Merge pull request #63 from lsst-ts/tickets/DM-44604

DM-44604: new cRIo commands (broadcast for steps, freeze)
lsst-ts · Jun 10, 2024 · a050e84 · a050e84
2 parents 4b385b6 + d0a2757
commit a050e84
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diff --git a/doc/version-history.rst b/doc/version-history.rst
@@ -2,6 +2,10 @@
 Version History
 ###############
 
+v1.11.1
+-------
+* broadcast commands to step and freeze
+
 v1.11.0
 -------
 * Modbus::, ILC::ILCBusList classes. Communication code moved from ModbusBuffer

diff --git a/include/ILC/ILCBusList.h b/include/ILC/ILCBusList.h
@@ -126,6 +126,20 @@ class ILCBusList : public Modbus::BusList {
     };
 
 protected:
+    /**
+     * Call broadcast function.
+     *
+     * @param address broadcast address. Shall be 0, 148, 149, 250 or 255. Not checked if it is correct
+     * @param func function to call
+     * @param delay delay in us (microseconds) for broadcast processing. Bus will remain silence for this
+     * number of us to allow ModBus process the broadcast function
+     * @param counter broadcast counter. ModBus provides method to retrieve this
+     * in unicast function to verify the broadcast was received and processed
+     */
+    void broadcastFunction(uint8_t address, uint8_t func, uint32_t delay, uint8_t counter) {
+        callFunction(address, func, delay, counter);
+    }
+
     /**
      * Call broadcast function.
      *
@@ -136,10 +150,12 @@ class ILCBusList : public Modbus::BusList {
      * @param counter broadcast counter. ModBus provides method to retrieve this
      * in unicast function to verify the broadcast was received and processed
      * @param data function parameters. Usually device's bus ID indexed array
-     _
      */
+    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.

diff --git a/include/Modbus/Buffer.h b/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);

diff --git a/include/cRIO/ElectromechanicalPneumaticILC.h b/include/cRIO/ElectromechanicalPneumaticILC.h
@@ -61,6 +61,7 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
     enum ILC_EM_CMD {
         SET_STEPPER_STEPS = 66,
         STEPPER_FORCE_STATUS = 67,
+        FREEZE_SENSOR = 68,
         SET_DCA_GAIN = 73,
         REPORT_DCA_GAIN = 74,
         SET_FORCE_OFFSET = 75,
@@ -71,6 +72,8 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         REPORT_HARDPOINT_LVDT = 122
     };
 
+    static constexpr uint8_t EA_BROADCAST = 248;
+
     /**
      * Unicast command to command stepper motor moves.
      *
@@ -86,6 +89,19 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         callFunction(address, ILC_EM_CMD::SET_STEPPER_STEPS, 1800, steps);
     }
 
+    /**
+     * Broadcast steps to all force actuators.
+     *
+     * @param counter broadcast counter (0-15)
+     * @param steps commanded steps
+     *
+     * @ingroup M1M3_hp
+     * @ingroup M2
+     */
+    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
@@ -169,6 +185,21 @@ class ElectromechanicalPneumaticILC : public virtual ILC::ILCBusList {
         callFunction(address, ILC_EM_CMD::REPORT_FA_FORCE_STATUS, 1800);
     }
 
+    /**
+     * Freeze sensor values. After issuing freeze, sensor values can be read
+     * out with reportForceActuatorForceStatus (function
+     * REPORT_FA_FORCE_STATUS).
+     *
+     * @param counter broadcast counter (0-15)
+     *
+     * @ingroup M1M3_fa
+     * @ingroup M1M3_hp
+     * @ingroup M2
+     */
+    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).
      *

diff --git a/src/ILC/ILCBusList.cpp b/src/ILC/ILCBusList.cpp
@@ -93,11 +93,6 @@ ILCBusList::ILCBusList(uint8_t bus) : _bus(bus) {
 
 ILCBusList::~ILCBusList() {}
 
-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);
-}
-
 uint8_t ILCBusList::nextBroadcastCounter() {
     _broadcastCounter++;
     if (_broadcastCounter > 15) {