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nasa-jpl / jsd

Just SOEM Drivers
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Adds driver for Elmo Platinum drive in SIL mode #106

Closed d-loret closed 12 months ago

d-loret commented 1 year ago

Summary: Adds the JSD driver for the Elmo Platinum drive when it is configured to operate in SIL mode. It allows interaction with the programmed SIL application through SIL user parameters R1 (32-bit integers) and R2 (64-bit floating-point numbers).

Test Plan: Tested the driver with two different SIL applications. The first application reads and writes to the R1 and R2 variables via PDO and SDO. The second application receives a position command from R2 and feeds it to the built-in CSP functionality.

d-loret commented 12 months ago

About the epd_nominal, I did think about backward compatibility but since the driver type change brakes backward compatibility too, I went ahead with this naming. When looking at the code myself, I found it was helpful to have the suffix to clearly identify the distinction between the two drivers, especially because there are also types/functions common to both types. I will push up the corresponding adjustments in Fastcat to accommodate the driver type field and the new naming.