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I2C THTIC is working on a patched EaserCAT-4000., EaserCAT-7000 tested, STM32 and LAN9252 works.

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This commit is contained in:
Hakan Bastedt
2025-02-15 22:29:54 +01:00
parent f070ea592c
commit 0a66626fe4
12 changed files with 733 additions and 20 deletions
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168
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
View File

@@ -99,6 +99,54 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1601</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>VoltageScale</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1602</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>VoltageOffset</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
@@ -230,15 +278,15 @@
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<BitSize>48</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
<Elements>3</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<BitSize>64</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -252,7 +300,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitSize>48</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -435,6 +483,52 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1601</Index>
<Name>VoltageScale</Name>
<Type>DT1601</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>VoltageScale</Name>
<Info>
<DefaultValue>#x70010020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1602</Index>
<Name>VoltageOffset</Name>
<Type>DT1602</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>VoltageOffset</Name>
<Info>
<DefaultValue>#x70020020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>Input12</Name>
@@ -572,12 +666,12 @@
<Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<BitSize>64</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>3</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -586,6 +680,18 @@
<DefaultValue>#x1600</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1601</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1602</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -638,7 +744,7 @@
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
@@ -721,6 +827,32 @@
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7001</Index>
<Name>VoltageScale</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7002</Index>
<Name>VoltageOffset</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
@@ -742,6 +874,28 @@
<DataType>USINT</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1601</Index>
<Name>VoltageScale</Name>
<Entry>
<Index>#x7001</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>VoltageScale</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1602</Index>
<Name>VoltageOffset</Name>
<Entry>
<Index>#x7002</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>VoltageOffset</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>Input12</Name>

2
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -33,7 +33,7 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM2 3
#define MAX_MAPPINGS_SM3 4
#define MAX_RXPDO_SIZE 512

24
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json
View File

@@ -39,7 +39,7 @@
"name": "Scale",
"access": "RO",
"dtype": "REAL32",
"value": "1",
"value": "0",
"isSDOitem": true,
"data": "&Obj.Scale"
},
@@ -136,6 +136,28 @@
"value": "0",
"data": "&Obj.Output4"
},
"7001": {
"otype": "VAR",
"name": "VoltageScale",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.VoltageScale"
},
"7002": {
"otype": "VAR",
"name": "VoltageOffset",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.VoltageOffset"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",

40
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c
View File

@@ -16,6 +16,12 @@ static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "Output4";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "Output4";
static const char acName1601[] = "VoltageScale";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "VoltageScale";
static const char acName1602[] = "VoltageOffset";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "VoltageOffset";
static const char acName1A00[] = "Input12";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Input12";
@@ -37,6 +43,8 @@ static const char acName1C00_04[] = "Communications Type SM3";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
@@ -50,6 +58,8 @@ static const char acName6001[] = "RawData";
static const char acName6002[] = "CalculatedVoltage";
static const char acName6003[] = "Status";
static const char acName7000[] = "Output4";
static const char acName7001[] = "VoltageScale";
static const char acName7002[] = "VoltageOffset";
const _objd SDO1000[] =
{
@@ -80,6 +90,16 @@ const _objd SDO1600[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000008, NULL},
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
};
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -110,8 +130,10 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 1, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
};
const _objd SDO1C13[] =
{
@@ -123,7 +145,7 @@ const _objd SDO1C13[] =
};
const _objd SDO2000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x3f800000, &Obj.Scale},
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x00000000, &Obj.Scale},
};
const _objd SDO2001[] =
{
@@ -149,6 +171,14 @@ const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
};
const _objd SDO7001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.VoltageScale},
};
const _objd SDO7002[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.VoltageOffset},
};
const _objectlist SDOobjects[] =
{
@@ -158,12 +188,14 @@ const _objectlist SDOobjects[] =
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
@@ -172,5 +204,7 @@ const _objectlist SDOobjects[] =
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

2
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h
View File

@@ -21,6 +21,8 @@ typedef struct
/* Outputs */
uint8_t Output4;
float VoltageScale;
float VoltageOffset;
/* Parameters */