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Fix signedness handling for EL3XXX and EL4XXX terminals #67

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merged 3 commits into from
Aug 1, 2024
Merged

Fix signedness handling for EL3XXX and EL4XXX terminals #67

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c88ad08
FIX: interpret analog input values as int16
JJL772 Jun 22, 2023
56e60f0
Improve signedness handling for EL4XXX analog output terminals
JJL772 Jul 18, 2024
829e1d2
MNT: clang-format
JJL772 Aug 1, 2024
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7 changes: 4 additions & 3 deletions ek9000App/src/devEL3XXX.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,8 @@ struct EL30XXStandardInputPDO_t {
uint8_t _r2 : 6; // Last bit in this align is Sync error for EL31XX
uint8_t txpdo_state : 1;
uint8_t txpdo_toggle : 1;
uint16_t value;
int16_t value; // Must be signed to accommodate bipolar terminals. Unsigned representation still defines range as
// 0-32767, so this is safe.
};
#pragma pack()

Expand Down Expand Up @@ -339,7 +340,7 @@ struct EL331XInputPDO_t {
uint8_t error : 1;
uint8_t txpdo_state : 1;
uint8_t txpdo_toggle : 1;
uint16_t value;
int16_t value;
};

struct EL3314_0010_InputPDO_t {
Expand All @@ -351,7 +352,7 @@ struct EL3314_0010_InputPDO_t {
uint8_t txpdo_state : 1;
uint8_t txpdo_toggle : 1;
uint8_t padding1 : 7; // Pad it out to byte boundary
uint16_t value;
int16_t value;
};
#pragma pack()

Expand Down
51 changes: 39 additions & 12 deletions ek9000App/src/devEL4XXX.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,10 @@ static long EL40XX_init_record(void* record);
static long EL40XX_write_record(void* record);
static long EL40XX_linconv(void* precord, int after);

struct EL40XXDpvt_t : public TerminalDpvt_t {
bool sign = false;
};

struct devEL40XX_t {
long num;
DEVSUPFUN report;
Expand All @@ -54,6 +58,11 @@ struct devEL40XX_t {

epicsExportAddress(dset, devEL40XX);

// The default representation for all of these terminals is signed. Unsigned may also be set, even for the bipolar
// terminals that may produce a negative value. To retain some level of support for unsigned representation, terminals
// that have a positive output range use uint16_t as the PDO type. Bipolar terminals always use int16_t to support
// negative values and will behave incorrectly if you choose the unsigned (or absolute w/MSB sign) representation.

DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4001);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4002);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4004);
Expand All @@ -66,23 +75,33 @@ DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4021);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4022);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4024);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4028);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4031);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4032);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4034);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4038);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4031); // EL403X support negative output values.
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4032);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4034);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4038);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4102);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4104);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4112);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4114);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4112); // EL411X support negative output values.
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4114);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4122);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4132);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(uint16_t, EL4134);
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4132); // EL413X support negative output values.
DEFINE_SINGLE_CHANNEL_OUTPUT_PDO(int16_t, EL4134);

static bool isTerminalSigned(int id) {
if (id <= 4039 && id >= 4030)
return true; // EL403X
if (id <= 4119 && id >= 4110)
return true; // EL411X
if (id <= 4139 && id >= 4130)
return true; // EL413X
return false;
}

static void EL40XX_WriteCallback(CALLBACK* callback) {
void* record = NULL;
callbackGetUser(record, callback);
aoRecord* pRecord = (aoRecord*)record;
TerminalDpvt_t* dpvt = (TerminalDpvt_t*)pRecord->dpvt;
EL40XXDpvt_t* dpvt = (EL40XXDpvt_t*)pRecord->dpvt;
free(callback);
int status = 0;

Expand All @@ -103,9 +122,14 @@ static void EL40XX_WriteCallback(CALLBACK* callback) {
}

/* Set buffer & do write */
uint16_t buf = (int16_t)pRecord->rval;
char buf[2];
if (dpvt->sign)
*(int16_t*)buf = (int16_t)pRecord->rval;
else
*(uint16_t*)buf = (uint16_t)pRecord->rval;

status = dpvt->pterm->doEK9000IO(MODBUS_WRITE_MULTIPLE_REGISTERS,
dpvt->pterm->m_outputStart + (dpvt->channel - 1), &buf, 1);
dpvt->pterm->m_outputStart + (dpvt->channel - 1), (uint16_t*)buf, 1);
}

/* Check error */
Expand Down Expand Up @@ -135,7 +159,7 @@ static long EL40XX_init(int) {
static long EL40XX_init_record(void* record) {
aoRecord* pRecord = (aoRecord*)record;
pRecord->dpvt = util::allocDpvt();
TerminalDpvt_t* dpvt = (TerminalDpvt_t*)pRecord->dpvt;
EL40XXDpvt_t* dpvt = (EL40XXDpvt_t*)pRecord->dpvt;
uint16_t termid = 0;

/* Verify terminal */
Expand Down Expand Up @@ -164,6 +188,9 @@ static long EL40XX_init_record(void* record) {
return 1;
}

/* Determine if it's signed or not */
dpvt->sign = isTerminalSigned(termid);

return 0;
}

Expand Down
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