broadcastStepperSteps command

include/ILC/ILCBusList.h

@@ -137,10 +137,13 @@ class ILCBusList : public Modbus::BusList {
      * in unicast function to verify the broadcast was received and processed
      * @param data function parameters. Usually device's bus ID indexed array
      */
-    void broadcastFunction(uint8_t address, uint8_t func, uint32_t delay);
+    void broadcastFunction(uint8_t address, uint8_t func, uint32_t delay, uint8_t counter);
 
+    template<typename data_type>
     void broadcastFunction(uint8_t address, uint8_t func, uint32_t delay, uint8_t counter,
-                           std::vector<uint8_t> data);
+                           std::vector<data_type> data) {
+        callFunction(address, func, delay, counter, data);
+    }
 
     /**
      * Return next bus broadcast counter.

include/Modbus/Buffer.h

@@ -264,6 +264,11 @@ inline void Buffer::write(std::vector<uint8_t> data) {
     writeVector<uint8_t>(data);
 }
 
+template <>
+inline void Buffer::write(std::vector<int8_t> data) {
+    writeVector<int8_t>(data);
+}
+
 template <>
 inline void Buffer::write(std::vector<uint16_t> data) {
     writeVector<uint16_t>(data);

include/cRIO/ElectromechanicalPneumaticILC.h

@@ -72,6 +72,9 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         REPORT_HARDPOINT_LVDT = 122
     };
 
+
+    static constexpr uint8_t EA_BROADCAST = 248;
+
     /**
      * Unicast command to command stepper motor moves.
      *
@@ -87,6 +90,10 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         callFunction(address, ILC_EM_CMD::SET_STEPPER_STEPS, 1800, steps);
     }
 
+    void broadcastStepperSteps(uint8_t counter, std::vector<int8_t> steps) {
+        broadcastFunction(EA_BROADCAST, ILC_EM_CMD::SET_STEPPER_STEPS, 1800, counter, steps);
+    }
+
     /**
      * Unicast Stepper motor @glos{ILC} Force [N] and Status Request. @glos{ILC} command
      * code 67 (0x43). Applies for M2 tangent and axials controllers, as well
@@ -170,7 +177,7 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         callFunction(address, ILC_EM_CMD::REPORT_FA_FORCE_STATUS, 1800);
     }
 
-    void freezeSensor() {broadcastFunction(248, ILC_EM_CMD::FREEZE_SENSOR, 180); }
+    void freezeSensor(uint8_t counter) {broadcastFunction(EA_BROADCAST, ILC_EM_CMD::FREEZE_SENSOR, 180, counter); }
 
     /**
      * Unicast ADC Channel Offset and Sensitivity. @glos{ILC} command code 81 (0x51).

src/ILC/ILCBusList.cpp

@@ -93,13 +93,8 @@ ILCBusList::ILCBusList(uint8_t bus) : _bus(bus) {
 
 ILCBusList::~ILCBusList() {}
 
-void ILCBusList::broadcastFunction(uint8_t address, uint8_t func, uint32_t delay) {
-    callFunction(address, func, delay);
-}
-
-void ILCBusList::broadcastFunction(uint8_t address, uint8_t func, uint32_t delay, uint8_t counter,
-                                   std::vector<uint8_t> data) {
-    callFunction(address, func, delay, counter, data);
+void ILCBusList::broadcastFunction(uint8_t address, uint8_t func, uint32_t delay, uint8_t counter) {
+    callFunction(address, func, delay, counter);
 }
 
 uint8_t ILCBusList::nextBroadcastCounter() {