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Adding jsd changes
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@preston-rogers
preston-rogers committed Oct 30, 2024
1 parent 880e9bc commit 83b5433
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Showing 2 changed files with 122 additions and 20 deletions.
101 changes: 81 additions & 20 deletions src/jsd_el5042.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,27 @@

#include "jsd/jsd_sdo.h"

JSD_EL5042_10MHz = 0,
JSD_EL5042_5MHz = 1,
JSD_EL5042_3_33MHz = 2,
JSD_EL5042_2_5MHz = 3,
JSD_EL5042_2MHz = 4,
JSD_EL5042_1MHz = 9,
JSD_EL5042_500KHz = 17,
JSD_EL5042_250KHz = 19,


const char* jsd_5042_clock_strings[] = {
[JSD_EL5042_10MHz] = "10MHz Frequency",
[JSD_EL5042_5MHz] = "5MHz Frequency",
[JSD_EL5042_3_33MHz] = "3.33MHz Frequency",
[JSD_EL5042_2_5MHz] = "2.5MHz Frequency",
[JSD_EL5042_2MHz] = "2MHz Frequency",
[JSD_EL5042_1MHz] = "1MHz Frequency",
[JSD_EL5042_500KHz] = "500kHz Frequency",
[JSD_EL5042_250KHz] = "250kHz Frequency",
};

/****************************************************
* Public functions
****************************************************/
Expand Down Expand Up @@ -76,48 +97,88 @@ int jsd_el5042_PO2SO_config(ecx_contextt* ecx_context, uint16_t slave_id) {
// 0x8018).
uint32_t sdo_channel_index = 0x8008 + (0x10 * ch);

// Set the encoder supply voltage, either 50 for 5V or 90 for 9V.
uint8_t supply_voltage = 50; // 5V (default)
// Negates the position value
uint8_t invert_feedback_direction = config->el5042.invert_feedback_direction[ch]; // 5V (default)
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x12, JSD_SDO_DATA_U8, &supply_voltage)) {
0x01, JSD_SDO_DATA_U8, &invert_feedback_direction)) {
return 0;
}

// Tell the slave whether or not to send status bits
uint8_t disable_status_bits = config->el5042.disable_status_bits[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x02, JSD_SDO_DATA_U8, &disable_status_bits)) {
return 0;
}

// Set the CRC inversion
uint8_t CRC_invert = 1; // True correspond to CRC transmitted inverted
// Inverts the checksum bits (CRC) received by the encoder
uint8_t invert_checksum = config->el5042.invert_checksum[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x03, JSD_SDO_DATA_U8, &CRC_invert)) {
0x03, JSD_SDO_DATA_U8, &invert_checksum)) {
return 0;
}

// Set the BiSS clock frequency.
// 0 -> 10 MHz
// 1 -> 5 MHz
// 2 -> 3.33 MHz
// 3 -> 2.5 MHz
// 4 -> 2 MHz
// 9 -> 1 MHz
// 17 -> 500 kHz
// 19 -> 250 kHz
uint8_t clock_frequency = 1; // 5 MHz
// Polynomial used for calculating checksum
uint32_t checksum_polynomial = config->el5042.checksum_polynomial[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x11, JSD_SDO_DATA_U8, &checksum_polynomial)) {
return 0;
}

// Set the encoder supply voltage, either 50 for 5V or 90 for 9V
uint8_t supply_voltage = config->el5042.supply_voltage[ch]; // 5V (default)
if (supply_voltage != 50 && supply_voltage != 90) {
MSG("Attempt to set supply voltage on channel %d to value of %d. "
"Only a value of 50 (for 5V) and 90 (for 9V) is permitted!", ch, supply_volage);
return 0;
}
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x12, JSD_SDO_DATA_U8, &supply_voltage)) {
return 0;
}

// Clock frequency for the BiSS-C protocol
uint8_t clock_frequency = config->el5042.clock_frequency[ch];
MSG("\t clock[%d]: %s", ch, jsd_5042_clock_strings[clock_frequency]);
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x13, JSD_SDO_DATA_U8, &clock_frequency)) {
return 0;
}

// Set the number of multiturn bits
uint8_t multiturn_bits = 0;
// Option to either use dual code (0) or gray code (1) for accurate data
uint8_t gray_code = config->el5042.gray_code[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x13, JSD_SDO_DATA_U8, &gray_code)) {
return 0;
}

// Set the number of multiturn bits (how many complete rotations)
uint8_t multiturn_bits = config->el5042.multiturn_bits[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x15, JSD_SDO_DATA_U8, &multiturn_bits)) {
return 0;
}

// Set the number of singleturn bits
uint8_t singleturn_bits = 19;
// Set the number of singleturn bits (resolution of a single rotation)
uint8_t singleturn_bits = config->el5042.singleturn_bits[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x16, JSD_SDO_DATA_U8, &singleturn_bits)) {
return 0;
}

// If there are addition null bits at the end of the packet, we shift by offset bits to get data
uint8_t offset_bits = config->el5042.offset_bits[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x16, JSD_SDO_DATA_U8, &offset_bits)) {
return 0;
}

// Opt for SSI mode (over BiSS-C)
uint8_t ssi_mode = config->el5042.ssi_mode[ch];
if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
0x16, JSD_SDO_DATA_U8, &ssi_mode)) {
return 0;
}
}

config->PO2SO_success = true;
Expand Down
41 changes: 41 additions & 0 deletions src/jsd_el5042_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,53 @@ extern "C" {
#define JSD_EL5042_PRODUCT_CODE (uint32_t)0x13b23052
#define JSD_EL5042_NUM_CHANNELS 2

/**
* @brief EL5042 BiSS-C clock frequencies
*/
typedef enum {
JSD_EL5042_10MHz = 0,
JSD_EL5042_5MHz = 1,
JSD_EL5042_3_33MHz = 2,
JSD_EL5042_2_5MHz = 3,
JSD_EL5042_2MHz = 4,
JSD_EL5042_1MHz = 9,
JSD_EL5042_500KHz = 17,
JSD_EL5042_250KHz = 19,
} jsd_el5042_clock_t;

extern const char* jsd_el5042_clock_strings[];

/**
* @brief Configuration struct for EL5042 device initialization
*/
typedef struct {
uint8_t invert_feedback_direction[JSD_EL5042_NUM_CHANNELS];
uint8_t disable_status_bits[JSD_EL5042_NUM_CHANNELS];
uint8_t invert_checksum[JSD_EL5042_NUM_CHANNELS];
uint32_t checksum_polynomial[JSD_EL5042_NUM_CHANNELS];
uint8_t supply_voltage[JSD_EL5042_NUM_CHANNELS];
jsd_el5042_clock_t clock_frequency[JSD_EL5042_NUM_CHANNELS];
uint8_t gray_code[JSD_EL5042_NUM_CHANNELS];
uint8_t multiturn_bits[JSD_EL5042_NUM_CHANNELS];
uint8_t singleturn_bits[JSD_EL5042_NUM_CHANNELS];
uint8_t offset_bits[JSD_EL5042_NUM_CHANNELS];
uint8_t ssi_mode[JSD_EL5042_NUM_CHANNELS];
} jsd_el5042_config_t;


typedef struct {
jsd_el3202_element_t element[JSD_EL3202_NUM_CHANNELS]; ///< Type of RTD
jsd_beckhoff_filter_t
filter[JSD_EL3202_NUM_CHANNELS]; ///< Digital Notch Filter Opt
jsd_el3202_connection_t
connection[JSD_EL3202_NUM_CHANNELS]; ///< 2,3, or 4 wire
double wire_resistance[JSD_EL3202_NUM_CHANNELS]; ///< User supplied, in Ohms
jsd_el3202_presentation_t
presentation[JSD_EL3202_NUM_CHANNELS]; ///< Data presentation, default:
///< low rez(1/10 C)
} jsd_el3202_config_t;


/**
* @brief Read struct for EL5042 device
*/
Expand Down

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