diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/MetalMusings_EaserCAT_6000.xml b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/MetalMusings_EaserCAT_6000.xml
index d83d547..4da764b 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/MetalMusings_EaserCAT_6000.xml
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/MetalMusings_EaserCAT_6000.xml
@@ -8,12 +8,12 @@
MachineControl
- Incremental encoder
+ Plasma cutter
- EaserCAT 6000
+ EaserCAT 6000
MetalMusings EaserCAT 6000
MachineControl
@@ -77,7 +77,7 @@
DT1600
- 144
+ 48
0
Max SubIndex
@@ -90,7 +90,7 @@
1
- New array subitem
+ Output4
UDINT
32
16
@@ -98,40 +98,10 @@
ro
-
- 2
- New array subitem
- UDINT
- 32
- 48
-
- ro
-
-
-
- 3
- New array subitem
- UDINT
- 32
- 80
-
- ro
-
-
-
- 4
- New array subitem
- UDINT
- 32
- 112
-
- ro
-
-
DT1A00
- 400
+ 48
0
Max SubIndex
@@ -144,7 +114,7 @@
1
- New array subitem
+ Input12
UDINT
32
16
@@ -152,116 +122,6 @@
ro
-
- 2
- New array subitem
- UDINT
- 32
- 48
-
- ro
-
-
-
- 3
- New array subitem
- UDINT
- 32
- 80
-
- ro
-
-
-
- 4
- New array subitem
- UDINT
- 32
- 112
-
- ro
-
-
-
- 5
- New array subitem
- UDINT
- 32
- 144
-
- ro
-
-
-
- 6
- New array subitem
- UDINT
- 32
- 176
-
- ro
-
-
-
- 7
- New array subitem
- UDINT
- 32
- 208
-
- ro
-
-
-
- 8
- New array subitem
- UDINT
- 32
- 240
-
- ro
-
-
-
- 9
- New array subitem
- UDINT
- 32
- 272
-
- ro
-
-
-
- 10
- New array subitem
- UDINT
- 32
- 304
-
- ro
-
-
-
- 11
- New array subitem
- UDINT
- 32
- 336
-
- ro
-
-
-
- 12
- New array subitem
- UDINT
- 32
- 368
-
- ro
-
-
DT1A01
@@ -287,6 +147,30 @@
+
+ DT1A02
+ 48
+
+ 0
+ Max SubIndex
+ USINT
+ 8
+ 0
+
+ ro
+
+
+
+ 1
+ Frequency
+ UDINT
+ 32
+ 16
+
+ ro
+
+
+
DT1C00ARR
USINT
@@ -354,15 +238,15 @@
DT1C13ARR
UINT
- 32
+ 48
1
- 2
+ 3
DT1C13
- 48
+ 64
0
Max SubIndex
@@ -376,79 +260,13 @@
Elements
DT1C13ARR
- 32
+ 48
16
ro
-
- DT6000ARR
- BOOL
- 12
-
- 1
- 12
-
-
-
- DT6000
- 28
-
- 0
- Max SubIndex
- USINT
- 8
- 0
-
- ro
-
-
-
- Elements
- DT6000ARR
- 12
- 16
-
- ro
- T
-
-
-
-
- DT7000ARR
- BOOL
- 4
-
- 1
- 4
-
-
-
- DT7000
- 20
-
- 0
- Max SubIndex
- USINT
- 8
- 0
-
- ro
-
-
-
- Elements
- DT7000ARR
- 4
- 16
-
- ro
- R
-
-
-
UDINT
32
@@ -474,8 +292,8 @@
32
- BOOL
- 1
+ DINT
+ 32
@@ -550,13 +368,13 @@
Product Code
- 13294767
+ 24576
Revision Number
- 3
+ 2
@@ -572,38 +390,20 @@
+
+
+ PDO Mapping
+
+ #x1A02
+
+
ro
@@ -830,91 +593,15 @@
+
@@ -983,122 +655,24 @@
Inputs
#x1600
- Output
+ Output4
#x7000
- #x1
- 1
- New array subitem
- BOOL
-
-
- #x7000
- #x2
- 1
- New array subitem
- BOOL
-
-
- #x7000
- #x3
- 1
- New array subitem
- BOOL
-
-
- #x7000
- #x4
- 1
- New array subitem
- BOOL
+ #x0
+ 8
+ Output4
+ USINT
#x1A00
- Input
+ Input12
#x6000
- #x1
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x2
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x3
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x4
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x5
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x6
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x7
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x8
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #x9
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #xa
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #xb
- 1
- New array subitem
- BOOL
-
-
- #x6000
- #xc
- 1
- New array subitem
- BOOL
+ #x0
+ 32
+ Input12
+ DINT
@@ -1112,8 +686,19 @@
REAL
+
+ #x1A02
+ Frequency
+
+ #x6002
+ #x0
+ 32
+ Frequency
+ UDINT
+
+
-
+
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/ecat_options.h b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/ecat_options.h
index 6f10889..9bf3003 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/ecat_options.h
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/ecat_options.h
@@ -33,8 +33,8 @@
#define SM3_smc 0x20
#define SM3_act 1
-#define MAX_MAPPINGS_SM2 4
-#define MAX_MAPPINGS_SM3 13
+#define MAX_MAPPINGS_SM2 1
+#define MAX_MAPPINGS_SM3 3
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.bin b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.bin
index 60cff24..3787c1b 100755
Binary files a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.bin and b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.bin differ
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.hex b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.hex
index d157a2e..625d11f 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.hex
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/eeprom.hex
@@ -1,10 +1,10 @@
-:2000000080060344640000000000000000001400AA0A0000AFDCCA0003000000010000008E
+:2000000080060344640000000000000000001400AA0A000000600000020000000100000084
:20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070
:200080000A002000040D456173657243415420363030300E4D616368696E65436F6E7472AE
:2000A0006F6C06494D474342591A4D6574616C4D7573696E677320456173657243415420A9
-:2000C000363030301E00100002030104001F000000000000000000001100000000000000F2
+:2000C000363030301E001000020301040013000000000000000000001100000000000000FE
:2000E000000000000000000028000200010203002900100000100002260001010012000249
:20010000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF49
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/esi.json b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/esi.json
index 8ab241d..61bc303 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/esi.json
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/esi.json
@@ -2,9 +2,9 @@
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
- "ProductCode": "0xcadcaf",
+ "ProductCode": "0x6000",
"ProfileNo": "5001",
- "RevisionNumber": "0x003",
+ "RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
@@ -15,7 +15,7 @@
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
- "TextGroupName5": "Incremental encoder",
+ "TextGroupName5": "Plasma cutter",
"ImageName": "IMGCBY",
"TextDeviceType": "EaserCAT 6000",
"TextDeviceName": "MetalMusings EaserCAT 6000",
@@ -71,78 +71,15 @@
"data": "&Obj.EncFrequency"
},
"6000": {
- "otype": "ARRAY",
- "name": "Input",
+ "otype": "VAR",
+ "name": "Input12",
"access": "RO",
- "items": [
- {
- "name": "Max SubIndex"
- },
- {
- "name": "New array subitem",
- "data": "&Obj.Input[0]",
- "value": "0"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[1]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[2]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[3]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[4]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[5]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[6]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[7]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[8]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[9]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[10]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Input[11]"
- }
- ],
"pdo_mappings": [
"txpdo"
],
- "dtype": "BOOLEAN"
+ "dtype": "INTEGER32",
+ "value": "0",
+ "data": "&Obj.Input12"
},
"6001": {
"otype": "VAR",
@@ -154,41 +91,30 @@
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Velocity"
+ },
+ "6002": {
+ "otype": "VAR",
+ "name": "Frequency",
+ "access": "RO",
+ "pdo_mappings": [
+ "txpdo"
+ ],
+ "dtype": "UNSIGNED32",
+ "value": "0",
+ "data": "&Obj.Frequency"
}
},
"rxpdo": {
"7000": {
- "otype": "ARRAY",
- "name": "Output",
+ "otype": "VAR",
+ "name": "Output4",
"access": "RO",
- "items": [
- {
- "name": "Max SubIndex"
- },
- {
- "name": "New array subitem",
- "data": "&Obj.Output[0]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Output[1]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Output[2]"
- },
- {
- "name": "New array subitem",
- "value": "0",
- "data": "&Obj.Output[3]"
- }
- ],
"pdo_mappings": [
"rxpdo"
],
- "dtype": "BOOLEAN"
+ "dtype": "UNSIGNED8",
+ "value": "0",
+ "data": "&Obj.Output4"
},
"60664": {
"otype": "VAR",
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/objectlist.c b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/objectlist.c
index 6a74bed..e060eb0 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/objectlist.c
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/objectlist.c
@@ -13,29 +13,18 @@ static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
-static const char acName1600[] = "Output";
+static const char acName1600[] = "Output4";
static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "New array subitem";
-static const char acName1600_02[] = "New array subitem";
-static const char acName1600_03[] = "New array subitem";
-static const char acName1600_04[] = "New array subitem";
-static const char acName1A00[] = "Input";
+static const char acName1600_01[] = "Output4";
+static const char acName1A00[] = "Input12";
static const char acName1A00_00[] = "Max SubIndex";
-static const char acName1A00_01[] = "New array subitem";
-static const char acName1A00_02[] = "New array subitem";
-static const char acName1A00_03[] = "New array subitem";
-static const char acName1A00_04[] = "New array subitem";
-static const char acName1A00_05[] = "New array subitem";
-static const char acName1A00_06[] = "New array subitem";
-static const char acName1A00_07[] = "New array subitem";
-static const char acName1A00_08[] = "New array subitem";
-static const char acName1A00_09[] = "New array subitem";
-static const char acName1A00_0a[] = "New array subitem";
-static const char acName1A00_0b[] = "New array subitem";
-static const char acName1A00_0c[] = "New array subitem";
+static const char acName1A00_01[] = "Input12";
static const char acName1A01[] = "Velocity";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "Velocity";
+static const char acName1A02[] = "Frequency";
+static const char acName1A02_00[] = "Max SubIndex";
+static const char acName1A02_01[] = "Frequency";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@@ -49,28 +38,12 @@ static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
+static const char acName1C13_03[] = "PDO Mapping";
static const char acName2000[] = "VelocityScale";
-static const char acName6000[] = "Input";
-static const char acName6000_00[] = "Max SubIndex";
-static const char acName6000_01[] = "New array subitem";
-static const char acName6000_02[] = "New array subitem";
-static const char acName6000_03[] = "New array subitem";
-static const char acName6000_04[] = "New array subitem";
-static const char acName6000_05[] = "New array subitem";
-static const char acName6000_06[] = "New array subitem";
-static const char acName6000_07[] = "New array subitem";
-static const char acName6000_08[] = "New array subitem";
-static const char acName6000_09[] = "New array subitem";
-static const char acName6000_0a[] = "New array subitem";
-static const char acName6000_0b[] = "New array subitem";
-static const char acName6000_0c[] = "New array subitem";
+static const char acName6000[] = "Input12";
static const char acName6001[] = "Velocity";
-static const char acName7000[] = "Output";
-static const char acName7000_00[] = "Max SubIndex";
-static const char acName7000_01[] = "New array subitem";
-static const char acName7000_02[] = "New array subitem";
-static const char acName7000_03[] = "New array subitem";
-static const char acName7000_04[] = "New array subitem";
+static const char acName6002[] = "Frequency";
+static const char acName7000[] = "Output4";
const _objd SDO1000[] =
{
@@ -92,39 +65,30 @@ const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
- {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 13294767, NULL},
- {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 3, NULL},
+ {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 24576, NULL},
+ {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
};
const _objd SDO1600[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 4, NULL},
- {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000101, NULL},
- {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000201, NULL},
- {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_03, 0x70000301, NULL},
- {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_04, 0x70000401, NULL},
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
+ {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000008, NULL},
};
const _objd SDO1A00[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 12, NULL},
- {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000101, NULL},
- {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_02, 0x60000201, NULL},
- {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_03, 0x60000301, NULL},
- {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_04, 0x60000401, NULL},
- {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_05, 0x60000501, NULL},
- {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_06, 0x60000601, NULL},
- {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_07, 0x60000701, NULL},
- {0x08, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_08, 0x60000801, NULL},
- {0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_09, 0x60000901, NULL},
- {0x0a, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0a, 0x60000a01, NULL},
- {0x0b, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0b, 0x60000b01, NULL},
- {0x0c, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_0c, 0x60000c01, NULL},
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
+ {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
+const _objd SDO1A02[] =
+{
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
+ {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -140,9 +104,10 @@ const _objd SDO1C12[] =
};
const _objd SDO1C13[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 2, NULL},
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 3, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
+ {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
};
const _objd SDO2000[] =
{
@@ -150,31 +115,19 @@ const _objd SDO2000[] =
};
const _objd SDO6000[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 12, NULL},
- {0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Input[0]},
- {0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_02, 0, &Obj.Input[1]},
- {0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_03, 0, &Obj.Input[2]},
- {0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_04, 0, &Obj.Input[3]},
- {0x05, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_05, 0, &Obj.Input[4]},
- {0x06, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_06, 0, &Obj.Input[5]},
- {0x07, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_07, 0, &Obj.Input[6]},
- {0x08, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_08, 0, &Obj.Input[7]},
- {0x09, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_09, 0, &Obj.Input[8]},
- {0x0a, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0a, 0, &Obj.Input[9]},
- {0x0b, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0b, 0, &Obj.Input[10]},
- {0x0c, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_0c, 0, &Obj.Input[11]},
+ {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.Velocity},
};
+const _objd SDO6002[] =
+{
+ {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Frequency},
+};
const _objd SDO7000[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 4, NULL},
- {0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.Output[0]},
- {0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_02, 0, &Obj.Output[1]},
- {0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_03, 0, &Obj.Output[2]},
- {0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_04, 0, &Obj.Output[3]},
+ {0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
};
const _objectlist SDOobjects[] =
@@ -184,15 +137,17 @@ const _objectlist SDOobjects[] =
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
- {0x1600, OTYPE_RECORD, 4, 0, acName1600, SDO1600},
- {0x1A00, OTYPE_RECORD, 12, 0, acName1A00, SDO1A00},
+ {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
+ {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
+ {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
- {0x1C13, OTYPE_ARRAY, 2, 0, acName1C13, SDO1C13},
+ {0x1C13, OTYPE_ARRAY, 3, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
- {0x6000, OTYPE_ARRAY, 12, 0, acName6000, SDO6000},
+ {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
- {0x7000, OTYPE_ARRAY, 4, 0, acName7000, SDO7000},
+ {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
+ {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/utypes.h b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/utypes.h
index 0590ed8..c6113d6 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/utypes.h
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/lib/soes-esi/utypes.h
@@ -13,12 +13,13 @@ typedef struct
/* Inputs */
- uint8_t Input[12];
+ int32_t Input12;
float Velocity;
+ uint32_t Frequency;
/* Outputs */
- uint8_t Output[4];
+ uint8_t Output4;
/* Parameters */
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/platformio.ini b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/platformio.ini
index 06c389b..808a2f7 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/platformio.ini
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/platformio.ini
@@ -15,7 +15,7 @@ board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
-monitor_port = COM3
+monitor_port = COM9
monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
diff --git a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
index 10236fb..364f39e 100755
--- a/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
+++ b/Cards/EaserCAT-6000-THCAD-reader+Digital-IO/Firmware/src/main.cpp
@@ -32,23 +32,29 @@ HardwareTimer *EncoderTimer;
void InputCapture_IT_callback(void);
void Rollover_IT_callback(void);
+#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
+#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
+#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
+#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
+
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{
// Update digital pins
for (int i = 0; i < sizeof(outputPin); i++)
- {
- digitalWrite(outputPin[i], Obj.Output[i]);
- }
+ digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
for (int i = 0; i < sizeof(inputPin); i++)
- Obj.Input[i] = digitalRead(inputPin[i]);
-
- Obj.Velocity = Obj.VelocityScale * FrequencyMeasured;
+ Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
+ float scale = Obj.VelocityScale;
+ if (scale == 0.0)
+ scale = 1.0;
+ Obj.Velocity = scale * FrequencyMeasured;
+ Obj.Frequency = FrequencyMeasured;
}
void ESC_interrupt_enable(uint32_t mask);
@@ -95,6 +101,14 @@ void setup(void)
pinMode(outputPin[i], OUTPUT);
digitalWrite(outputPin[i], LOW);
}
+ pinMode(PB4, OUTPUT);
+ pinMode(PB5, OUTPUT);
+ pinMode(PB6, OUTPUT);
+ pinMode(PB7, OUTPUT);
+ digitalWrite(PB4, HIGH);
+ digitalWrite(PB5, HIGH);
+ digitalWrite(PB6, HIGH);
+ digitalWrite(PB7, HIGH);
// Automatically retrieve TIM instance and channel associated to pin
// This is used to be compatible with all STM32 series automatically.
@@ -112,6 +126,8 @@ void setup(void)
// To reduce minimum frequency, it is possible to increase prescaler. But this is at a cost of precision.
// The maximum frequency depends on processing of the interruption and thus depend on board used
// Example on Nucleo_L476RG with systemClock at 80MHz the interruption processing is around 4,5 microseconds and thus Max frequency is around 220kHz
+
+ // A 16 bit timer is ok (but I use a 32-bit). Can measure down to 2.8 kHz, which is lower than 0 Volt on my card (3.8 kHz)
uint32_t PrescalerFactor = 1;
EncoderTimer->setPrescaleFactor(PrescalerFactor);
EncoderTimer->setOverflow(0xFFFFFFF0); // Max Period value to have the largest possible time to detect rising edge and avoid timer rollover
@@ -128,7 +144,6 @@ void setup(void)
void loop(void)
{
-#if 0 // Sync 0 mode
uint64_t dTime;
if (serveIRQ)
{
@@ -139,12 +154,8 @@ void loop(void)
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
- if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
- ecat_slv_poll();
-#else // Freerun mode
- ecat_slv();
-
-#endif
+ if (dTime > 5000) // Not doing interrupts - handle free-run
+ ecat_slv();
}
void sync0Handler(void)