Add Support for SMC EX-260

src/Kbuild

@@ -39,5 +39,7 @@ lcec-objs := \
     lcec_deasda.o \
 	lcec_dems300.o \
     lcec_omrg5.o \
-    lcec_ph3lm2rm.o
+    lcec_ph3lm2rm.o\
+    lcec_ex260.o
+
 

src/lcec.h

@@ -62,6 +62,7 @@ do {                        \
 #define LCEC_DELTA_VID    0x000001dd
 #define LCEC_MODUSOFT_VID 0x00000907
 #define LCEC_OMRON_VID    0x00000083
+#define LCEC_SMC_VID      0x00000114
 
 // State update period (ns)
 #define LCEC_STATE_UPDATE_PERIOD 1000000000LL

src/lcec_conf.c

@@ -311,6 +311,11 @@ static const LCEC_CONF_TYPELIST_T slaveTypes[] = {
 
   // modusoft PH3LM2RM converter
   { "Ph3LM2RM", lcecSlaveTypePh3LM2RM, NULL },
+        // modusoft PH3LM2RM converter
+  { "EX260-SEC1", lcecSlaveTypeEX260_SEC1, NULL },
+  { "EX260-SEC2", lcecSlaveTypeEX260_SEC2, NULL },
+  { "EX260-SEC3", lcecSlaveTypeEX260_SEC3, NULL },
+  { "EX260-SEC4", lcecSlaveTypeEX260_SEC4, NULL },
 
   { NULL }
 };

src/lcec_conf.h

@@ -193,7 +193,11 @@ typedef enum {
   lcecSlaveTypeOmrG5_KN50F,
   lcecSlaveTypeOmrG5_KN75F,
   lcecSlaveTypeOmrG5_KN150F,
-  lcecSlaveTypePh3LM2RM
+  lcecSlaveTypePh3LM2RM,
+  lcecSlaveTypeEX260_SEC1,
+  lcecSlaveTypeEX260_SEC2,
+  lcecSlaveTypeEX260_SEC3,
+  lcecSlaveTypeEX260_SEC4
 } LCEC_SLAVE_TYPE_T;
 
 typedef struct {

src/lcec_ex260.c

@@ -0,0 +1,92 @@
+//
+// Created by chad on 2021-05-28.
+//
+
+#include "lcec_ex260.h"
+
+typedef struct {
+    hal_bit_t *sol_1a;
+    hal_bit_t *sol_1b;
+    hal_bit_t *sol_2a;
+    hal_bit_t *sol_2b;
+    hal_bit_t *sol_3a;
+    hal_bit_t *sol_3b;
+    hal_bit_t *sol_4a;
+    hal_bit_t *sol_4b;
+    unsigned int pdo_os;
+    unsigned int pdo_bp;
+} lcec_ex260_pin_t;
+
+static const lcec_pindesc_t slave_pins[] = {
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_1a), "%s.%s.%s.sol-%d-1a" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_1b), "%s.%s.%s.sol-%d-1b" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_2a), "%s.%s.%s.sol-%d-2a" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_2b), "%s.%s.%s.sol-%d-2b" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_3a), "%s.%s.%s.sol-%d-3a" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_3b), "%s.%s.%s.sol-%d-3b" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_4a), "%s.%s.%s.sol-%d-4a" },
+        { HAL_BIT, HAL_IN, offsetof(lcec_ex260_pin_t, sol_4b), "%s.%s.%s.sol-%d-4b" },
+        { HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
+};
+
+void lcec_ex260_write(struct lcec_slave *slave, long period);
+
+int lcec_ex260_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
+  lcec_master_t *master = slave->master;
+  lcec_ex260_pin_t *hal_data;
+  lcec_ex260_pin_t *pin;
+  int i;
+  int err;
+
+  // initialize callbacks
+  slave->proc_write = lcec_ex260_write;
+
+  // alloc hal memory
+  if ((hal_data = hal_malloc(sizeof(lcec_ex260_pin_t) * slave->pdo_entry_count)) == NULL) {
+    rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "hal_malloc() for slave %s.%s failed\n", master->name, slave->name);
+    return -EIO;
+  }
+  memset(hal_data, 0, sizeof(lcec_ex260_pin_t) * slave->pdo_entry_count);
+  slave->hal_data = hal_data;
+
+  // initialize pins
+  for (i=0, pin=hal_data; i<slave->pdo_entry_count; i++, pin++) {
+    // initialize PDO entry
+    LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x3101, 0x01 + i, &pin->pdo_os, &pin->pdo_bp);
+
+    if ((err = lcec_pin_newf_list(pin, slave_pins, LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
+      return err;
+    }
+
+  }
+
+  return 0;
+}
+
+void lcec_ex260_write(struct lcec_slave *slave, long period) {
+  lcec_master_t *master = slave->master;
+  lcec_ex260_pin_t *hal_data = (lcec_ex260_pin_t *) slave->hal_data;
+  uint8_t *pd = master->process_data;
+  lcec_ex260_pin_t *pin;
+  int i, s;
+
+  // wait for slave to be operational
+  if (!slave->state.operational) {
+    return;
+  }
+
+  // set outputs
+  for (i=0, pin=hal_data; i<slave->pdo_entry_count; i++, pin++) {
+    s = *(pin->sol_1a);
+    s |= *(pin->sol_1b) << 1;
+    s |= *(pin->sol_2a) << 2;
+    s |= *(pin->sol_2b) << 3;
+    s |= *(pin->sol_3a) << 4;
+    s |= *(pin->sol_3b) << 5;
+    s |= *(pin->sol_4a) << 6;
+    s |= *(pin->sol_4b) << 7;
+    EC_WRITE_U8(&pd[pin->pdo_os], s);
+
+  }
+}
+

src/lcec_ex260.h

@@ -0,0 +1,31 @@
+//
+// Created by chad on 2021-05-28.
+//
+
+#ifndef _LCEC_EX260_H
+#define _LCEC_EX260_H
+
+#include "lcec.h"
+#include "lcec_conf.h"
+
+/* Master 0, Slave 3, "EX260-SEC3"
+* Vendor ID:       0x00000114
+* Product code:    0x01000003
+* Revision number: 0x00010002
+*/
+
+#define LCEC_EX260_VID LCEC_SMC_VID
+#define LCEC_EX260_SEC1_PID 0x01000001
+#define LCEC_EX260_SEC2_PID 0x01000002
+#define LCEC_EX260_SEC3_PID 0x01000003
+#define LCEC_EX260_SEC4_PID 0x01000004
+
+#define LCEC_EX260_SEC1_PDOS 4
+#define LCEC_EX260_SEC2_PDOS 4
+#define LCEC_EX260_SEC3_PDOS 2
+#define LCEC_EX260_SEC4_PDOS 2
+
+
+int lcec_ex260_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
+
+#endif //_LCEC_EX260_H

src/lcec_main.c

@@ -55,6 +55,7 @@
 #include "lcec_dems300.h"
 #include "lcec_omrg5.h"
 #include "lcec_ph3lm2rm.h"
+#include "lcec_ex260.h"
 
 #include "rtapi_app.h"
 
@@ -257,6 +258,11 @@ static const lcec_typelist_t types[] = {
   { lcecSlaveTypeOmrG5_KN75F,  LCEC_OMRG5_VID, LCEC_OMRG5_R88D_KN75F_ECT_PID,  LCEC_OMRG5_PDOS, 0, NULL, lcec_omrg5_init},
   { lcecSlaveTypeOmrG5_KN150F, LCEC_OMRG5_VID, LCEC_OMRG5_R88D_KN150F_ECT_PID, LCEC_OMRG5_PDOS, 0, NULL, lcec_omrg5_init},
 
+  { lcecSlaveTypeEX260_SEC1, LCEC_EX260_VID, LCEC_EX260_SEC1_PID, LCEC_EX260_SEC1_PDOS, lcec_ex260_init},
+  { lcecSlaveTypeEX260_SEC2, LCEC_EX260_VID, LCEC_EX260_SEC2_PID, LCEC_EX260_SEC2_PDOS, lcec_ex260_init},
+  { lcecSlaveTypeEX260_SEC3, LCEC_EX260_VID, LCEC_EX260_SEC3_PID, LCEC_EX260_SEC3_PDOS, lcec_ex260_init},
+  { lcecSlaveTypeEX260_SEC4, LCEC_EX260_VID, LCEC_EX260_SEC4_PID, LCEC_EX260_SEC4_PDOS, lcec_ex260_init},
+
   // modusoft PH3LM2RM converter
   { lcecSlaveTypePh3LM2RM, LCEC_PH3LM2RM_VID, LCEC_PH3LM2RM_PID, LCEC_PH3LM2RM_PDOS, 0, NULL, lcec_ph3lm2rm_init},