_jed0200_state_t* state = &self->slave_states[slave_id].jed0200; | ||
| return state; | ||
| } | ||
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| void jsd_jed0200_set_cmd_value(jsd_t* self, uint16_t slave_id, uint16_t cmd) { | ||
| assert(self); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_id == JSD_JED0200_PRODUCT_CODE); | ||
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| jsd_jed0200_state_t* state = &self->slave_states[slave_id].jed0200; | ||
| state->cmd = cmd; | ||
| } | ||
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| void jsd_jed0200_read(jsd_t* self, uint16_t slave_id) { | ||
| assert(self); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_id == JSD_JED0200_PRODUCT_CODE); | ||
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| jsd_jed0200_state_t* state = &self->slave_states[slave_id].jed0200; | ||
| jsd_jed0200_txpdo_t* txpdo = | ||
| (jsd_jed0200_txpdo_t*)self->ecx_context.slavelist[slave_id].inputs; | ||
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| state->status = txpdo->status; | ||
| state->ticks = txpdo->ticks; | ||
| state->voltage_hv = txpdo->voltage_hv; | ||
| state->voltage_lv = txpdo->voltage_lv; | ||
| state->voltage_12v = txpdo->voltage_12v; | ||
| state->temp_ambient = txpdo->temp_ambient; | ||
| state->temp_actuator = txpdo->temp_actuator; | ||
| state->humidity = txpdo->humidity; | ||
| state->pressure = txpdo->pressure; | ||
| state->brake_current = txpdo->brake_current; | ||
| state->brake_cc_val = txpdo->brake_cc_val; | ||
| } | ||
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| void jsd_jed0200_process(jsd_t* self, uint16_t slave_id) { | ||
| assert(self); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_id == JSD_JED0200_PRODUCT_CODE); | ||
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| jsd_jed0200_state_t* state = &self->slave_states[slave_id].jed0200; | ||
| jsd_jed0200_rxpdo_t* rxpdo = | ||
| (jsd_jed0200_rxpdo_t*)self->ecx_context.slavelist[slave_id].outputs; | ||
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| rxpdo->cmd = state->cmd; | ||
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| jsd_async_sdo_process_response(self, slave_id); | ||
| } | ||
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| /**************************************************** | ||
| * Private functions | ||
| ****************************************************/ | ||
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| bool jsd_jed0200_init(jsd_t* self, uint16_t slave_id) { | ||
| assert(self); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_id == JSD_JED0200_PRODUCT_CODE); | ||
| assert(self->ecx_context.slavelist[slave_id].eep_man == JSD_JPL_VENDOR_ID); | ||
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| ec_slavet* slaves = self->ecx_context.slavelist; | ||
| ec_slavet* slave = &slaves[slave_id]; | ||
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| jsd_slave_config_t* config = &self->slave_configs[slave_id]; | ||
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| slave->PO2SOconfigx = jsd_jed0200_PO2SO_config; | ||
| config->PO2SO_success = false; // only set true in PO2SO callback | ||
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| jsd_jed0200_state_t* state = &self->slave_states[slave_id].jed0200; | ||
| state->cmd = config->jed0200.initial_cmd; | ||
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| return true; | ||
| } | ||
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| int jsd_jed0200_PO2SO_config(ecx_contextt* ecx_context, uint16_t slave_id) { | ||
| jsd_slave_config_t* slave_configs = | ||
| (jsd_slave_config_t*)ecx_context->userdata; | ||
| jsd_slave_config_t* config = &slave_configs[slave_id]; | ||
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| // There were initial issues with the Sync Managers having the wrong address | ||
| uint8_t SM0, SM1, SM2, SM3; | ||
| jsd_sdo_get_param_blocking(ecx_context, slave_id, 0x1C00, 1, JSD_SDO_DATA_U8, | ||
| &SM0); | ||
| jsd_sdo_get_param_blocking(ecx_context, slave_id, 0x1C00, 2, JSD_SDO_DATA_U8, | ||
| &SM1); | ||
| jsd_sdo_get_param_blocking(ecx_context, slave_id, 0x1C00, 3, JSD_SDO_DATA_U8, | ||
| &SM2); | ||
| jsd_sdo_get_param_blocking(ecx_context, slave_id, 0x1C00, 4, JSD_SDO_DATA_U8, | ||
| &SM3); | ||
| if (SM0 != 1 || SM1 != 2 || SM2 != 3 || SM3 != 4) { | ||
| ERROR("Sync Manager are configured incorrectly, check the 0x1C00 register"); | ||
| config->PO2SO_success = false; | ||
| } else { | ||
| config->PO2SO_success = true; | ||
| SUCCESS("JED0200[%d] drive parameters successfully configured and verified", | ||
| slave_id); | ||
| } | ||
| return 1; | ||
| } |
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