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Ny structure. Start of the "main" branch

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This commit is contained in:
Hakan Bastedt
2024-11-20 11:18:13 +01:00
parent 31b896871d
commit 1918604586
415 changed files with 202039 additions and 21080 deletions
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37
Cards/.gitignore vendored Normal file
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# For PCBs designed using KiCad: https://www.kicad.org/
# Format documentation: https://kicad.org/help/file-formats/
# Temporary files
*.000
*.bak
*.bck
*.kicad_pcb-bak
*.kicad_sch-bak
*-backups
*.kicad_prl
*.sch-bak
*~
_autosave-*
*.tmp
*-save.pro
*-save.kicad_pcb
fp-info-cache
~*.lck
\#auto_saved_files#
# Netlist files (exported from Eeschema)
*.net
# Autorouter files (exported from Pcbnew)
*.dsn
*.ses
# Exported BOM files
*.xml
*.csv
# Gerber outputs
Gerbers\*
*.zip
T*

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Cards/EaserCAT-2000/Firmware/.gitignore vendored Executable file
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.vscode/settings.json

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Cards/EaserCAT-2000/Firmware/.vscode/extensions.json vendored Executable file
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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

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Cards/EaserCAT-2000/Firmware/doc/.gitignore vendored Normal file
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.~lock.*

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Cards/EaserCAT-2000/Firmware/doc/Stepgen.odp Executable file
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Cards/EaserCAT-2000/Firmware/include/MyEncoder.h Executable file
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#ifndef MYENCODER
#define MYENCODER
#include "Stm32F4_Encoder.h"
#include <CircularBuffer.hpp>
#define RINGBUFFERLEN 11
class MyEncoder
{
public:
MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
int64_t unwrapEncoder(uint16_t in);
void indexPulse(void);
uint8_t indexHappened();
double currentPos();
double frequency(uint64_t time);
uint8_t getIndexState();
void setScale(double scale);
void setLatch(uint8_t latchEnable);
private:
int64_t previousEncoderCounterValue = 0;
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t oldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
Encoder EncoderInit;
uint8_t indexPin;
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
double curPos;
double oldFrequency;
TIM_TypeDef *tim_base;
};
#endif

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Cards/EaserCAT-2000/Firmware/include/README Executable file
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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Cards/EaserCAT-2000/Firmware/include/StepGen.h Executable file
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#ifndef STEPGEN
#define STEPGEN
#include <HardwareTimer.h>
class StepGen
{
private:
volatile uint8_t timerIsRunning;
volatile int32_t timerStepPosition;
volatile int32_t timerStepDirection;
volatile int32_t timerStepPositionAtEnd;
volatile int32_t timerNewEndStepPosition;
volatile uint32_t timerNewCycleTime;
volatile double_t actualPosition;
volatile double_t requestedPosition;
volatile uint8_t enabled;
HardwareTimer *MyTim;
HardwareTimer *MyTim2;
uint16_t stepsPerMM;
uint8_t dirPin;
PinName stepPin;
uint32_t timerChan;
const uint32_t maxFreq = 100000;
volatile uint32_t prevFreq1 = 0;
volatile uint32_t prevFreq2 = 0;
public:
static uint32_t sync0CycleTime;
volatile uint32_t pwmCycleTime;
StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
void reqPos(double_t pos);
double reqPos();
void actPos(double_t pos);
double actPos();
void handleStepper(void);
void timerCB();
void setScale(int16_t spm);
void enable(uint8_t yes);
};
#endif

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Cards/EaserCAT-2000/Firmware/include/StepGen2.h Executable file
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#ifndef STEPGEN
#define STEPGEN
#include <HardwareTimer.h>
class StepGen2
{
public:
volatile double_t actualPosition;
volatile int32_t nSteps;
volatile uint32_t timerFrequency;
volatile int32_t timerPosition = 0;
volatile int32_t timerEndPosition = 0;
public:
volatile float Tstartf; // Starting delay in secs
volatile uint32_t Tstartu; // Starting delay in usecs
volatile float Tpulses; // Time it takes to do pulses. Debug
HardwareTimer *pulseTimer;
uint32_t pulseTimerChan;
HardwareTimer *startTimer; // Use timers 10,11,13,14
uint8_t dirPin;
PinName dirPinName;
PinName stepPin;
uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
uint64_t dbg;
const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
const uint16_t t3 = 5; // Pulse width at least 2.5 usecs
const uint16_t t4 = 5; // Low level width not less than 2.5 usecs
const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
public:
volatile double_t commandedPosition; // End position when this cycle is completed
volatile int32_t commandedStepPosition; // End step position when this cycle is completed
volatile double_t initialPosition; // From previous cycle
volatile int32_t initialStepPosition; // From previous cycle
int16_t stepsPerMM; // This many steps per mm
volatile uint8_t enabled; // Enabled step generator
volatile float frequency;
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
void startTimerCB();
void pulseTimerCB();
uint32_t updatePos(uint32_t i);
};
#endif

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#ifndef STEPGEN3
#define STEPGEN3
#include <HardwareTimer.h>
#define MAX_CHAN 16
#define MAX_CYCLE 18
#define USER_STEP_TYPE 13
typedef struct
{
/* stuff that is both read and written by makepulses */
volatile unsigned int timer1; /* times out when step pulse should end */
volatile unsigned int timer2; /* times out when safe to change dir */
volatile unsigned int timer3; /* times out when safe to step in new dir */
volatile int hold_dds; /* prevents accumulator from updating */
volatile long addval; /* actual frequency generator add value */
volatile long long accum; /* frequency generator accumulator */
volatile int rawcount; /* param: position feedback in counts */
volatile int curr_dir; /* current direction */
volatile int state; /* current position in state table */
/* stuff that is read but not written by makepulses */
volatile int enable; /* pin for enable stepgen */
volatile int target_addval; /* desired freq generator add value */
volatile long deltalim; /* max allowed change per period */
volatile int step_len; /* parameter: step pulse length */
volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
volatile unsigned int dir_setup; /* param: direction setup time */
volatile int step_type; /* stepping type - see list above */
volatile int cycle_max; /* cycle length for step types 2 and up */
volatile int num_phases; /* number of phases for types 2 and up */
volatile int phase[5]; /* pins for output signals */
volatile const unsigned char *lut; /* pointer to state lookup table */
/* stuff that is not accessed by makepulses */
int pos_mode; /* 1 = position mode, 0 = velocity mode */
unsigned int step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
int count; /* pin: captured feedback in counts */
#define double float
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
unsigned int old_step_space;
unsigned int old_dir_hold_dly;
unsigned int old_dir_setup;
int printed_error; /* flag to avoid repeated printing */
} stepgen_t;
#define MAX_STEP_TYPE 15
#define STEP_PIN 0 /* output phase used for STEP signal */
#define DIR_PIN 1 /* output phase used for DIR signal */
#define UP_PIN 0 /* output phase used for UP signal */
#define DOWN_PIN 1 /* output phase used for DOWN signal */
#define PICKOFF 28 /* bit location in DDS accum */
typedef enum CONTROL
{
POSITION,
VELOCITY,
INVALID
} CONTROL;
class StepGen3
{
public:
int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
uint32_t stepPin[MAX_CHAN] = {0};
uint32_t dirPin[MAX_CHAN] = {0};
stepgen_t *stepgen_array = 0;
int num_chan = 0; // number of step generators configured */
long periodns; // makepulses function period in nanosec */
long old_periodns; // used to detect changes in periodns */
double periodfp; // makepulses function period in seconds */
double freqscale; // conv. factor from Hz to addval counts */
double accelscale; // conv. Hz/sec to addval cnts/period */
long old_dtns; // update_freq funct period in nsec */
double dt; // update_freq period in seconds */
double recip_dt; // recprocal of period, avoids divides */
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2, uint32_t servoPeriod);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
void update_freq(void *arg, long period);
void update_pos(void *arg, long period);
int setup_user_step_type(void);
CONTROL parse_ctrl_type(const char *ctrl);
unsigned long ulceil(unsigned long value, unsigned long increment);
private:
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
{1, 2, 4, 8, 0, 0, 0, 0, 0, 0}, /* 5: Unipolar Full Step 1 */
{3, 6, 12, 9, 0, 0, 0, 0, 0, 0}, /* 6: Unipoler Full Step 2 */
{1, 7, 14, 8, 0, 0, 0, 0, 0, 0}, /* 7: Bipolar Full Step 1 */
{5, 6, 10, 9, 0, 0, 0, 0, 0, 0}, /* 8: Bipoler Full Step 2 */
{1, 3, 2, 6, 4, 12, 8, 9, 0, 0}, /* 9: Unipolar Half Step */
{1, 5, 7, 6, 14, 10, 8, 9, 0, 0}, /* 10: Bipolar Half Step */
{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
{3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
unsigned char cycle_len_lut[14] =
{4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
unsigned char num_phases_lut[14] =
{
2,
3,
3,
4,
4,
4,
4,
4,
4,
5,
5,
5,
5,
0,
};
};
// For the example
#define BASE_PERIOD 20000
//#define SERVO_PERIOD 2000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200
#define JOINT_Z_SCALE -80
#endif

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#ifndef __Stm32F4_Encoder_H__
#define __Stm32F4_Encoder_H__
#include <Arduino.h>
#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
// #define GPIO_MODER_MODER0 ((uint32_t)0x00000003)
#define GPIO_Mode_OUT 0x01
// #define GPIO_OSPEEDER_OSPEEDR0 ((uint32_t)0x00000003)
// #define GPIO_OTYPER_OT_0 ((uint32_t)0x00000001)
// #define GPIO_PUPDR_PUPDR0 ((uint32_t)0x00000003)
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Mode_AF 0x02
#define GPIO_OType_PP 0x00
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Pin_0 ((uint16_t)0x0001) /* Pin 0 selected */
#define GPIO_Pin_1 ((uint16_t)0x0002) /* Pin 1 selected */
#define GPIO_Pin_2 ((uint16_t)0x0004) /* Pin 2 selected */
#define GPIO_Pin_3 ((uint16_t)0x0008) /* Pin 3 selected */
#define GPIO_Pin_4 ((uint16_t)0x0010) /* Pin 4 selected */
#define GPIO_Pin_5 ((uint16_t)0x0020) /* Pin 5 selected */
#define GPIO_Pin_6 ((uint16_t)0x0040) /* Pin 6 selected */
#define GPIO_Pin_7 ((uint16_t)0x0080) /* Pin 7 selected */
#define GPIO_Pin_8 ((uint16_t)0x0100) /* Pin 8 selected */
#define GPIO_Pin_9 ((uint16_t)0x0200) /* Pin 9 selected */
#define GPIO_Pin_10 ((uint16_t)0x0400) /* Pin 10 selected */
#define GPIO_Pin_11 ((uint16_t)0x0800) /* Pin 11 selected */
#define GPIO_Pin_12 ((uint16_t)0x1000) /* Pin 12 selected */
#define GPIO_Pin_13 ((uint16_t)0x2000) /* Pin 13 selected */
#define GPIO_Pin_14 ((uint16_t)0x4000) /* Pin 14 selected */
#define GPIO_Pin_15 ((uint16_t)0x8000) /* Pin 15 selected */
#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
typedef struct TIM_TimeBaseInitTypeDef
{
uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_CounterMode; /*!< Specifies the counter mode.
This parameter can be a value of @ref TIM_Counter_Mode */
uint32_t TIM_Period; /*!< Specifies the period value to be loaded into the active
Auto-Reload Register at the next update event.
This parameter must be a number between 0x0000 and 0xFFFF. */
uint16_t TIM_ClockDivision; /*!< Specifies the clock division.
This parameter can be a value of @ref TIM_Clock_Division_CKD */
uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter
reaches zero, an update event is generated and counting restarts
from the RCR value (N).
This means in PWM mode that (N+1) corresponds to:
- the number of PWM periods in edge-aligned mode
- the number of half PWM period in center-aligned mode
This parameter must be a number between 0x00 and 0xFF.
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_TimeBaseInitTypeDef;
typedef struct
{
uint16_t setcount;
} encoder;
typedef struct
{
uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_State */
uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_N_State
@note This parameter is valid only for TIM1 and TIM8. */
uint32_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_OCPolarity; /*!< Specifies the output polarity.
This parameter can be a value of @ref TIM_Output_Compare_Polarity */
uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity.
This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_OCInitTypeDef;
typedef struct
{
uint16_t TIM_Channel; /*!< Specifies the TIM channel.
This parameter can be a value of @ref TIM_Channel */
uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint16_t TIM_ICSelection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint16_t TIM_ICFilter; /*!< Specifies the input capture filter.
This parameter can be a number between 0x0 and 0xF */
} TIM_ICInitTypeDef;
typedef struct
{
uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode.
This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state.
This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters.
This parameter can be a value of @ref TIM_Lock_level */
uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the
switching-on of the outputs.
This parameter can be a number between 0x00 and 0xFF */
uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not.
This parameter can be a value of @ref TIM_Break_Input_enable_disable */
uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity.
This parameter can be a value of @ref TIM_Break_Polarity */
uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
} TIM_BDTRInitTypeDef;
#define GPIO_PinSource0 ((uint8_t)0x00)
#define GPIO_PinSource1 ((uint8_t)0x01)
#define GPIO_PinSource2 ((uint8_t)0x02)
#define GPIO_PinSource3 ((uint8_t)0x03)
#define GPIO_PinSource4 ((uint8_t)0x04)
#define GPIO_PinSource5 ((uint8_t)0x05)
#define GPIO_PinSource6 ((uint8_t)0x06)
#define GPIO_PinSource7 ((uint8_t)0x07)
#define GPIO_PinSource8 ((uint8_t)0x08)
#define GPIO_PinSource9 ((uint8_t)0x09)
#define GPIO_PinSource10 ((uint8_t)0x0A)
#define GPIO_PinSource11 ((uint8_t)0x0B)
#define GPIO_PinSource12 ((uint8_t)0x0C)
#define GPIO_PinSource13 ((uint8_t)0x0D)
#define GPIO_PinSource14 ((uint8_t)0x0E)
#define GPIO_PinSource15 ((uint8_t)0x0F)
#define GPIO_AF_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
#define GPIO_AF_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
#define GPIO_AF_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
#define GPIO_AF_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
// #define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
// #define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
(((PERIPH) == TIM13) || \
((PERIPH) == TIM14)))
#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
((PERIPH) == TIM13) || \
((PERIPH) == TIM14))
#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM12))
#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST6_PERIPH(TIMx) (((TIMx) == TIM2) || \
((TIMx) == TIM5) || \
((TIMx) == TIM11))
#define TIM_OCMode_Timing ((uint16_t)0x0000)
#define TIM_OCMode_Active ((uint16_t)0x0010)
#define TIM_OCMode_Inactive ((uint16_t)0x0020)
#define TIM_OCMode_Toggle ((uint16_t)0x0030)
#define TIM_OCMode_PWM1 ((uint16_t)0x0060)
#define TIM_OCMode_PWM2 ((uint16_t)0x0070)
//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
// ((MODE) == TIM_OCMode_Active) || \
// ((MODE) == TIM_OCMode_Inactive) || \
// ((MODE) == TIM_OCMode_Toggle)|| \
// ((MODE) == TIM_OCMode_PWM1) || \
// ((MODE) == TIM_OCMode_PWM2))
#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \
((MODE) == TIM_OCMode_Active) || \
((MODE) == TIM_OCMode_Inactive) || \
((MODE) == TIM_OCMode_Toggle) || \
((MODE) == TIM_OCMode_PWM1) || \
((MODE) == TIM_OCMode_PWM2) || \
((MODE) == TIM_ForcedAction_Active) || \
((MODE) == TIM_ForcedAction_InActive))
#define TIM_OPMode_Single ((uint16_t)0x0008)
#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
// ((MODE) == TIM_OPMode_Repetitive))
#define TIM_Channel_1 ((uint16_t)0x0000)
#define TIM_Channel_2 ((uint16_t)0x0004)
#define TIM_Channel_3 ((uint16_t)0x0008)
#define TIM_Channel_4 ((uint16_t)0x000C)
#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3) || \
((CHANNEL) == TIM_Channel_4))
#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2))
#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3))
#define TIM_CKD_DIV1 ((uint16_t)0x0000)
#define TIM_CKD_DIV2 ((uint16_t)0x0100)
#define TIM_CKD_DIV4 ((uint16_t)0x0200)
#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
((DIV) == TIM_CKD_DIV2) || \
((DIV) == TIM_CKD_DIV4))
#define TIM_CounterMode_Up ((uint16_t)0x0000)
#define TIM_CounterMode_Down ((uint16_t)0x0010)
#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040)
#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060)
//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) || \
// ((MODE) == TIM_CounterMode_Down) || \
// ((MODE) == TIM_CounterMode_CenterAligned1) || \
// ((MODE) == TIM_CounterMode_CenterAligned2) || \
// ((MODE) == TIM_CounterMode_CenterAligned3))
#define TIM_OCPolarity_High ((uint16_t)0x0000)
#define TIM_OCPolarity_Low ((uint16_t)0x0002)
//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
// ((POLARITY) == TIM_OCPolarity_Low))
#define TIM_OCNPolarity_High ((uint16_t)0x0000)
#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
// ((POLARITY) == TIM_OCNPolarity_Low))
#define TIM_OutputState_Disable ((uint16_t)0x0000)
#define TIM_OutputState_Enable ((uint16_t)0x0001)
#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
((STATE) == TIM_OutputState_Enable))
#define TIM_OutputNState_Disable ((uint16_t)0x0000)
#define TIM_OutputNState_Enable ((uint16_t)0x0004)
#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
((STATE) == TIM_OutputNState_Enable))
#define TIM_CCx_Enable ((uint16_t)0x0001)
#define TIM_CCx_Disable ((uint16_t)0x0000)
#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
((CCX) == TIM_CCx_Disable))
#define TIM_CCxN_Enable ((uint16_t)0x0004)
#define TIM_CCxN_Disable ((uint16_t)0x0000)
#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
((CCXN) == TIM_CCxN_Disable))
#define TIM_Break_Enable ((uint16_t)0x1000)
#define TIM_Break_Disable ((uint16_t)0x0000)
//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
// ((STATE) == TIM_Break_Disable))
#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
#define TIM_BreakPolarity_High ((uint16_t)0x2000)
//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
// ((POLARITY) == TIM_BreakPolarity_High))
#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
// ((STATE) == TIM_AutomaticOutput_Disable))
#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
#define TIM_LOCKLevel_3 ((uint16_t)0x0300)
//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
// ((LEVEL) == TIM_LOCKLevel_1) || \
// ((LEVEL) == TIM_LOCKLevel_2) || \
// ((LEVEL) == TIM_LOCKLevel_3))
#define TIM_OSSIState_Enable ((uint16_t)0x0400)
#define TIM_OSSIState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
// ((STATE) == TIM_OSSIState_Disable))
#define TIM_OSSRState_Enable ((uint16_t)0x0800)
#define TIM_OSSRState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
// ((STATE) == TIM_OSSRState_Disable))
#define TIM_OCIdleState_Set ((uint16_t)0x0100)
#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
// ((STATE) == TIM_OCIdleState_Reset))
//
#define TIM_OCNIdleState_Set ((uint16_t)0x0200)
#define TIM_OCNIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
// ((STATE) == TIM_OCNIdleState_Reset))
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
// ((POLARITY) == TIM_ICPolarity_Falling)|| \
// ((POLARITY) == TIM_ICPolarity_BothEdge))
#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC1, IC2, IC3 or IC4, respectively */
#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC2, IC1, IC4 or IC3, respectively. */
#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
// ((SELECTION) == TIM_ICSelection_IndirectTI) || \
// ((SELECTION) == TIM_ICSelection_TRC))
// #define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
// #define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
// #define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
// #define TIM_ICPSC_DIV8 ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
// #define IS_TIM_IC_PRESCALER(PRESCALER) ( ((PRESCALER) == TIM_ICPSC_DIV1) || \
// ((PRESCALER) == TIM_ICPSC_DIV2) || \
// ((PRESCALER) == TIM_ICPSC_DIV4) || \
// ((PRESCALER) == TIM_ICPSC_DIV8))
#define TIM_IT_Update ((uint16_t)0x0001)
// #define TIM_IT_CC1 ((uint16_t)0x0002)
// #define TIM_IT_CC2 ((uint16_t)0x0004)
// #define TIM_IT_CC3 ((uint16_t)0x0008)
// #define TIM_IT_CC4 ((uint16_t)0x0010)
// #define TIM_IT_COM ((uint16_t)0x0020)
#define TIM_IT_Trigger ((uint16_t)0x0040)
#define TIM_IT_Break ((uint16_t)0x0080)
#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \
((IT) == TIM_IT_CC1) || \
((IT) == TIM_IT_CC2) || \
((IT) == TIM_IT_CC3) || \
((IT) == TIM_IT_CC4) || \
((IT) == TIM_IT_COM) || \
((IT) == TIM_IT_Trigger) || \
((IT) == TIM_IT_Break))
// #define TIM_DMABase_CR1 ((uint16_t)0x0000)
// #define TIM_DMABase_CR2 ((uint16_t)0x0001)
// #define TIM_DMABase_SMCR ((uint16_t)0x0002)
// #define TIM_DMABase_DIER ((uint16_t)0x0003)
// #define TIM_DMABase_SR ((uint16_t)0x0004)
// #define TIM_DMABase_EGR ((uint16_t)0x0005)
// #define TIM_DMABase_CCMR1 ((uint16_t)0x0006)
// #define TIM_DMABase_CCMR2 ((uint16_t)0x0007)
// #define TIM_DMABase_CCER ((uint16_t)0x0008)
// #define TIM_DMABase_CNT ((uint16_t)0x0009)
// #define TIM_DMABase_PSC ((uint16_t)0x000A)
// #define TIM_DMABase_ARR ((uint16_t)0x000B)
// #define TIM_DMABase_RCR ((uint16_t)0x000C)
// #define TIM_DMABase_CCR1 ((uint16_t)0x000D)
// #define TIM_DMABase_CCR2 ((uint16_t)0x000E)
// #define TIM_DMABase_CCR3 ((uint16_t)0x000F)
// #define TIM_DMABase_CCR4 ((uint16_t)0x0010)
// #define TIM_DMABase_BDTR ((uint16_t)0x0011)
// #define TIM_DMABase_DCR ((uint16_t)0x0012)
// #define TIM_DMABase_OR ((uint16_t)0x0013)
// #define IS_TIM_DMA_BASE(BASE) ( ((BASE) == TIM_DMABase_CR1) || \
// ((BASE) == TIM_DMABase_CR2) || \
// ((BASE) == TIM_DMABase_SMCR) || \
// ((BASE) == TIM_DMABase_DIER) || \
// ((BASE) == TIM_DMABase_SR) || \
// ((BASE) == TIM_DMABase_EGR) || \
// ((BASE) == TIM_DMABase_CCMR1) || \
// ((BASE) == TIM_DMABase_CCMR2) || \
// ((BASE) == TIM_DMABase_CCER) || \
// ((BASE) == TIM_DMABase_CNT) || \
// ((BASE) == TIM_DMABase_PSC) || \
// ((BASE) == TIM_DMABase_ARR) || \
// ((BASE) == TIM_DMABase_RCR) || \
// ((BASE) == TIM_DMABase_CCR1) || \
// ((BASE) == TIM_DMABase_CCR2) || \
// ((BASE) == TIM_DMABase_CCR3) || \
// ((BASE) == TIM_DMABase_CCR4) || \
// ((BASE) == TIM_DMABase_BDTR) || \
// ((BASE) == TIM_DMABase_DCR) || \
// ((BASE) == TIM_DMABase_OR))
// #define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000)
// #define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100)
// #define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200)
// #define TIM_DMABurstLength_4Transfers ((uint16_t)0x0300)
// #define TIM_DMABurstLength_5Transfers ((uint16_t)0x0400)
// #define TIM_DMABurstLength_6Transfers ((uint16_t)0x0500)
// #define TIM_DMABurstLength_7Transfers ((uint16_t)0x0600)
// #define TIM_DMABurstLength_8Transfers ((uint16_t)0x0700)
// #define TIM_DMABurstLength_9Transfers ((uint16_t)0x0800)
// #define TIM_DMABurstLength_10Transfers ((uint16_t)0x0900)
// #define TIM_DMABurstLength_11Transfers ((uint16_t)0x0A00)
// #define TIM_DMABurstLength_12Transfers ((uint16_t)0x0B00)
// #define TIM_DMABurstLength_13Transfers ((uint16_t)0x0C00)
// #define TIM_DMABurstLength_14Transfers ((uint16_t)0x0D00)
// #define TIM_DMABurstLength_15Transfers ((uint16_t)0x0E00)
// #define TIM_DMABurstLength_16Transfers ((uint16_t)0x0F00)
// #define TIM_DMABurstLength_17Transfers ((uint16_t)0x1000)
// #define TIM_DMABurstLength_18Transfers ((uint16_t)0x1100)
// #define IS_TIM_DMA_LENGTH(LENGTH) ( ((LENGTH) == TIM_DMABurstLength_1Transfer) || \
// ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_18Transfers))
// #define TIM_DMA_Update ((uint16_t)0x0100)
// #define TIM_DMA_CC1 ((uint16_t)0x0200)
// #define TIM_DMA_CC2 ((uint16_t)0x0400)
// #define TIM_DMA_CC3 ((uint16_t)0x0800)
// #define TIM_DMA_CC4 ((uint16_t)0x1000)
// #define TIM_DMA_COM ((uint16_t)0x2000)
// #define TIM_DMA_Trigger ((uint16_t)0x4000)
// #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000)
#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV8))
// #define TIM_TS_ITR0 ((uint16_t)0x0000)
// #define TIM_TS_ITR1 ((uint16_t)0x0010)
// #define TIM_TS_ITR2 ((uint16_t)0x0020)
// #define TIM_TS_ITR3 ((uint16_t)0x0030)
// #define TIM_TS_TI1F_ED ((uint16_t)0x0040)
// #define TIM_TS_TI1FP1 ((uint16_t)0x0050)
// #define TIM_TS_TI2FP2 ((uint16_t)0x0060)
// #define TIM_TS_ETRF ((uint16_t)0x0070)
// #def ine IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
// ((SELECTION) == TIM_TS_ITR1) || \
// ((SELECTION) == TIM_TS_ITR2) || \
// ((SELECTION) == TIM_TS_ITR3) || \
// ((SELECTION) == TIM_TS_TI1F_ED) || \
// ((SELECTION) == TIM_TS_TI1FP1) || \
// ((SELECTION) == TIM_TS_TI2FP2) || \
// ((SELECTION) == TIM_TS_ETRF))
#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
((SELECTION) == TIM_TS_ITR1) || \
((SELECTION) == TIM_TS_ITR2) || \
((SELECTION) == TIM_TS_ITR3))
#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
((RELOAD) == TIM_PSCReloadMode_Immediate))
#define TIM_ForcedAction_Active ((uint16_t)0x0050)
#define TIM_ForcedAction_InActive ((uint16_t)0x0040)
#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
((ACTION) == TIM_ForcedAction_InActive))
#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
// ((MODE) == TIM_EncoderMode_TI2) || \
// ((MODE) == TIM_EncoderMode_TI12))
// #define TIM_EventSource_Update ((uint16_t)0x0001)
// #define TIM_EventSource_CC1 ((uint16_t)0x0002)
// #define TIM_EventSource_CC2 ((uint16_t)0x0004)
// #define TIM_EventSource_CC3 ((uint16_t)0x0008)
// #define TIM_EventSource_CC4 ((uint16_t)0x0010)
// #define TIM_EventSource_COM ((uint16_t)0x0020)
// #define TIM_EventSource_Trigger ((uint16_t)0x0040)
// #define TIM_EventSource_Break ((uint16_t)0x0080)
// #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow \
or the setting of UG bit, or an update generation \
through the slave mode controller. */
#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
((SOURCE) == TIM_UpdateSource_Regular))
#define TIM_OCPreload_Enable ((uint16_t)0x0008)
#define TIM_OCPreload_Disable ((uint16_t)0x0000)
#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
((STATE) == TIM_OCPreload_Disable))
#define TIM_OCFast_Enable ((uint16_t)0x0004)
#define TIM_OCFast_Disable ((uint16_t)0x0000)
#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
((STATE) == TIM_OCFast_Disable))
#define TIM_OCClear_Enable ((uint16_t)0x0080)
#define TIM_OCClear_Disable ((uint16_t)0x0000)
#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
((STATE) == TIM_OCClear_Disable))
#define TIM_TRGOSource_Reset ((uint16_t)0x0000)
#define TIM_TRGOSource_Enable ((uint16_t)0x0010)
#define TIM_TRGOSource_Update ((uint16_t)0x0020)
#define TIM_TRGOSource_OC1 ((uint16_t)0x0030)
#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040)
#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050)
#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060)
#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070)
//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
// ((SOURCE) == TIM_TRGOSource_Enable) || \
// ((SOURCE) == TIM_TRGOSource_Update) || \
// ((SOURCE) == TIM_TRGOSource_OC1) || \
// ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC4Ref))
#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
#define TIM_SlaveMode_External1 ((uint16_t)0x0007)
//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
// ((MODE) == TIM_SlaveMode_Gated) || \
// ((MODE) == TIM_SlaveMode_Trigger) || \
// ((MODE) == TIM_SlaveMode_External1))
#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080)
#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000)
//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
// ((STATE) == TIM_MasterSlaveMode_Disable))
#define TIM2_TIM8_TRGO ((uint16_t)0x0000)
#define TIM2_ETH_PTP ((uint16_t)0x0400)
#define TIM2_USBFS_SOF ((uint16_t)0x0800)
#define TIM2_USBHS_SOF ((uint16_t)0x0C00)
#define TIM5_GPIO ((uint16_t)0x0000)
#define TIM5_LSI ((uint16_t)0x0040)
#define TIM5_LSE ((uint16_t)0x0080)
#define TIM5_RTC ((uint16_t)0x00C0)
#define TIM11_GPIO ((uint16_t)0x0000)
#define TIM11_HSE ((uint16_t)0x0002)
class Encoder
{
private:
int _pin;
public:
TIM_TypeDef *tim_base;
Encoder();
void SetCount(int64_t Counter);
uint16_t GetCount();
};
void encoder_config();
void encoder2_config(); // Experimental
void GpioConfigPortA(GPIO_TypeDef *GPIOx);
void GpioConfigPortC(GPIO_TypeDef *GPIOx);
void GpioConfigPortD(GPIO_TypeDef *GPIOx);
void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
#endif

14
Cards/EaserCAT-2000/Firmware/include/extend32to64.h Executable file
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@@ -0,0 +1,14 @@
#ifndef EXTEND32TO64
#define EXTEND32TO54
#include <Arduino.h>
class extend32to64
{
public:
int64_t previousTimeValue = 0;
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
const uint64_t HALF_PERIOD = 2147483648; // Half of that
int64_t extendTime(uint32_t in);
};
#endif

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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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# NOTE: add headers to make them show up in an IDE
add_library (soes
esc.c
esc.h
esc_coe.c
esc_coe.h
esc_foe.c
esc_foe.h
esc_eoe.c
esc_eoe.h
esc_eep.c
esc_eep.h
ecat_slv.c
ecat_slv.h
options.h
${HAL_SOURCES}
)
include_directories(${HAL_INCLUDES})
install (TARGETS soes DESTINATION bin)
install (FILES
esc.h
esc_coe.h
esc_foe.h
esc_eoe.h
esc_eep.h
DESTINATION include)

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#ifndef CC_H
#define CC_H
#ifdef __cplusplus
extern "C"
{
#endif
#include <assert.h>
#include <stdint.h>
#include <stddef.h>
#include <sys/param.h>
#ifdef __linux__
#include <endian.h>
#else
#include <machine/endian.h>
#endif
#ifndef MIN
#define MIN(a,b) (((a)<(b))?(a):(b))
#endif
#ifndef MAX
#define MAX(a,b) (((a)>(b))?(a):(b))
#endif
#define CC_PACKED_BEGIN
#define CC_PACKED_END
#define CC_PACKED __attribute__((packed))
#ifdef __rtk__
#define CC_ASSERT(exp) ASSERT (exp)
#else
#define CC_ASSERT(exp) assert (exp)
#endif
#define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
#define CC_DEPRECATED __attribute__((deprecated))
#define CC_SWAP32(x) __builtin_bswap32 (x)
#define CC_SWAP16(x) __builtin_bswap16 (x)
#define CC_ATOMIC_SET(var,val) __atomic_store_n(&var,val,__ATOMIC_SEQ_CST)
#define CC_ATOMIC_GET(var) __atomic_load_n(&var,__ATOMIC_SEQ_CST)
#define CC_ATOMIC_ADD(var,val) __atomic_add_fetch(&var,val,__ATOMIC_SEQ_CST)
#define CC_ATOMIC_SUB(var,val) __atomic_sub_fetch(&var,val,__ATOMIC_SEQ_CST)
#define CC_ATOMIC_AND(var,val) __atomic_and_fetch(&var,val,__ATOMIC_SEQ_CST)
#define CC_ATOMIC_OR(var,val) __atomic_or_fetch(&var,val,__ATOMIC_SEQ_CST)
#if BYTE_ORDER == BIG_ENDIAN
#define htoes(x) CC_SWAP16 (x)
#define htoel(x) CC_SWAP32 (x)
#else
#define htoes(x) (x)
#define htoel(x) (x)
#endif
#define etohs(x) htoes (x)
#define etohl(x) htoel (x)
#if BYTE_ORDER == LITTLE_ENDIAN
#define EC_LITTLE_ENDIAN
#else
#define EC_BIG_ENDIAN
#endif
#ifdef ESC_DEBUG
#ifdef __rtk__
#include <rprint.h>
#define DPRINT(...) rprintp ("soes: "__VA_ARGS__)
#else
#include <stdio.h>
#define DPRINT(...) printf ("soes: "__VA_ARGS__)
#endif
#else
#define DPRINT(...)
#endif
#ifdef __cplusplus
}
#endif
#endif /* CC_H */

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/**
* \mainpage Simple Open EtherCAT Slave or SOES
*
* \section start Tutorial
* For a tutorial on SOES See tutorial.txt
*
* \section overview Overview
* SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
* to use. All users are invited to study the source to get an understanding
* how an EtherCAT slave function
*
* Features as of 1.0.0 :
* - Address offset based HAL for easy ESC read/write access via any interface
* - Mailbox with data link layer
* - CoE
* - Object dictionary
* - SDO read and write for all sizes including segmented transfers
* - Easy portable C-code suited for embedded applications
* - Fixed PDO mapping
* - FoE with bootstrap template
* - Support for Little and Big endian targets.
* - Polling for interrupts
*
* \section legal Legal notice
* SOES Simple Open EtherCAT Slave \n
* Copyright (C) 2007-2013 Arthur Ketels \n
* Copyright (C) 2012-2013 rt-labs \n
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/

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/** \file
\section general General
The SOES is a library that provides the Micro Controller user application with
the means to access the EtherCAT fieldbus communication environment:
- EtherCAT State Machine
- Mailbox Interfaces
- Protocols
- CoE
- FoE + bootstrap template
Support for mailbox and protocols are typical examples when you need a slave
stack to control the Application Layer of EtherCAT. The PDI used for such
applications is either SPI or some Micro Controller Interface
The following sections show some basic examples on how to get the SOES up
and running, as well as a lightweight example on howto design your slave.
Since all code is local to the application or global variables, it is possible
to tweak and optimize when possible.
Our target Application:
- Inputs 40bit
- One button 8bit
- One encoder value 32bit
- Outputs 8bit
- LED 8bit
- Parameters
- Encoder settings
- Slave commands
- Reset counter
Now to translate and implement on top of SOES.
First look on the start up code. This example shows how to add a
main function that will be called by startup code. In this example
main's only purpose is to spawn two new tasks. One that executes
SOES and one that control the ERROR LED. Some ESCs provided a pin
for the RUN LED, some even for the ERROR LED, if it don't you can
control them from the slave Micro Controller. We'll focus on the "soes" task.
\code
int main (void)
{
rprintp ("SOES (Simple Open EtherCAT Slave)\nsoes test\n");
/* task_spawn ("led_run", led_error, 15, 512, NULL); /
task_spawn ("led_error", led_error, 15, 512, NULL);
task_spawn ("soes", soes, 9, 1024, NULL);
return (0);
}
\endcode
\section configuration Configuration
The function soes is our EtherCAT slave device and can be split in 3 parts.
Hardware Init, Software Init and Application loop. We will start with the
Hardware Init.
- Hardware Init
- esc_reset, special function used for ESC reset if no Physical
EEPROM used. This is local to the Application not part of the generic
ESC handling.
- ESC_init, initialise SPI communication or similar
- Wait for ESC is started, waiting for SPI to be up and running,
we'll query the ESC register DL status if EEPROM loaded OK and PDI
operational, eg. SPI OK.
\code
void soes (void *arg)
{
TXPDOsize = SM3_sml = sizeTXPDO ();
RXPDOsize = SM2_sml = sizeRXPDO ();
esc_reset ();
ESC_init ((void *)spi_name);
task_delay (tick_from_ms (200));
// wait until ESC is started up
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
// reset ESC to init state
ESC_ALstatus (ESCinit);
...
}
\endcode
- Software Init
- Reset the slave into Init state by writing AL Status register.
- Clear Errors by writing AL Status Code register.
- Stop the Application Layer, basically we disable the SyncManagers
that implicitly block the data exchange.
\code
void soes (void *arg)
{
...
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
// reset ESC to init state
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx ();
ESC_stopinput ();
ESC_stopoutput ();
// application run loop
while (1)
...
}
\endcode
- Application loop
- ALevent handling, ALevent hold information on changes in ALControl or
SyncManagers. ALControl for state changes and SyncManagers for changes written
by EtherCAT in local memory mapped to active SyncManagers
- ESC_state for state handling, such as state step up or down with correct
error and acknowledge response.
- Mailbox handler, generic support of mailboxes used by all Application Layer
protocols.
- On mailbox actions we'll also check if we need to use a specific protocol
handler to handle the incoming or outgoing Mailbox data.
Up until the now we're using the SOES protocol stack without any application specific
calls. Next up we'll look at the application Code, here named DIG_process ().
\code
void soes (void *arg)
{
...
// application run loop
while (1)
{
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
ESC_state ();
if (ESC_mbxprocess ())
{
ESC_coeprocess ();
ESC_foeprocess ();
ESC_xoeprocess ();
}
DIG_process ();
};
}
\endcode
\section application Application
The function DIG_process is the User part of the application and could be joined
by more cyclic User functions for executing other parts of the application.
The example code can be split in 2 parts
- Outputs
- Start by evaluating if we're in a state supporting update of outputs, eg.
Operational state.
- If we're in OP we can read the current PDO data in the 3-buffer SyncManager
mapped to the output SM, the default is SyncManager2, we read the ESC RAM address
of SM2 and store it at the local address of the local variable Wb.LED.
We'll read RXPDOsize bytes to trigger a complete SyncManager read.
- After local variables have been refreshed we basically write the local
PDO variables to the User application, ex. a GPIO.
- Basically this is the API of the SOES toward the User Application.
- This function also include a watchdog mechanism, if triggered it will
shutdown the outputs and trigger a state changes to safe operational.
AlError is updated with cause of error to inform the Master.
\code
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
}
void DIG_process (void)
{
if (App.state & APPSTATE_OUTPUT)
{
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
{
RXPDO_update ();
reset_wd ();
gpio_set(GPIO_LED, Wb.LED & BIT(0));
}
if (!wd_cnt)
{
ESC_stopoutput ();
// watchdog, invalid outputs
ESC_ALerror (ALERR_WATCHDOG);
// goto safe-op with error bit set
ESC_ALstatus (ESCsafeop | ESCerror);
wd_trigger = 1;
}
}
else
{
reset_wd ();
}
...
}
\endcode
- Inputs
- Is handled a bit simpler than outputs but in reverse order, the slave will
continue update the inputs in state Safe Operational.
- Here we first read User application data from ex. GPIO and then write to
local PDO variables.
- After the local variables have been refreshed we write those to the current
PDO data 3-buffer SyncManager mapped to the input SM, the default is SyncManager3.
This way we update the ESC RAM address with User Application data accessed by
the EtherCAT master.
\code
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
}
void DIG_process (void)
{
...
Rb.button = gpio_get(GPIO_WAKEUP);
Cb.reset_counter++;
Rb.encoder = Cb.reset_counter;
TXPDO_update ();
}
\endcode
\section ApplicationdataProcessdata ApplicationdataProcessdata
To run application data through EtherCAT processdata we need to describe for
the fieldbus what data we have and will read/write. For this we have 3 objects,
the ESI file, SII-EEPROM and CoE Object Dictionary. The first 2 are mandatory
and the third is a very convenient way of describing complex slaves.
Our strategy is to keep the ESI file and the SII-EEPROM as thin as possible to
avoid duplication of data that need to be maintained. Both will hold the bare
minimum of mandatory + optional data to pass CTT. Optional data will be
included to tell EtherCAT that detailed information can be retrieved via CoE
from the OD stored in the slave it self.
\section SII-EEPROM SII-EEPROM
Snapshot from SII information matrix from EtherCAT communication slides.
\image html sii_pdo.png "Our target slave is Fixed PDO and OD"
\image latex sii_pdo.png "Our target slave is Fixed PDO and OD" width=15cm
\section ESI-file ESI-file
Snapshot from ESI tree from EtherCAT communication slides.
\image html esi_pdo.png "mandatory and optional ESI data"
\image latex esi_pdo.png "mandatory and optional ESI data" width=15cm
To briefly give a hint what are describe in the ESI and SII we're listing
a set of included elements marked M for mandatory and O for optional.
\code
- Vendor (M) , Describes the identity.
- Id (M), Hex, EtherCAT Vendor ID, OD 1018.01
- Name (M), NameType, Expedient vendor name
- Descriptions (M), Describes the EtherCAT device(s) using elements.
- Groups (M), Similar devices can be assigned to one group.
- Group (M), One group groups similar devices with slightly different features
- Type (M), A reference handle corresponding to the GroupType value in Description:Devices:Device:Group
- Name (M), Name for this group show by a configuration tool
- Devices (M), Element devices may describe one or several devices with their EtherCAT features such as SyncManagers, FMMUs and Dictionaries
- Device (O), Holds all information about the device like syncmanagers and FMMU, object dictionary, data types and the PDO mapping and assign description
- Device ATT: Physics (M),string, Physics at individual ports
- Type (M), Device identity
- Type ATT:ProductCode="#x98123467"
- Type ATT:RevisionNo="#x00000001"
- Name (M), Detailed name of device shown by a configuration tool (not used for identification)
- GroupType (M), Reference to a group (described in element Groups) to which this device should be assigned to. Name of the handle used in element Groups:Group:Type
- Fmmu (O), String to describe function, Outputs -> RxPDO, Inputs -> TxPDO , MBoxState -> FMMU is used to poll Input Mailbox
- Sm (O), Description of SyncManager including start address and direction.
- MBoxOut Mailbox Data Master -> Slave
- MBoxIn Mailbox Data Slave -> Master
- Outputs Process Data Master -> Slave
- Inputs Process Data Slave -> master
- Sm ATT:DefaultSize="128" , Size
- Sm ATT:StartAddress="#x1000" , Start address
- Sm ATT:ControlByte="#x26" , Settings , Bit [1][0] = 10, Operation mode Mailbox, 00 Buffered 3.
- Sm ATT:Enable="1", Enabled
- Mailbox (O), Description of available mailbox protocols
- Mailbox ATT: DataLinkLayer="true", Support of Mailbox Data Link Layer is mandatory.
- CoE (O), Device support CoE
- CoE (O) ATT: SdoInfo="true" , SDO Information Service
- CoE (O) ATT: CompleteAccess="false" , SDO complete access not supported
- CoE (O) ATT: PdoUpload="true", PDO description uploaded from the slave's object dictionary and SyncManager length calculated based on the same
- Dc (O), describes synchronization modes supported by the device.
- OpMode (O), Definition of supported operation modes
- Name (M), Internal Handle of operation mode
- Desc (O(M)), description of operation mode, recommended, Free Run (no sync), SM Synchronous, DC Synchronous
- AssignActive (M), Value of Latch and Sync Control registers
- Eeprom (O, use is mandatory)
- Data (M)
Or
- ByteSize (M), Byte Size of connected EEPROM device
- ConfigData (M), First 7 words of EEPROM, Configuration Areas
- BootStrap (O), Start address and length of mailboxes for BootStrap
\endcode
So to describe the application we use CoE and Object Dictionary. The mapping between
Object Dictionary and the User Application are done via local variables defined as
user types. The Object Dictionary itself is stored in a matrix where all
the indexes are listed. Every index then have a submatrix with its subindex.
\section ObjectDictionary ObjectDictionary
The Object Dictionary used as example follow the CANopen DS301 ranges.
- 0x0000 - 0x0FFF, Data Type Area
- 0x1000 - 0x1FFF, Communication Area
- 0x2000 - 0x5FFF, Manufacture specific area
- 0x6000 - 0x6FFF, Input area
- 0x7000 - 0x7FFF, Output area
- 0x8000 - 0x8FFF, Configuration area
- 0x9000 - 0x9FFF, Information area
- 0xA000 - 0xAFFF, Diagnosis Area
- 0xB000 - 0xBFFF, Service Transfer Area
- 0xC000 - 0xEFFF, Reserved Area
- 0xF000 - 0xFFFF, Device Area
RxPDO , 0x1600 - 0x17FF
TxPDO , 0x1A00 - 0x1BFF
Example, on how the the OD index are linked.
Top index, SyncManagers Communication Types. In index 0 the 0x04 indicates we have 4
SyncManagers defined. Every SyncManager is assigned a type, in index 1-4, we have standard
settings SM0 = 1, SM1 = 2, SM2 = 3, SM3 = 4 from ETG 1000.6, 5.6.7.4.
- 0, Unused
- 1, MailBox Receive, master to slave
- 2, MailBox Send, slave to master
- 3, Processdata output, master to slave
- 4, Processdata input, slave to master
\code
objectlist.h
FLASHSTORE _objectlist SDOobjects[] =
...
{0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]},
FLASHSTORE _objd SDO1C00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_01[0], 0x01, nil},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_02[0], 0x02, nil},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_03[0], 0x03, nil},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_04[0], 0x04, nil}
\endcode
SyncManagers channels 0-31 are listed in SDO1C10-SDO1C2F. If we look
at SyncManager channel 2, we see.
- Type 3, Processdata output, master to slave
It got one RxPDO index 0x1600 connected, and the submatrix for 0x1600 link
one PDO object index 0x7000 subindex 1. The output object 0x70000108 give
you the index 0x7000, subindex 1 and PDO object length 1(byte).
\code
objectlist.h
FLASHSTORE _objd SDO1C12[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil}
};
FLASHSTORE _objd SDO1600[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil}
};
\endcode
At PDO level we make the connection between the local application and
the object dictionary. For all subindex in the PDO the last element
is the address to the local variable.
\code
objectlist.h
FLASHSTORE _objd SDO7000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
};
utypes.h
typedef struct
{
uint8 LED;
} _Wbuffer;
\endcode
Beside SyncManager to PDO mapping we also have mandatory data as
0x1000 Device Type
0x1018 Object Identity
0x10C0 SyncManager Communication Type, as we used as top index when
figuring out our PDOs in the Object Dictionary.
For a complete description of the object dictionary you can get guidance
by the ETG1000.6 EcatAlProtocols
A useful feature is the Asynchronous use of SDO parameters. In the example
we have Parameter set holding an encoder scale value, just for show we also
have a read only mirror value of the encoder scale. Parameters defined as a
RW SDO parameter and can be written/read by SDO Download or Upload. In
addition there is a ESC_objecthandler Hook on SDO Download where you can
add additional logic, ex. we execute the mirror of the encoder scale value
by assigning the encoder scale value to the mirror.
\code
objectlist.h
FLASHSTORE _objd SDO7100[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName7100_02[0], 0, &(encoder_scale_mirror)}
};
soes.c
void ESC_objecthandler (uint16 index, uint8 subindex)
{
switch (index)
{
...
case 0x7100:
{
switch (subindex)
{
case 0x01:
{
encoder_scale_mirror = encoder_scale;
break;
}
}
break;
}
...
}
\endcode
This tutorial is just one way of doing it.
Enjoy and happy coding!
Andreas Karlsson, rt-labs AB, www.rt-labs.com
*/

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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1600
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 5
#define MAX_MAPPINGS_SM3 11
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

386
Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.c Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include <stddef.h>
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "esc_eoe.h"
#include "ecat_slv.h"
#define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)
#define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE, MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_SMmap SMmap2[MAX_MAPPINGS_SM2];
_SMmap SMmap3[MAX_MAPPINGS_SM3];
_ESCvar ESCvar;
/* Private variables */
static volatile int watchdog;
#if MAX_MAPPINGS_SM2 > 0
static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned(8)));
#else
extern uint8_t *rxpdo;
#endif
#if MAX_MAPPINGS_SM3 > 0
static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned(8)));
#else
extern uint8_t *txpdo;
#endif
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_download_pre_objecthandler(uint16_t index,
uint8_t subindex,
void *data,
size_t size,
uint16_t flags)
{
if (IS_RXPDO(index) ||
IS_TXPDO(index) ||
index == RX_PDO_OBJIDX ||
index == TX_PDO_OBJIDX)
{
uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
if (subindex > minSub && COE_maxSub(index) != 0)
{
return ABORT_SUBINDEX0_NOT_ZERO;
}
}
if (ESCvar.pre_object_download_hook)
{
return (ESCvar.pre_object_download_hook)(index,
subindex,
data,
size,
flags);
}
return 0;
}
/** Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO download request to handle
* @param[in] sub-index = sub-index of SDO download request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_download_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
{
if (ESCvar.post_object_download_hook != NULL)
{
return (ESCvar.post_object_download_hook)(index, subindex, flags);
}
return 0;
}
/** Function to pre-qualify the incoming SDO upload.
*
* @param[in] index = index of SDO upload request to handle
* @param[in] sub-index = sub-index of SDO upload request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_upload_pre_objecthandler(uint16_t index,
uint8_t subindex,
void *data,
size_t size,
uint16_t flags)
{
if (ESCvar.pre_object_upload_hook != NULL)
{
return (ESCvar.pre_object_upload_hook)(index,
subindex,
data,
size,
flags);
}
return 0;
}
/** Hook called from the slave stack SDO Upload handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO upload request to handle
* @param[in] sub-index = sub-index of SDO upload request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_upload_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
{
if (ESCvar.post_object_upload_hook != NULL)
{
return (ESCvar.post_object_upload_hook)(index, subindex, flags);
}
return 0;
}
/** Hook called from the slave stack ESC_stopoutputs to act on state changes
* forcing us to stop outputs. Here we can set them to a safe state.
*/
void APP_safeoutput(void)
{
DPRINT("APP_safeoutput\n");
if (ESCvar.safeoutput_override != NULL)
{
(ESCvar.safeoutput_override)();
}
}
/** Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update(void)
{
if (ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
if (MAX_MAPPINGS_SM3 > 0)
{
COE_pdoPack(txpdo, ESCvar.sm3mappings, SMmap3);
}
ESC_write(ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
}
}
/** Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update(void)
{
if (ESCvar.rxpdo_override != NULL)
{
(ESCvar.rxpdo_override)();
}
else
{
ESC_read(ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
if (MAX_MAPPINGS_SM2 > 0)
{
COE_pdoUnpack(rxpdo, ESCvar.sm2mappings, SMmap2);
}
}
}
/* Set the watchdog count value, don't have any affect when using
* HW watchdog 0x4xx
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog(int watchdogcnt)
{
CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
}
/* Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process(uint16_t ALEvent, uint8_t flags)
{
/* Handle watchdog */
if ((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
}
else if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ALEvent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */
cb_set_outputs();
}
else if (ALEvent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if (CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_inputs();
TXPDO_update();
}
}
}
/*
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
*/
void ecat_slv_worker(uint32_t event_mask)
{
do
{
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
{
ESC_coeprocess();
#if USE_FOE
ESC_foeprocess();
#endif
#if USE_EOE
ESC_eoeprocess();
#endif
ESC_xoeprocess();
}
#if USE_EOE
ESC_eoeprocess_tx();
#endif
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
} while (ESCvar.ALevent & event_mask);
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
}
/*
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_poll(void)
{
/* Read local time from ESC*/
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
ESCvar.Time = etohl(ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
#if USE_FOE
ESC_foeprocess();
#endif
#if USE_EOE
ESC_eoeprocess();
#endif
ESC_xoeprocess();
}
#if USE_EOE
ESC_eoeprocess_tx();
#endif
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
/*
* Poll all events in a free-run application
*/
void ecat_slv(void)
{
ecat_slv_poll();
DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/*
* Initialize the slave stack.
*/
void ecat_slv_init(esc_cfg_t *config)
{
/* Init watchdog */
watchdog = config->watchdog_cnt;
/* Call stack configuration */
ESC_config(config);
/* Call HW init */
ESC_init(config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read(ESCREG_DLSTATUS, (void *)&ESCvar.DLstatus,
sizeof(ESCvar.DLstatus));
ESCvar.DLstatus = etohs(ESCvar.DLstatus);
}
#if USE_FOE
/* Init FoE */
FOE_init();
#endif
#if USE_EOE
/* Init EoE */
EOE_init();
#endif
/* reset ESC to init state */
ESC_ALstatus(ESCinit);
ESC_ALerror(ALERR_NONE);
ESC_stopmbx();
ESC_stopinput();
ESC_stopoutput();
/* Init Object Dictionary default values */
COE_initDefaultValues();
}

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Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.h Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#ifndef __ECAT_SLV_H__
#define __ECAT_SLV_H__
#include "ecat_options.h"
#include "esc.h"
/**
* This function is called when to get input values
*/
void cb_get_inputs();
/**
* This function is called when to set outputs values
*/
void cb_set_outputs();
/** Set the watchdog count value
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog(int watchdogcnt);
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
/** Implements the watch-dog counter to count if we should make a state change
* due to missing incoming SM2 events. Updates local I/O and run the application
* in the following order, call read EtherCAT outputs, execute user provided
* application hook and call write EtherCAT inputs.
*
* @param[in] flags = User input what to execute
*/
void DIG_process(uint16_t ALEvent, uint8_t flags);
/**
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
*
* @param[in] event_mask = Event mask for interrupts to serve and re-activate
* after served
*/
void ecat_slv_worker(uint32_t event_mask);
/**
* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
* application
*/
void ecat_slv_poll(void);
/**
* Poll all events in a free-run application
*/
void ecat_slv(void);
/**
* Initialize the slave stack
*
* @param[in] config = User input how to configure the stack
*/
void ecat_slv_init(esc_cfg_t *config);
#endif /* __ECAT_SLV_H__ */

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Cards/EaserCAT-2000/Firmware/lib/soes/eeprom.bin Executable file
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Cards/EaserCAT-2000/Firmware/lib/soes/eeprom.hex Executable file
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Cards/EaserCAT-2000/Firmware/lib/soes/esc.c Executable file
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Cards/EaserCAT-2000/Firmware/lib/soes/esc.h Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc.h
*/
#ifndef __esc__
#define __esc__
#include <stdbool.h>
#include <cc.h>
#include <esc_coe.h>
#include "ecat_options.h"
#define ESCREG_ADDRESS 0x0010
#define ESCREG_DLSTATUS 0x0110
#define ESCREG_ALCONTROL 0x0120
#define ESCREG_ALSTATUS 0x0130
#define ESCREG_ALERROR 0x0134
#define ESCREG_ALEVENTMASK 0x0204
#define ESCREG_ALEVENT 0x0220
#define ESCREG_ALEVENT_SM_MASK 0x0310
#define ESCREG_ALEVENT_SMCHANGE 0x0010
#define ESCREG_ALEVENT_CONTROL 0x0001
#define ESCREG_ALEVENT_DC_LATCH 0x0002
#define ESCREG_ALEVENT_DC_SYNC0 0x0004
#define ESCREG_ALEVENT_DC_SYNC1 0x0008
#define ESCREG_ALEVENT_EEP 0x0020
#define ESCREG_ALEVENT_WD 0x0040
#define ESCREG_ALEVENT_SM0 0x0100
#define ESCREG_ALEVENT_SM1 0x0200
#define ESCREG_ALEVENT_SM2 0x0400
#define ESCREG_ALEVENT_SM3 0x0800
#define ESCREG_WDSTATUS 0x0440
#define ESCREG_EECONTSTAT 0x0502
#define ESCREG_EEDATA 0x0508
#define ESCREG_SM0 0x0800
#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)
#define ESCREG_SM0ACTIVATE (ESCREG_SM0 + 6)
#define ESCREG_SM0PDI (ESCREG_SM0 + 7)
#define ESCREG_SM1 (ESCREG_SM0 + 0x08)
#define ESCREG_SM2 (ESCREG_SM0 + 0x10)
#define ESCREG_SM3 (ESCREG_SM0 + 0x18)
#define ESCREG_LOCALTIME 0x0910
#define ESCREG_LOCALTIME_OFFSET 0x0920
#define ESCREG_SYNC_ACT 0x0981
#define ESCREG_SYNC_ACT_ACTIVATED 0x01
#define ESCREG_SYNC_SYNC0_EN 0x02
#define ESCREG_SYNC_SYNC1_EN 0x04
#define ESCREG_SYNC_AUTO_ACTIVATED 0x08
#define ESCREG_SYNC0_CYCLE_TIME 0x09A0
#define ESCREG_SYNC1_CYCLE_TIME 0x09A4
#define ESCREG_SMENABLE_BIT 0x01
#define ESCREG_AL_STATEMASK 0x001f
#define ESCREG_AL_ALLBUTINITMASK 0x0e
#define ESCREG_AL_ERRACKMASK 0x0f
#define SYNCTYPE_SUPPORT_FREERUN 0x01
#define SYNCTYPE_SUPPORT_SYNCHRON 0x02
#define SYNCTYPE_SUPPORT_DCSYNC0 0x04
#define SYNCTYPE_SUPPORT_DCSYNC1 0x08
#define SYNCTYPE_SUPPORT_SUBCYCLE 0x10
#define ESCinit 0x01
#define ESCpreop 0x02
#define ESCboot 0x03
#define ESCsafeop 0x04
#define ESCop 0x08
#define ESCerror 0x10
#define INIT_TO_INIT 0x11
#define INIT_TO_PREOP 0x21
#define INIT_TO_BOOT 0x31
#define INIT_TO_SAFEOP 0x41
#define INIT_TO_OP 0x81
#define PREOP_TO_INIT 0x12
#define PREOP_TO_PREOP 0x22
#define PREOP_TO_BOOT 0x32
#define PREOP_TO_SAFEOP 0x42
#define PREOP_TO_OP 0x82
#define BOOT_TO_INIT 0x13
#define BOOT_TO_PREOP 0x23
#define BOOT_TO_BOOT 0x33
#define BOOT_TO_SAFEOP 0x43
#define BOOT_TO_OP 0x83
#define SAFEOP_TO_INIT 0x14
#define SAFEOP_TO_PREOP 0x24
#define SAFEOP_TO_BOOT 0x34
#define SAFEOP_TO_SAFEOP 0x44
#define SAFEOP_TO_OP 0x84
#define OP_TO_INIT 0x18
#define OP_TO_PREOP 0x28
#define OP_TO_BOOT 0x38
#define OP_TO_SAFEOP 0x48
#define OP_TO_OP 0x88
#define ALERR_NONE 0x0000
#define ALERR_UNSPECIFIEDERROR 0x0001
#define ALERR_NOMEMORY 0x0002
#define ALERR_INVALIDSTATECHANGE 0x0011
#define ALERR_UNKNOWNSTATE 0x0012
#define ALERR_BOOTNOTSUPPORTED 0x0013
#define ALERR_NOVALIDFIRMWARE 0x0014
#define ALERR_INVALIDBOOTMBXCONFIG 0x0015
#define ALERR_INVALIDMBXCONFIG 0x0016
#define ALERR_INVALIDSMCONFIG 0x0017
#define ALERR_NOVALIDINPUTS 0x0018
#define ALERR_NOVALIDOUTPUTS 0x0019
#define ALERR_SYNCERROR 0x001A
#define ALERR_WATCHDOG 0x001B
#define ALERR_INVALIDSYNCMANAGERTYP 0x001C
#define ALERR_INVALIDOUTPUTSM 0x001D
#define ALERR_INVALIDINPUTSM 0x001E
#define ALERR_INVALIDWDTCFG 0x001F
#define ALERR_SLAVENEEDSCOLDSTART 0x0020
#define ALERR_SLAVENEEDSINIT 0x0021
#define ALERR_SLAVENEEDSPREOP 0x0022
#define ALERR_SLAVENEEDSSAFEOP 0x0023
#define ALERR_INVALIDINPUTMAPPING 0x0024
#define ALERR_INVALIDOUTPUTMAPPING 0x0025
#define ALERR_INCONSISTENTSETTINGS 0x0026
#define ALERR_FREERUNNOTSUPPORTED 0x0027
#define ALERR_SYNCNOTSUPPORTED 0x0028
#define ALERR_FREERUNNEEDS3BUFFMODE 0x0029
#define ALERR_BACKGROUNDWATCHDOG 0x002A
#define ALERR_NOVALIDINPUTSOUTPUTS 0x002B
#define ALERR_FATALSYNCERROR 0x002C
#define ALERR_NOSYNCERROR 0x002D
#define ALERR_INVALIDINPUTFMMUCFG 0x002E
#define ALERR_DCINVALIDSYNCCFG 0x0030
#define ALERR_INVALIDDCLATCHCFG 0x0031
#define ALERR_PLLERROR 0x0032
#define ALERR_DCSYNCIOERROR 0x0033
#define ALERR_DCSYNCTIMEOUT 0x0034
#define ALERR_DCSYNCCYCLETIME 0x0035
#define ALERR_DCSYNC0CYCLETIME 0x0036
#define ALERR_DCSYNC1CYCLETIME 0x0037
#define ALERR_MBXAOE 0x0041
#define ALERR_MBXEOE 0x0042
#define ALERR_MBXCOE 0x0043
#define ALERR_MBXFOE 0x0044
#define ALERR_MBXSOE 0x0045
#define ALERR_MBXVOE 0x004F
#define ALERR_EEPROMNOACCESS 0x0050
#define ALERR_EEPROMERROR 0x0051
#define ALERR_SLAVERESTARTEDLOCALLY 0x0060
#define ALERR_DEVICEIDVALUEUPDATED 0x0061
#define ALERR_APPLCTRLAVAILABLE 0x00f0
#define ALERR_UNKNOWN 0xffff
#define MBXERR_SYNTAX 0x0001
#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002
#define MBXERR_INVALIDCHANNEL 0x0003
#define MBXERR_SERVICENOTSUPPORTED 0x0004
#define MBXERR_INVALIDHEADER 0x0005
#define MBXERR_SIZETOOSHORT 0x0006
#define MBXERR_NOMOREMEMORY 0x0007
#define MBXERR_INVALIDSIZE 0x0008
#define ABORT_NOTOGGLE 0x05030000
#define ABORT_TRANSFER_TIMEOUT 0x05040000
#define ABORT_UNKNOWN 0x05040001
#define ABORT_INVALID_BLOCK_SIZE 0x05040002
#define ABORT_INVALID_SEQUENCE_NUMBER 0x05040003
#define ABORT_BLOCK_CRC_ERROR 0x05040004
#define ABORT_OUT_OF_MEMORY 0x05040005
#define ABORT_UNSUPPORTED 0x06010000
#define ABORT_WRITEONLY 0x06010001
#define ABORT_READONLY 0x06010002
#define ABORT_SUBINDEX0_NOT_ZERO 0x06010003
#define ABORT_CA_NOT_SUPPORTED 0x06010004
#define ABORT_EXCEEDS_MBOX_SIZE 0x06010005
#define ABORT_SDO_DOWNLOAD_BLOCKED 0x06010006
#define ABORT_NOOBJECT 0x06020000
#define ABORT_MAPPING_OBJECT_ERROR 0x06040041
#define ABORT_MAPPING_LENGTH_ERROR 0x06040042
#define ABORT_GENERAL_PARAMETER_ERROR 0x06040043
#define ABORT_GENERAL_DEVICE_ERROR 0x06040047
#define ABORT_HARDWARE_ERROR 0x06060000
#define ABORT_TYPEMISMATCH 0x06070010
#define ABORT_DATATYPE_TOO_HIGH 0x06070012
#define ABORT_DATATYPE_TOO_LOW 0x06070013
#define ABORT_NOSUBINDEX 0x06090011
#define ABORT_VALUE_EXCEEDED 0x06090030
#define ABORT_VALUE_TOO_HIGH 0x06090031
#define ABORT_VALUE_TOO_LOW 0x06090032
#define ABORT_MODULE_LIST_MISMATCH 0x06090033
#define ABORT_MAX_VAL_LESS_THAN_MIN_VAL 0x06090036
#define ABORT_RESOURCE_NOT_AVAILABLE 0x060A0023
#define ABORT_GENERALERROR 0x08000000
#define ABORT_DATA_STORE_ERROR 0x08000020
#define ABORT_DATA_STORE_LOCAL_ERROR 0x08000021
#define ABORT_NOTINTHISSTATE 0x08000022
#define ABORT_OBJECT_DICTIONARY_ERROR 0x08000023
#define ABORT_NO_DATA_AVAILABLE 0x08000024
#define MBXstate_idle 0x00
#define MBXstate_inclaim 0x01
#define MBXstate_outclaim 0x02
#define MBXstate_outreq 0x03
#define MBXstate_outpost 0x04
#define MBXstate_backup 0x05
#define MBXstate_again 0x06
#define COE_DEFAULTLENGTH 0x0a
#define COE_HEADERSIZE 0x0a
#define COE_SEGMENTHEADERSIZE 0x03
#define COE_SDOREQUEST 0x02
#define COE_SDORESPONSE 0x03
#define COE_SDOINFORMATION 0x08
#define COE_COMMAND_SDOABORT 0x80
#define COE_COMMAND_UPLOADREQUEST 0x40
#define COE_COMMAND_UPLOADRESPONSE 0x40
#define COE_COMMAND_UPLOADSEGMENT 0x00
#define COE_COMMAND_UPLOADSEGREQ 0x60
#define COE_COMMAND_DOWNLOADREQUEST 0x20
#define COE_COMMAND_DOWNLOADRESPONSE 0x60
#define COE_COMMAND_DOWNLOADSEGREQ 0x00
#define COE_COMMAND_DOWNLOADSEGRESP 0x20
#define COE_COMMAND_LASTSEGMENTBIT 0x01
#define COE_SIZE_INDICATOR 0x01
#define COE_EXPEDITED_INDICATOR 0x02
#define COE_COMPLETEACCESS 0x10
#define COE_TOGGLEBIT 0x10
#define COE_INFOERROR 0x07
#define COE_GETODLISTRESPONSE 0x02
#define COE_GETODRESPONSE 0x04
#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
#define COE_VALUEINFO_ACCESS 0x01
#define COE_VALUEINFO_OBJECT 0x02
#define COE_VALUEINFO_MAPPABLE 0x04
#define COE_VALUEINFO_TYPE 0x08
#define COE_VALUEINFO_DEFAULT 0x10
#define COE_VALUEINFO_MINIMUM 0x20
#define COE_VALUEINFO_MAXIMUM 0x40
#define COE_MINIMUM_LENGTH 8
#define MBXERR 0x00
#define MBXAOE 0x01
#define MBXEOE 0x02
#define MBXCOE 0x03
#define MBXFOE 0x04
#define MBXODL 0x10
#define MBXOD 0x20
#define MBXED 0x30
#define MBXSEU 0x40
#define MBXSED 0x50
#define SMRESULT_ERRSM0 0x01
#define SMRESULT_ERRSM1 0x02
#define SMRESULT_ERRSM2 0x04
#define SMRESULT_ERRSM3 0x08
#define FOE_ERR_NOTDEFINED 0x8000
#define FOE_ERR_NOTFOUND 0x8001
#define FOE_ERR_ACCESS 0x8002
#define FOE_ERR_DISKFULL 0x8003
#define FOE_ERR_ILLEGAL 0x8004
#define FOE_ERR_PACKETNO 0x8005
#define FOE_ERR_EXISTS 0x8006
#define FOE_ERR_NOUSER 0x8007
#define FOE_ERR_BOOTSTRAPONLY 0x8008
#define FOE_ERR_NOTINBOOTSTRAP 0x8009
#define FOE_ERR_NORIGHTS 0x800A
#define FOE_ERR_PROGERROR 0x800B
#define FOE_ERR_CHECKSUM 0x800C
#define FOE_OP_RRQ 1
#define FOE_OP_WRQ 2
#define FOE_OP_DATA 3
#define FOE_OP_ACK 4
#define FOE_OP_ERR 5
#define FOE_OP_BUSY 6
#define FOE_READY 0
#define FOE_WAIT_FOR_ACK 1
#define FOE_WAIT_FOR_FINAL_ACK 2
#define FOE_WAIT_FOR_DATA 3
#define EOE_RESULT_SUCCESS 0x0000
#define EOE_RESULT_UNSPECIFIED_ERROR 0x0001
#define EOE_RESULT_UNSUPPORTED_FRAME_TYPE 0x0002
#define EOE_RESULT_NO_IP_SUPPORT 0x0201
#define EOE_RESULT_NO_DHCP_SUPPORT 0x0202
#define EOE_RESULT_NO_FILTER_SUPPORT 0x0401
#define APPSTATE_IDLE 0x00
#define APPSTATE_INPUT 0x01
#define APPSTATE_OUTPUT 0x02
#define PREALLOC_FACTOR 3
#define PREALLOC_BUFFER_SIZE (PREALLOC_FACTOR * MBXSIZE)
typedef struct sm_cfg
{
uint16_t cfg_sma;
uint16_t cfg_sml;
uint16_t cfg_sme;
uint8_t cfg_smc;
uint8_t cfg_smact;
}sm_cfg_t;
typedef struct esc_cfg
{
void * user_arg;
int use_interrupt;
int watchdog_cnt;
bool skip_default_initialization;
void (*set_defaults_hook) (void);
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
void (*application_hook) (void);
void (*safeoutput_override) (void);
uint32_t (*pre_object_download_hook) (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
uint32_t (*post_object_download_hook) (uint16_t index,
uint8_t subindex,
uint16_t flags);
uint32_t (*pre_object_upload_hook) (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
uint32_t (*post_object_upload_hook) (uint16_t index,
uint8_t subindex,
uint16_t flags);
void (*rxpdo_override) (void);
void (*txpdo_override) (void);
void (*esc_hw_interrupt_enable) (uint32_t mask);
void (*esc_hw_interrupt_disable) (uint32_t mask);
void (*esc_hw_eep_handler) (void);
uint16_t (*esc_check_dc_handler) (void);
} esc_cfg_t;
typedef struct
{
uint8_t state;
} _App;
// Attention! this struct is always little-endian
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
#if defined(EC_LITTLE_ENDIAN)
uint8_t Mode:2;
uint8_t Direction:2;
uint8_t IntECAT:1;
uint8_t IntPDI:1;
uint8_t WTE:1;
uint8_t R1:1;
uint8_t IntW:1;
uint8_t IntR:1;
uint8_t R2:1;
uint8_t MBXstat:1;
uint8_t BUFstat:2;
uint8_t R3:2;
uint8_t ECsm:1;
uint8_t ECrep:1;
uint8_t ECr4:4;
uint8_t EClatchEC:1;
uint8_t EClatchPDI:1;
uint8_t PDIsm:1;
uint8_t PDIrep:1;
uint8_t PDIr5:6;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t R1:1;
uint8_t WTE:1;
uint8_t IntPDI:1;
uint8_t IntECAT:1;
uint8_t Direction:2;
uint8_t Mode:2;
uint8_t R3:2;
uint8_t BUFstat:2;
uint8_t MBXstat:1;
uint8_t R2:1;
uint8_t IntR:1;
uint8_t IntW:1;
uint8_t EClatchPDI:1;
uint8_t EClatchEC:1;
uint8_t ECr4:4;
uint8_t ECrep:1;
uint8_t ECsm:1;
uint8_t PDIr5:6;
uint8_t PDIrep:1;
uint8_t PDIsm:1;
#endif
} _ESCsm;
CC_PACKED_END
/* Attention! this struct is always little-endian */
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
uint8_t Command;
uint8_t Status;
uint8_t ActESC;
uint8_t ActPDI;
} _ESCsm2;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
uint8_t Command;
} _ESCsmCompact;
CC_PACKED_END
typedef struct
{
/* Configuration input is saved so the user variable may go out-of-scope */
int use_interrupt;
sm_cfg_t mb[2];
sm_cfg_t mbboot[2];
bool skip_default_initialization;
void (*set_defaults_hook) (void);
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
void (*application_hook) (void);
void (*safeoutput_override) (void);
uint32_t (*pre_object_download_hook) (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
uint32_t (*post_object_download_hook) (uint16_t index,
uint8_t subindex,
uint16_t flags);
uint32_t (*pre_object_upload_hook) (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
uint32_t (*post_object_upload_hook) (uint16_t index,
uint8_t subindex,
uint16_t flags);
void (*rxpdo_override) (void);
void (*txpdo_override) (void);
void (*esc_hw_interrupt_enable) (uint32_t mask);
void (*esc_hw_interrupt_disable) (uint32_t mask);
void (*esc_hw_eep_handler) (void);
uint16_t (*esc_check_dc_handler) (void);
uint8_t MBXrun;
size_t activembxsize;
sm_cfg_t * activemb0;
sm_cfg_t * activemb1;
uint16_t ESC_SM2_sml;
uint16_t ESC_SM3_sml;
uint8_t dcsync;
uint16_t synccounterlimit;
uint16_t ALstatus;
uint16_t ALcontrol;
uint16_t ALerror;
uint16_t DLstatus;
uint16_t address;
uint8_t mbxcnt;
uint8_t mbxincnt;
uint8_t mbxoutpost;
uint8_t mbxbackup;
uint8_t xoe;
uint8_t txcue;
uint8_t mbxfree;
uint8_t segmented;
void *data;
uint16_t entries;
uint16_t frags;
uint16_t fragsleft;
uint16_t index;
uint8_t subindex;
uint16_t flags;
uint8_t toggle;
int sm2mappings;
int sm3mappings;
uint8_t SMtestresult;
uint32_t PrevTime;
_ESCsm SM[4];
/* Volatile since it may be read from ISR */
volatile int watchdogcnt;
volatile uint32_t Time;
volatile uint16_t ALevent;
volatile int8_t synccounter;
volatile _App App;
uint8_t mbxdata[PREALLOC_BUFFER_SIZE];
} _ESCvar;
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t length;
uint16_t address;
#if defined(EC_LITTLE_ENDIAN)
uint8_t channel:6;
uint8_t priority:2;
uint8_t mbxtype:4;
uint8_t mbxcnt:4;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t priority:2;
uint8_t channel:6;
uint8_t mbxcnt:4;
uint8_t mbxtype:4;
#endif
} _MBXh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh header;
uint8_t b[0];
} _MBX;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t numberservice;
} _COEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
#if defined(EC_LITTLE_ENDIAN)
uint8_t opcode:7;
uint8_t incomplete:1;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t incomplete:1;
uint8_t opcode:7;
#endif
uint8_t reserved;
uint16_t fragmentsleft;
} _INFOh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
uint16_t type;
uint16_t detail;
} _MBXerr;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_COEh coeheader;
uint8_t command;
uint16_t index;
uint8_t subindex;
uint32_t size;
} _COEsdo;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_COEh coeheader;
_INFOh infoheader;
uint16_t index;
uint16_t datatype;
uint8_t maxsub;
uint8_t objectcode;
char name;
} _COEobjdesc;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_COEh coeheader;
_INFOh infoheader;
uint16_t index;
uint8_t subindex;
uint8_t valueinfo;
uint16_t datatype;
uint16_t bitlength;
uint16_t access;
char name;
} _COEentdesc;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint8_t opcode;
uint8_t reserved;
union
{
uint32_t password;
uint32_t packetnumber;
uint32_t errorcode;
};
} _FOEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_FOEh foeheader;
union
{
char filename[0];
uint8_t data[0];
char errortext[0];
};
} _FOE;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t frameinfo1;
union
{
uint16_t frameinfo2;
uint16_t result;
};
} _EOEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_EOEh eoeheader;
uint8_t data[0];
} _EOE;
CC_PACKED_END
/* state definition in mailbox
* 0 : idle
* 1 : claimed for inbox
* 2 : claimed for outbox
* 3 : request post outbox
* 4 : outbox posted not send
* 5 : backup outbox
* 6 : mailbox needs to be transmitted again
*/
typedef struct
{
uint8_t state;
} _MBXcontrol;
/* Stack reference to application configuration of the ESC */
#define ESC_MBXSIZE (ESCvar.activembxsize)
#define ESC_MBX0_sma (ESCvar.activemb0->cfg_sma)
#define ESC_MBX0_sml (ESCvar.activemb0->cfg_sml)
#define ESC_MBX0_sme (ESCvar.activemb0->cfg_sme)
#define ESC_MBX0_smc (ESCvar.activemb0->cfg_smc)
#define ESC_MBX1_sma (ESCvar.activemb1->cfg_sma)
#define ESC_MBX1_sml (ESCvar.activemb1->cfg_sml)
#define ESC_MBX1_sme (ESCvar.activemb1->cfg_sme)
#define ESC_MBX1_smc (ESCvar.activemb1->cfg_smc)
#define ESC_MBXBUFFERS (MBXBUFFERS)
#define ESC_SM2_sma (SM2_sma)
#define ESC_SM2_smc (SM2_smc)
#define ESC_SM2_act (SM2_act)
#define ESC_SM3_sma (SM3_sma)
#define ESC_SM3_smc (SM3_smc)
#define ESC_SM3_act (SM3_act)
#define ESC_MBXHSIZE sizeof(_MBXh)
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
#define ESC_FOEHSIZE sizeof(_FOEh)
#define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
#define ESC_EOEHSIZE sizeof(_EOEh)
#define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
void ESC_config (esc_cfg_t * cfg);
void ESC_ALerror (uint16_t errornumber);
void ESC_ALeventwrite (uint32_t event);
uint32_t ESC_ALeventread (void);
void ESC_ALeventmaskwrite (uint32_t mask);
uint32_t ESC_ALeventmaskread (void);
void ESC_ALstatus (uint8_t status);
void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber);
void ESC_SMstatus (uint8_t n);
uint8_t ESC_WDstatus (void);
uint8_t ESC_claimbuffer (void);
uint8_t ESC_startmbx (uint8_t state);
void ESC_stopmbx (void);
void MBX_error (uint16_t error);
uint8_t ESC_mbxprocess (void);
void ESC_xoeprocess (void);
uint8_t ESC_startinput (uint8_t state);
void ESC_stopinput (void);
uint8_t ESC_startoutput (uint8_t state);
void ESC_stopoutput (void);
void ESC_state (void);
void ESC_sm_act_event (void);
/* From hardware file */
void ESC_read (uint16_t address, void *buf, uint16_t len);
void ESC_write (uint16_t address, void *buf, uint16_t len);
void ESC_init (const esc_cfg_t * cfg);
void ESC_reset (void);
/* From application */
extern void APP_safeoutput ();
extern _ESCvar ESCvar;
extern _MBXcontrol MBXcontrol[];
extern uint8_t MBX[];
extern _SMmap SMmap2[];
extern _SMmap SMmap3[];
/* ATOMIC operations are used when running interrupt driven */
#ifndef CC_ATOMIC_SET
#define CC_ATOMIC_SET(var,val) (var = val)
#endif
#ifndef CC_ATOMIC_GET
#define CC_ATOMIC_GET(var) (var)
#endif
#ifndef CC_ATOMIC_ADD
#define CC_ATOMIC_ADD(var,val) (var += val)
#endif
#ifndef CC_ATOMIC_SUB
#define CC_ATOMIC_SUB(var,val) (var -= val)
#endif
#ifndef CC_ATOMIC_AND
#define CC_ATOMIC_AND(var,val) (var &= val)
#endif
#ifndef CC_ATOMIC_OR
#define CC_ATOMIC_OR(var,val) (var |= val)
#endif
#endif

1783
Cards/EaserCAT-2000/Firmware/lib/soes/esc_coe.c Executable file
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135
Cards/EaserCAT-2000/Firmware/lib/soes/esc_coe.h Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc_coe.c
*/
#ifndef __esc_coe__
#define __esc_coe__
#include <cc.h>
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t subindex;
uint16_t datatype;
uint16_t bitlength;
uint16_t flags;
const char *name;
uint32_t value;
void *data;
} _objd;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t index;
uint16_t objtype;
uint8_t maxsub;
uint8_t pad1;
const char *name;
const _objd *objdesc;
} _objectlist;
CC_PACKED_END
typedef struct
{
const _objd * obj;
uint16_t offset;
} _SMmap;
#define OBJH_READ 0
#define OBJH_WRITE 1
#define OTYPE_DOMAIN 0x0002
#define OTYPE_DEFTYPE 0x0005
#define OTYPE_DEFSTRUCT 0x0006
#define OTYPE_VAR 0x0007
#define OTYPE_ARRAY 0x0008
#define OTYPE_RECORD 0x0009
#define DTYPE_BOOLEAN 0x0001
#define DTYPE_INTEGER8 0x0002
#define DTYPE_INTEGER16 0x0003
#define DTYPE_INTEGER32 0x0004
#define DTYPE_UNSIGNED8 0x0005
#define DTYPE_UNSIGNED16 0x0006
#define DTYPE_UNSIGNED32 0x0007
#define DTYPE_REAL32 0x0008
#define DTYPE_VISIBLE_STRING 0x0009
#define DTYPE_OCTET_STRING 0x000A
#define DTYPE_UNICODE_STRING 0x000B
#define DTYPE_INTEGER24 0x0010
#define DTYPE_UNSIGNED24 0x0016
#define DTYPE_INTEGER64 0x0015
#define DTYPE_UNSIGNED64 0x001B
#define DTYPE_REAL64 0x0011
#define DTYPE_PDO_MAPPING 0x0021
#define DTYPE_IDENTITY 0x0023
#define DTYPE_BITARR8 0x002D
#define DTYPE_BITARR16 0x002E
#define DTYPE_BITARR32 0x002F
#define DTYPE_BIT1 0x0030
#define DTYPE_BIT2 0x0031
#define DTYPE_BIT3 0x0032
#define DTYPE_BIT4 0x0033
#define DTYPE_BIT5 0x0034
#define DTYPE_BIT6 0x0035
#define DTYPE_BIT7 0x0036
#define DTYPE_BIT8 0x0037
#define DTYPE_ARRAY_OF_INT 0x0260
#define DTYPE_ARRAY_OF_SINT 0x0261
#define DTYPE_ARRAY_OF_DINT 0x0262
#define DTYPE_ARRAY_OF_UDINT 0x0263
#define ATYPE_Rpre 0x01
#define ATYPE_Rsafe 0x02
#define ATYPE_Rop 0x04
#define ATYPE_Wpre 0x08
#define ATYPE_Wsafe 0x10
#define ATYPE_Wop 0x20
#define ATYPE_RXPDO 0x40
#define ATYPE_TXPDO 0x80
#define ATYPE_RO (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
#define ATYPE_WO (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
#define ATYPE_RW (ATYPE_RO | ATYPE_WO)
#define ATYPE_RWpre (ATYPE_Wpre | ATYPE_RO)
#define TX_PDO_OBJIDX 0x1c13
#define RX_PDO_OBJIDX 0x1c12
#define COMPLETE_ACCESS_FLAG (1 << 15)
void ESC_coeprocess (void);
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex);
int32_t SDO_findobject (uint16_t index);
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode);
void COE_initDefaultValues (void);
void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
uint8_t COE_maxSub (uint16_t index);
extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
extern uint32_t ESC_download_pre_objecthandler (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
extern uint32_t ESC_upload_pre_objecthandler (uint16_t index,
uint8_t subindex,
void * data,
size_t size,
uint16_t flags);
extern uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
extern const _objectlist SDOobjects[];
#endif

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Cards/EaserCAT-2000/Firmware/lib/soes/esc_eep.c Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESI EEPROM emulator module.
*/
#include "cc.h"
#include "esc.h"
#include "esc_eep.h"
#include <string.h>
static uint8_t eep_buf[8];
/** EPP periodic task of ESC side EEPROM emulation.
*
*/
void EEP_process (void)
{
eep_stat_t stat;
/* check for eeprom event */
if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
return;
}
while (1) {
/* read eeprom status */
ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
stat.contstat.reg = etohs(stat.contstat.reg);
stat.addr = etohl(stat.addr);
/* check busy flag, exit if job finished */
if (!stat.contstat.bits.busy) {
return;
}
/* clear error bits */
stat.contstat.bits.csumErr = 0;
stat.contstat.bits.eeLoading = 0;
stat.contstat.bits.ackErr = 0;
stat.contstat.bits.wrErr = 0;
/* process commands */
switch (stat.contstat.bits.cmdReg) {
case EEP_CMD_IDLE:
break;
case EEP_CMD_READ:
case EEP_CMD_RELOAD:
/* handle read request */
if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
} else {
ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
}
break;
case EEP_CMD_WRITE:
/* handle write request */
ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
}
break;
default:
stat.contstat.bits.ackErr = 1;
}
/* acknowledge command */
stat.contstat.reg = htoes(stat.contstat.reg);
ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
}
}

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc_eep.c
*/
#ifndef __esc_eep__
#define __esc_eep__
#include <cc.h>
#include "esc.h"
/* EEPROM commands */
#define EEP_CMD_IDLE 0x0
#define EEP_CMD_READ 0x1
#define EEP_CMD_WRITE 0x2
#define EEP_CMD_RELOAD 0x3
/* read/write size */
#define EEP_READ_SIZE 8
#define EEP_WRITE_SIZE 2
/* CONSTAT register content */
typedef struct CC_PACKED
{
union {
uint16_t reg;
struct {
uint8_t wrEnable:1;
uint8_t reserved:4;
uint8_t eeEmulated:1;
uint8_t eightByteRead:1;
uint8_t twoByteAddr:1;
uint8_t cmdReg:3;
uint8_t csumErr:1;
uint8_t eeLoading:1;
uint8_t ackErr:1;
uint8_t wrErr:1;
uint8_t busy:1;
} bits;
} contstat;
uint32_t addr;
} eep_stat_t;
/**
* ECAT EEPROM configuration area data structure
*/
typedef union eep_config
{
struct
{
uint16_t pdi_control;
uint16_t pdi_configuration;
uint16_t sync_impulse_len;
uint16_t pdi_configuration2;
uint16_t configured_station_alias;
uint8_t reserved[4];
uint16_t checksum;
};
uint32_t dword[4]; /**< Four 32 bit double word equivalent to 8 16 bit configuration area word. */
}eep_config_t;
/* periodic task */
void EEP_process (void);
/* From hardware file */
void EEP_init (void);
int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);
int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t size);
#endif

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc_eoe.c
*/
#ifndef __esc_eoe__
#define __esc_eoe__
#include <cc.h>
typedef struct eoe_pbuf
{
/** Pointer to frame buffer type used by a TCP/IP stack. (Not mandatory) */
void * pbuf;
/** Pointer to frame buffer to send or read from */
uint8_t * payload;
/** Length of data in frame buffer */
size_t len;
} eoe_pbuf_t;
typedef struct eoe_cfg
{
/** Callback function to get a frame buffer for storage of received frame */
void (*get_buffer) (eoe_pbuf_t * ebuf);
/** Callback function to free a frame buffer */
void (*free_buffer) (eoe_pbuf_t * ebuf);
/** Callback function to read local settings and update EtherCAT variables
* to be delivered to the EtherCAT Master
*/
int (*load_eth_settings) (void);
/** Callback function to read settings provided by the EtherCAT master
* and store to local settings.
*/
int (*store_ethernet_settings) (void);
/** Callback to frame receive function in TCP(IP stack,
* caller should free the buffer
* */
void (*handle_recv_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
/** Callback to fetch a buffer to send */
int (*fetch_send_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
/** Callback to notify the application fragment sent */
void (*fragment_sent_event) (void);
} eoe_cfg_t;
int EOE_ecat_get_mac (uint8_t port, uint8_t mac[]);
int EOE_ecat_get_ip (uint8_t port, uint32_t * ip);
int EOE_ecat_get_subnet (uint8_t port, uint32_t * subnet);
int EOE_ecat_get_gateway (uint8_t port, uint32_t * default_gateway);
int EOE_ecat_get_dns_ip (uint8_t port, uint32_t * dns_ip);
int EOE_ecat_get_dns_name (uint8_t port, char * dns_name);
int EOE_ecat_set_mac (uint8_t port, uint8_t mac[]);
int EOE_ecat_set_ip (uint8_t port, uint32_t ip);
int EOE_ecat_set_subnet (uint8_t port, uint32_t subnet);
int EOE_ecat_set_gateway (uint8_t port, uint32_t default_gateway);
int EOE_ecat_set_dns_ip (uint8_t port, uint32_t dns_ip);
int EOE_ecat_set_dns_name (uint8_t port, char * dns_name);
void EOE_config (eoe_cfg_t * cfg);
void EOE_init (void);
void ESC_eoeprocess (void);
void ESC_eoeprocess_tx (void);
#endif

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* File over EtherCAT (FoE) module.
*/
#include <cc.h>
#include "esc.h"
#include "esc_foe.h"
#include <string.h>
/** \file
* \brief
* File over EtherCAT (FoE) module.
*
* FOE read / write and FOE service functions
*/
//define if FOE_read should be supported
//#define FOE_READ_SUPPORTED
/** Variable holding current filename read at FOE Open.
*/
static char foe_file_name[FOE_FN_MAX + 1];
/** Main FoE configuration pointer data array. Structure is allocated and filled
* by the application defining what preferences it requires.
*/
static foe_cfg_t * foe_cfg;
/** Pointer to current file configuration item used by FoE.
*/
static foe_file_cfg_t * foe_file;
/** Main FoE status data array. Structure gets filled with current status
* variables during FoE usage.
*/
static _FOEvar FOEvar;
/** Validate a write or read request by checking filename and password.
*
* @param[in] name = Filename
* @param[in] num_chars = Length of filename
* @param[in] pass = Numeric variable of password
* @param[in] op = Request op-code
* @return 0= if we succeed, FOE_ERR_NOTFOUND something wrong with filename or
* password
*/
static int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
{
uint32_t i;
/* Unpack the file name into characters we can look at. */
if (num_chars > FOE_FN_MAX)
{
num_chars = FOE_FN_MAX;
}
for (i = 0; i < num_chars; i++)
{
foe_file_name[i] = name[i];
}
foe_file_name[i] = '\0';
/* Figure out what file they're talking about. */
for (i = 0; i < foe_cfg->n_files; i++)
{
if (0 == strncmp (foe_file_name, foe_cfg->files[i].name, num_chars))
{
if (pass != foe_cfg->files[i].filepass)
{
return FOE_ERR_NORIGHTS;
}
if (op == FOE_OP_WRQ &&
(foe_cfg->files[i].write_only_in_boot) &&
(ESCvar.ALstatus != ESCboot))
{
return FOE_ERR_NOTINBOOTSTRAP;
}
foe_file = &foe_cfg->files[i];
foe_file->address_offset = 0;
foe_file->total_size = 0;
switch (op)
{
case FOE_OP_RRQ:
{
FOEvar.fposition = 0;
FOEvar.fend = foe_cfg->files[i].max_data;
return 0;
}
case FOE_OP_WRQ:
{
FOEvar.fposition = 0;
FOEvar.fend = foe_cfg->files[i].max_data;
return 0;
}
}
}
}
return FOE_ERR_NOTFOUND;
}
#ifdef FOE_READ_SUPPORTED
/** Function writing local data to mailbox buffer to be sent as next FoE frame.
* It will try to fill the Mailbox buffer available if there is enough data
* left to read.
*
* @param[in] data = pointer to buffer
* @param[in] maxlength = max length of data possible to read, controlled by
* Mailbox - FoE and Mailbox frame headers.
* @return Number of copied bytes.
*/
static uint16_t FOE_fread (uint8_t * data, uint16_t maxlength)
{
uint16_t ncopied = 0;
while (maxlength && (FOEvar.fend - FOEvar.fposition))
{
maxlength--;
*(data++) = foe_cfg->fbuffer[FOEvar.fposition++];
ncopied++;
}
return ncopied;
}
#endif
/** Function reading mailbox buffer to local buffer to be handled by
* application write hook. Ex. flash routine used by software update.
* It will consume the buffer and call the write hook every time the configured
* flush buffer limit is reached.
*
*
* @param[in] data = Pointer to buffer
* @param[in] length = Length of data to read
* @return Number of copied bytes.
*/
static uint16_t FOE_fwrite (uint8_t *data, uint16_t length)
{
uint16_t ncopied = 0;
uint32_t failed = 0;
DPRINT("FOE_fwrite\n");
FOEvar.fprevposition = FOEvar.fposition;
while (length && (FOEvar.fend - FOEvar.fposition) && !failed)
{
length--;
foe_cfg->fbuffer[FOEvar.fbufposition++] = *(data++);
if(FOEvar.fbufposition >= foe_cfg->buffer_size)
{
failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
FOEvar.fbufposition = 0;
foe_file->address_offset += foe_cfg->buffer_size;
}
FOEvar.fposition++;
ncopied++;
}
foe_file->total_size += ncopied;
DPRINT("FOE_fwrite END with : %d\n",ncopied);
return ncopied;
}
/** Function handling the final FOE_fwrite when we close up regardless
* if we have filled the buffers or not.
*
* @return Number of copied bytes on success, 0= if failed.
*/
static uint32_t FOE_fclose (void)
{
uint32_t failed = 0;
DPRINT("FOE_fclose\n");
failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
foe_file->address_offset += FOEvar.fbufposition;
FOEvar.fbufposition = 0;
return failed;
}
/** Initialize by clearing all current status variables.
*
*/
void FOE_init ()
{
DPRINT("FOE_init\n");
FOEvar.foepacket = 0;
FOEvar.foestate = FOE_READY;
FOEvar.fposition = 0;
FOEvar.fprevposition = 0;
FOEvar.fbufposition = 0;
}
/** Function for sending an FOE abort frame.
*
* @param[in] code = abort code
*/
static void FOE_abort (uint32_t code)
{
_FOE *foembx;
uint8_t mbxhandle;
if (code)
{
/* Send back an error packet. */
mbxhandle = ESC_claimbuffer ();
if (mbxhandle)
{
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
foembx->mbxheader.length = htoes (ESC_FOEHSIZE); /* Don't bother with error text for now. */
foembx->mbxheader.mbxtype = MBXFOE;
foembx->foeheader.opcode = FOE_OP_ERR;
foembx->foeheader.errorcode = htoel (code);
MBXcontrol[mbxhandle].state = MBXstate_outreq;
}
/* Nothing we can do if we can't get an outbound mailbox. */
}
DPRINT("FOE_abort: 0x%X\n", code);
FOE_init ();
}
#ifdef FOE_READ_SUPPORTED
/** Sends an FoE data frame, returning the number of data bytes
* written or an error number.
* Error numbers will be greater than FOE_DATA_SIZE.
* @param[in] data = pointer to buffer
* @param[in] length = length of data to read
* @return Number of data bytes written or an error number. Error numbers
* will be greater than FOE_DATA_SIZE.
*/
static int FOE_send_data_packet ()
{
_FOE *foembx;
uint16_t data_len;
uint8_t mbxhandle;
mbxhandle = ESC_claimbuffer ();
if (mbxhandle)
{
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
data_len = FOE_fread (foembx->data, ESC_FOE_DATA_SIZE);
foembx->foeheader.opcode = FOE_OP_DATA;
foembx->foeheader.packetnumber = htoel (FOEvar.foepacket);
FOEvar.foepacket++;
foembx->mbxheader.length = htoes (data_len + ESC_FOEHSIZE);
foembx->mbxheader.mbxtype = MBXFOE;
/* Mark the outbound mailbox as filled. */
MBXcontrol[mbxhandle].state = MBXstate_outreq;
return data_len;
}
else
{
return FOE_ERR_PROGERROR;
}
}
#endif
/** Sends an FoE ack data frame.
* @return 0= or error number.
*/
static int FOE_send_ack ()
{
_FOE *foembx;
uint8_t mbxhandle;
mbxhandle = ESC_claimbuffer ();
if (mbxhandle)
{
DPRINT("FOE_send_ack\n");
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
foembx->mbxheader.length = htoes (ESC_FOEHSIZE);
foembx->mbxheader.mbxtype = MBXFOE;
foembx->foeheader.opcode = FOE_OP_ACK;
foembx->foeheader.packetnumber = htoel (FOEvar.foepacket);
FOEvar.foepacket++;
MBXcontrol[mbxhandle].state = MBXstate_outreq;
return 0;
}
else
{
DPRINT("ERROR:FOE_send_ack\n");
return FOE_ERR_PROGERROR;
}
}
/* Handlers for various FoE states. */
#ifdef FOE_READ_SUPPORTED
/** FoE read request handler. Starts with Initialize, Open and Sending one frame.
* When first frame have been sent we will send data from Ack.
* On error we will send FOE Abort.
*
*/
static void FOE_read ()
{
_FOE *foembx;
uint32_t data_len;
uint32_t password;
int res;
if (FOEvar.foestate != FOE_READY)
{
FOE_abort (FOE_ERR_ILLEGAL);
return;
}
FOE_init ();
foembx = (_FOE *) &MBX[0];
/* Get the length of the file name in octets. */
data_len = etohs (foembx->mbxheader.length) - ESC_FOEHSIZE;
password = etohl (foembx->foeheader.password);
res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_RRQ);
if (res == 0)
{
FOEvar.foepacket = 1;
/*
* Attempt to send the packet
*/
res = FOE_send_data_packet ();
if (res <= (int)ESC_FOE_DATA_SIZE)
{
FOEvar.foestate = FOE_WAIT_FOR_ACK;
}
else
{
FOE_abort (res);
}
}
else
{
FOE_abort (res);
}
}
/** FoE data ack handler. Will continue sending next frame until finished.
* On error we will send FOE Abort.
*/
static void FOE_ack ()
{
int res;
/* Make sure we're able to take this. */
if (FOEvar.foestate == FOE_WAIT_FOR_FINAL_ACK)
{
/* Move us back to ready state. */
FOE_init ();
return;
}
else if (FOEvar.foestate != FOE_WAIT_FOR_ACK)
{
FOE_abort (FOE_ERR_ILLEGAL);
return;
}
res = FOE_send_data_packet ();
if (res < (int)ESC_FOE_DATA_SIZE)
{
FOEvar.foestate = FOE_WAIT_FOR_FINAL_ACK;
}
else if (res >= FOE_ERR_NOTDEFINED)
{
FOE_abort (FOE_ERR_PROGERROR);
}
}
#endif
/** FoE write request handler. Starts with Initialize, Open and Ack that we can/will
* receive data. On error we will send FOE Abort.
*
*/
static void FOE_write ()
{
_FOE *foembx;
uint32_t data_len;
uint32_t password;
int res;
if (FOEvar.foestate != FOE_READY)
{
FOE_abort (FOE_ERR_ILLEGAL);
return;
}
FOE_init ();
foembx = (_FOE *) &MBX[0];
data_len = etohs (foembx->mbxheader.length) - ESC_FOEHSIZE;
password = etohl (foembx->foeheader.password);
/* Get an address we can write the file to, if possible. */
res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_WRQ);
DPRINT("%s %sOK, file \"%s\"\n", __func__, (res == 0) ? "" : "N", foe_file_name);
if (res == 0)
{
res = FOE_send_ack ();
if (res)
{
FOE_abort (res);
}
else
{
FOEvar.foestate = FOE_WAIT_FOR_DATA;
}
}
else
{
FOE_abort (res);
}
}
/** FoE data request handler. Validates and reads data until we're finished. Every
* read frame followed by an Ack frame. On error we will send FOE Abort.
*
*/
static void FOE_data ()
{
_FOE *foembx;
uint32_t packet;
uint16_t data_len, ncopied;
int res;
if(FOEvar.foestate != FOE_WAIT_FOR_DATA)
{
FOE_abort(FOE_ERR_ILLEGAL);
return;
}
foembx = (_FOE*)&MBX[0];
data_len = etohs(foembx->mbxheader.length) - ESC_FOEHSIZE;
packet = etohl(foembx->foeheader.packetnumber);
if (packet != FOEvar.foepacket)
{
DPRINT("FOE_data packet error, packet: %d, foeheader.packet: %d\n",packet,FOEvar.foepacket);
FOE_abort (FOE_ERR_PACKETNO);
}
else if (data_len == 0)
{
DPRINT("FOE_data completed\n");
FOE_fclose ();
res = FOE_send_ack ();
FOE_init ();
}
else if (FOEvar.fposition + data_len > FOEvar.fend)
{
DPRINT("FOE_data disk full\n");
FOE_abort (FOE_ERR_DISKFULL);
}
else
{
ncopied = FOE_fwrite (foembx->data, data_len);
if (!ncopied)
{
DPRINT("FOE_data no copied\n");
FOE_abort (FOE_ERR_PROGERROR);
}
else if (data_len == ESC_FOE_DATA_SIZE)
{
DPRINT("FOE_data data_len == FOE_DATA_SIZE\n");
if (ncopied != data_len)
{
DPRINT("FOE_data only %d of %d copied\n",ncopied, data_len);
FOE_abort (FOE_ERR_PROGERROR);
}
res = FOE_send_ack ();
if (res)
{
FOE_abort (res);
}
}
else
{
if ((ncopied != data_len) || FOE_fclose ())
{
DPRINT("FOE_fclose failed to write extra buffer\n");
FOE_abort (FOE_ERR_PROGERROR);
}
else
{
DPRINT("FOE_data completed\n");
res = FOE_send_ack ();
FOE_init ();
}
}
}
}
#ifdef FOE_READ_SUPPORTED
/** FoE read request busy handler. Send an Ack of last frame again. On error
* we will send FOE Abort.
*
*/
static void FOE_busy ()
{
/* Only valid if we're servicing a read request. */
if (FOEvar.foestate != FOE_WAIT_FOR_ACK)
{
FOE_abort (FOE_ERR_ILLEGAL);
}
else
{
/* Send the last part again. */
FOEvar.fposition = FOEvar.fprevposition;
FOEvar.foepacket--;
FOE_ack ();
}
}
#endif
/** FoE error requesthandler. Send an FOE Abort.
*
*/
static void FOE_error ()
{
/* Master panic! abort the transfer. */
FOE_abort (0);
}
/** Function copying the application configuration variable
* to the FoE module local pointer variable.
*
* @param[in] cfg = Pointer to by the Application static declared
* configuration variable holding application specific details.
*/
void FOE_config (foe_cfg_t * cfg)
{
foe_cfg = cfg;
}
/** Main FoE function checking the status on current mailbox buffers carrying
* data, distributing the mailboxes to appropriate FOE functions depending
* on requested opcode.
* On Error an FoE Error or FoE Abort will be sent.
*/
void ESC_foeprocess (void)
{
_MBXh *mbh;
_FOE *foembx;
if (ESCvar.MBXrun == 0)
{
return;
}
if (!ESCvar.xoe && (MBXcontrol[0].state == MBXstate_inclaim))
{
mbh = (_MBXh *) &MBX[0];
if (mbh->mbxtype == MBXFOE)
{
ESCvar.xoe = MBXFOE;
}
}
if (ESCvar.xoe == MBXFOE)
{
foembx = (_FOE *) &MBX[0];
/* Verify the size of the file data. */
if (etohs (foembx->mbxheader.length) < ESC_FOEHSIZE)
{
FOE_abort (MBXERR_SIZETOOSHORT);
}
else
{
switch (foembx->foeheader.opcode)
{
case FOE_OP_WRQ:
{
DPRINT("FOE_OP_WRQ\n");
FOE_write ();
break;
}
case FOE_OP_DATA:
{
DPRINT("FOE_OP_DATA\n");
FOE_data ();
break;
}
#ifdef FOE_READ_SUPPORTED
case FOE_OP_RRQ:
{
DPRINT("FOE_OP_RRQ\n");
FOE_read ();
break;
}
case FOE_OP_ACK:
{
DPRINT("FOE_OP_ACK\n");
FOE_ack ();
break;
}
case FOE_OP_BUSY:
{
DPRINT("FOE_OP_BUSY\n");
FOE_busy ();
break;
}
#endif
case FOE_OP_ERR:
{
DPRINT("FOE_OP_ERR\n");
FOE_error ();
break;
}
default:
{
DPRINT("FOE_ERR_NOTDEFINED\n");
FOE_abort (FOE_ERR_NOTDEFINED);
break;
}
}
}
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
}
}

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc_foe.c
*/
#ifndef __esc_foe__
#define __esc_foe__
#include <cc.h>
/** Maximum number of characters allowed in a file name. */
#define FOE_FN_MAX 31
typedef struct foe_file_cfg foe_file_cfg_t;
struct foe_file_cfg
{
/** Name of file to receive from master */
const char * name;
/** Size of file,sizeof data we can recv */
uint32_t max_data;
/** Where to store the data initially */
uint32_t dest_start_address;
/** Current address during write of file */
uint32_t address_offset;
/** Calculated size of file received */
uint32_t total_size;
/** FoE password */
uint32_t filepass;
/** This file can be written only in BOOT state. Intended for FW files */
uint8_t write_only_in_boot;
/** for feature use */
uint32_t padding:24;
/** Pointer to application foe write function */
uint32_t (*write_function) (foe_file_cfg_t * self, uint8_t * data, size_t length);
};
typedef struct foe_cfg
{
/** Allocate static in caller func to fit buffer_size */
uint8_t * fbuffer;
/** Buffer size before we flush to destination */
uint32_t buffer_size;
/** Number of files used in firmware update */
uint32_t n_files;
/** Pointer to files configured to be used by FoE */
foe_file_cfg_t * files;
} foe_cfg_t;
typedef struct CC_PACKED
{
/** Current FoE state, ex. Waiting for ACK, Waiting for DATA */
uint8_t foestate;
/** Current file buffer position, evaluated against foe file buffer size
* when to flush
*/
uint16_t fbufposition;
/** Frame number in read or write sequence */
uint32_t foepacket;
/** Current position in file to be handled by FoE request */
uint32_t fposition;
/** Previous position in file to be handled by FoE request */
uint32_t fprevposition;
/** End position of allocated disk space for FoE requested file */
uint32_t fend;
} _FOEvar;
/* Initializes FoE state. */
void FOE_config (foe_cfg_t * cfg);
void FOE_init (void);
void ESC_foeprocess (void);
#endif

263
Cards/EaserCAT-2000/Firmware/lib/soes/esi.json Executable file
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@@ -0,0 +1,263 @@
{
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0xbbbccc",
"ProfileNo": "5001",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
"EEPROMsize": "2048",
"RxMailboxOffset": "0x1000",
"TxMailboxOffset": "0x1200",
"MailboxSize": "512",
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Incremental encoder",
"ImageName": "IMGCBY",
"TextDeviceType": "EaserCAT2000",
"TextDeviceName": "MetalMusings EaserCAT 2000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
"Port3Physical": " ",
"ESC": "LAN9252",
"SPImode": "3",
"CoeDetailsEnableSDO": "EnableSDO",
"CoeDetailsEnableSDOInfo": "EnableSDOInfo",
"CoeDetailsEnablePDOAssign": "EnablePDOAssign",
"CoeDetailsEnablePDOConfiguration": "EnablePDOConfiguration",
"CoeDetailsEnableUploadAtStartup": "EnableUploadAtStartup",
"CoeDetailsEnableSDOCompleteAccess": "EnableSDOCompleteAccess"
},
"od": {
"sdo": {
"A": {
"otype": "RECORD",
"name": "Error Settings",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New record subitem",
"dtype": "UNSIGNED8"
}
]
}
},
"txpdo": {
"6000": {
"otype": "VAR",
"name": "EncPos",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncPos"
},
"6001": {
"otype": "VAR",
"name": "EncFrequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncFrequency"
},
"6002": {
"otype": "VAR",
"name": "DiffT",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED16",
"value": "0",
"data": "&Obj.DiffT"
},
"6003": {
"otype": "VAR",
"name": "IndexByte",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexByte"
},
"6004": {
"otype": "VAR",
"name": "IndexStatus",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexStatus"
},
"6005": {
"otype": "VAR",
"name": "ActualPosition1",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition1"
},
"6006": {
"otype": "VAR",
"name": "ActualPosition2",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition2"
},
"6007": {
"otype": "VAR",
"name": "D1",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D1"
},
"6008": {
"otype": "VAR",
"name": "D2",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D2"
},
"6009": {
"otype": "VAR",
"name": "D3",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D3"
},
"600A": {
"otype": "VAR",
"name": "D4",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D4"
}
},
"rxpdo": {
"7000": {
"otype": "VAR",
"name": "IndexLatchEnable",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexLatchEnable"
},
"7001": {
"otype": "VAR",
"name": "CommandedPosition1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition1"
},
"7002": {
"otype": "VAR",
"name": "CommandedPosition2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition2"
},
"7003": {
"otype": "VAR",
"name": "StepsPerMM1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM1"
},
"7004": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM2"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0"
}
}
},
"dc": [
{
"Name": "SM-Synchron",
"Description": "SM-Synchron",
"AssignActivate": "#x000",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
},
{
"Name": "DC",
"Description": "DC-Synchron",
"AssignActivate": "#x300",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
}
]
}

458
Cards/EaserCAT-2000/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c Executable file
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware layer functions for LAN9252.
*
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include "esc.h"
#include "spi.h"
#include <string.h>
#define O_RDWR 1
#define BIT(x) 1 << (x)
#define ESC_CMD_SERIAL_WRITE 0x02
#define ESC_CMD_SERIAL_READ 0x03
#define ESC_CMD_FAST_READ 0x0B
#define ESC_CMD_RESET_SQI 0xFF
#define ESC_CMD_FAST_READ_DUMMY 1
#define ESC_CMD_ADDR_INC BIT(6)
#define ESC_PRAM_RD_FIFO_REG 0x000
#define ESC_PRAM_WR_FIFO_REG 0x020
#define ESC_PRAM_RD_ADDR_LEN_REG 0x308
#define ESC_PRAM_RD_CMD_REG 0x30C
#define ESC_PRAM_WR_ADDR_LEN_REG 0x310
#define ESC_PRAM_WR_CMD_REG 0x314
#define ESC_PRAM_CMD_BUSY BIT(31)
#define ESC_PRAM_CMD_ABORT BIT(30)
#define ESC_PRAM_CMD_CNT(x) ((x >> 8) & 0x1F)
#define ESC_PRAM_CMD_AVAIL BIT(0)
#define ESC_PRAM_SIZE(x) ((x) << 16)
#define ESC_PRAM_ADDR(x) ((x) << 0)
#define ESC_CSR_DATA_REG 0x300
#define ESC_CSR_CMD_REG 0x304
#define ESC_CSR_CMD_BUSY BIT(31)
#define ESC_CSR_CMD_READ (BIT(31) | BIT(30))
#define ESC_CSR_CMD_WRITE BIT(31)
#define ESC_CSR_CMD_SIZE(x) (x << 16)
#define ESC_RESET_CTRL_REG 0x1F8
#define ESC_RESET_CTRL_RST BIT(6)
#define ESC_DIGITAL_RST 0x00000001
#define ESC_ID_REV_REG 0x050
#define LAN9252_ID_REV 0x9252
#define ESC_IRQ_CFG_REG 0x054
#define ESC_INT_EN_REG 0x05C
#define ESC_BYTE_TEST_REG 0x064
#define ESC_TEST_VALUE 0x87654321
#define ESC_HW_CFG_REG 0x074
#define ESC_READY BIT(27)
static int lan9252 = -1;
/* lan9252 singel write */
static void lan9252_write_32 (uint16_t address, uint32_t val)
{
uint8_t data[7];
data[0] = ESC_CMD_SERIAL_WRITE;
data[1] = ((address >> 8) & 0xFF);
data[2] = (address & 0xFF);
data[3] = (val & 0xFF);
data[4] = ((val >> 8) & 0xFF);
data[5] = ((val >> 16) & 0xFF);
data[6] = ((val >> 24) & 0xFF);
/* Select device. */
spi_select (lan9252);
/* Write data */
write (lan9252, data, sizeof(data));
/* Un-select device. */
spi_unselect (lan9252);
}
/* lan9252 single read */
static uint32_t lan9252_read_32 (uint32_t address)
{
uint8_t data[4];
uint8_t result[4];
data[0] = ESC_CMD_FAST_READ;
data[1] = ((address >> 8) & 0xFF);
data[2] = (address & 0xFF);
data[3] = ESC_CMD_FAST_READ_DUMMY;
/* Select device. */
spi_select (lan9252);
/* Read data */
write (lan9252, data, sizeof(data));
read (lan9252, result, sizeof(result));
/* Un-select device. */
spi_unselect (lan9252);
return ((result[3] << 24) |
(result[2] << 16) |
(result[1] << 8) |
result[0]);
}
/* ESC read CSR function */
static void ESC_read_csr (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
value = (ESC_CSR_CMD_READ | ESC_CSR_CMD_SIZE(len) | address);
lan9252_write_32(ESC_CSR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_CSR_CMD_BUSY);
value = lan9252_read_32(ESC_CSR_DATA_REG);
memcpy(buf, (uint8_t *)&value, len);
}
/* ESC write CSR function */
static void ESC_write_csr (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
memcpy((uint8_t*)&value, buf,len);
lan9252_write_32(ESC_CSR_DATA_REG, value);
value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
lan9252_write_32(ESC_CSR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_CSR_CMD_BUSY);
}
/* ESC read process data ram function */
/*static*/ void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
uint8_t * temp_buf = (uint8_t *)buf;
uint16_t byte_offset = 0;
uint8_t fifo_cnt, first_byte_position, temp_len, data[4];
value = ESC_PRAM_CMD_ABORT;
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
lan9252_write_32(ESC_PRAM_RD_ADDR_LEN_REG, value);
value = ESC_PRAM_CMD_BUSY;
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo count */
fifo_cnt = ESC_PRAM_CMD_CNT(value);
/* Read first value from FIFO */
value = lan9252_read_32(ESC_PRAM_RD_FIFO_REG);
fifo_cnt--;
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet and MicroChip SDK code
*/
first_byte_position = (address & 0x03);
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
len -= temp_len;
byte_offset += temp_len;
/* Select device. */
spi_select (lan9252);
/* Send command and address for fifo read */
data[0] = ESC_CMD_FAST_READ;
data[1] = ((ESC_PRAM_RD_FIFO_REG >> 8) & 0xFF);
data[2] = (ESC_PRAM_RD_FIFO_REG & 0xFF);
data[3] = ESC_CMD_FAST_READ_DUMMY;
write (lan9252, data, sizeof(data));
/* Continue reading until we have read len */
while(len > 0)
{
temp_len = (len > 4) ? 4: len;
/* Always read 4 byte */
read (lan9252, (temp_buf + byte_offset), sizeof(uint32_t));
fifo_cnt--;
len -= temp_len;
byte_offset += temp_len;
}
/* Un-select device. */
spi_unselect (lan9252);
}
/* ESC write process data ram function */
/* static */ void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
uint8_t * temp_buf = (uint8_t *)buf;
uint16_t byte_offset = 0;
uint8_t fifo_cnt, first_byte_position, temp_len, data[3];
value = ESC_PRAM_CMD_ABORT;
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
lan9252_write_32(ESC_PRAM_WR_ADDR_LEN_REG, value);
value = ESC_PRAM_CMD_BUSY;
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo count */
fifo_cnt = ESC_PRAM_CMD_CNT(value);
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet
*/
first_byte_position = (address & 0x03);
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
/* Write first value from FIFO */
lan9252_write_32(ESC_PRAM_WR_FIFO_REG, value);
len -= temp_len;
byte_offset += temp_len;
fifo_cnt--;
/* Select device. */
spi_select (lan9252);
/* Send command and address for incrementing write */
data[0] = ESC_CMD_SERIAL_WRITE;
data[1] = ((ESC_PRAM_WR_FIFO_REG >> 8) & 0xFF);
data[2] = (ESC_PRAM_WR_FIFO_REG & 0xFF);
write (lan9252, data, sizeof(data));
/* Continue reading until we have read len */
while(len > 0)
{
temp_len = (len > 4) ? 4 : len;
value = 0;
memcpy((uint8_t *)&value, (temp_buf + byte_offset), temp_len);
/* Always write 4 byte */
write (lan9252, (uint8_t *)&value, sizeof(value));
fifo_cnt--;
len -= temp_len;
byte_offset += temp_len;
}
/* Un-select device. */
spi_unselect (lan9252);
}
/** ESC read function used by the Slave stack.
*
* @param[in] address = address of ESC register to read
* @param[out] buf = pointer to buffer to read in
* @param[in] len = number of bytes to read
*/
void ESC_read (uint16_t address, void *buf, uint16_t len)
{
/* Select Read function depending on address, process data ram or not */
if (address >= 0x1000)
{
ESC_read_pram(address, buf, len);
}
else
{
uint16_t size;
uint8_t *temp_buf = (uint8_t *)buf;
while(len > 0)
{
/* We write maximum 4 bytes at the time */
size = (len > 4) ? 4 : len;
/* Make size aligned to address according to LAN9252 datasheet
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
*/
/* If we got an odd address size is 1 , 01b 11b is captured */
if(address & BIT(0))
{
size = 1;
}
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
else if (address & BIT(1))
{
size = (size & BIT(0)) ? 1 : 2;
}
/* size 3 not valid */
else if (size == 3)
{
size = 1;
}
/* else size is kept AS IS */
ESC_read_csr(address, temp_buf, size);
/* next address */
len -= size;
temp_buf += size;
address += size;
}
}
/* To mimic the ET1100 always providing AlEvent on every read or write */
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
ESCvar.ALevent = etohs (ESCvar.ALevent);
}
/** ESC write function used by the Slave stack.
*
* @param[in] address = address of ESC register to write
* @param[out] buf = pointer to buffer to write from
* @param[in] len = number of bytes to write
*/
void ESC_write (uint16_t address, void *buf, uint16_t len)
{
/* Select Write function depending on address, process data ram or not */
if (address >= 0x1000)
{
ESC_write_pram(address, buf, len);
}
else
{
uint16_t size;
uint8_t *temp_buf = (uint8_t *)buf;
while(len > 0)
{
/* We write maximum 4 bytes at the time */
size = (len > 4) ? 4 : len;
/* Make size aligned to address according to LAN9252 datasheet
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
*/
/* If we got an odd address size is 1 , 01b 11b is captured */
if(address & BIT(0))
{
size = 1;
}
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
else if (address & BIT(1))
{
size = (size & BIT(0)) ? 1 : 2;
}
/* size 3 not valid */
else if (size == 3)
{
size = 1;
}
/* else size is kept AS IS */
ESC_write_csr(address, temp_buf, size);
/* next address */
len -= size;
temp_buf += size;
address += size;
}
}
/* To mimic the ET1x00 always providing AlEvent on every read or write */
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
ESCvar.ALevent = etohs (ESCvar.ALevent);
}
/* Un-used due to evb-lan9252-digio not havning any possability to
* reset except over SPI.
*/
void ESC_reset (void)
{
}
uint8_t ESC_IsLAN9252()
{
volatile uint32_t value;
uint16_t detectedChip, revision;
/* Read */
value = lan9252_read_32(ESC_ID_REV_REG);
detectedChip = value >> 16;
revision = value & 0xFF;
return detectedChip == LAN9252_ID_REV
&& revision >= 1;
}
void ESC_init (const esc_cfg_t * config)
{
uint32_t value;
spi_setup();
/* Reset the ecat core here due to evb-lan9252-digio not having any GPIO
* for that purpose.
*/
lan9252_write_32(ESC_RESET_CTRL_REG, ESC_DIGITAL_RST);
do
{
value = lan9252_read_32(ESC_RESET_CTRL_REG);
}
while(value & ESC_RESET_CTRL_RST);
/* Read test register */
do
{
value = lan9252_read_32(ESC_BYTE_TEST_REG);
}
while (value != ESC_TEST_VALUE);
/* Check Ready flag */
do
{
value = lan9252_read_32(ESC_HW_CFG_REG);
}
while ((value & ESC_READY) == 0);
if(!ESC_IsLAN9252())
{
while (1);
}
}

66
Cards/EaserCAT-2000/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp Executable file
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#include "spi.hpp"
// #include <Arduino.h>
#include <SPI.h>
char SCS = ESC_GPIO_Pin_CS;
void spi_setup(void)
{
SPI.begin();
pinMode(SCS, OUTPUT);
spi_unselect(0);
delay(100);
SPI.beginTransaction(SPISettings(SPIX_ESC_SPEED, MSBFIRST, SPI_MODE0));
}
void spi_select (int8_t board)
{
// Soft CSN
#if SCS_ACTIVE_POLARITY == SCS_LOW
digitalWrite(SCS, LOW);
#endif
}
void spi_unselect (int8_t board)
{
// Soft CSN
#if SCS_ACTIVE_POLARITY == SCS_LOW
digitalWrite(SCS, HIGH);
#endif
}
inline static uint8_t spi_transfer_byte(uint8_t byte)
{
return SPI.transfer(byte);
// AVR will need handling last byte transfer difference,
// but then again they pobably wont even fit EtherCAT stack in RAM
// so no need to care for now
}
void write (int8_t board, uint8_t *data, uint8_t size)
{
for(int i = 0; i < size; ++i)
{
spi_transfer_byte(data[i]);
}
}
void read (int8_t board, uint8_t *result, uint8_t size)
{
for(int i = 0; i < size; ++i)
{
result[i] = spi_transfer_byte(DUMMY_BYTE);
}
}
void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size)
{
for(int i = 0; i < size; ++i)
{
result[i] = spi_transfer_byte(data[i]);
}
}

15
Cards/EaserCAT-2000/Firmware/lib/soes/hal/arduino-lan9252/spi.h Executable file
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@@ -0,0 +1,15 @@
#ifndef SRC_APP_SPI_H_
#define SRC_APP_SPI_H_
#include <stdint.h>
void spi_setup(void);
void spi_select (int8_t board);
void spi_unselect (int8_t board);
void write (int8_t board, uint8_t *data, uint8_t size);
void read (int8_t board, uint8_t *result, uint8_t size);
void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size);
#endif /* SRC_APP_SPI_H_ */

25
Cards/EaserCAT-2000/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp Executable file
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@@ -0,0 +1,25 @@
#ifndef SRC_APP_SPI_H_
#define SRC_APP_SPI_H_
#include <stdint.h>
#define SCS_LOW 0
#define SCS_HIGH 1
#define SCS_ACTIVE_POLARITY SCS_LOW
#define SPIX_ESC SPI1
//#define SPIX_ESC_SPEED 18000000
#define SPIX_ESC_SPEED 50000000
#define ESC_GPIO_Pin_CS PC4
#define DUMMY_BYTE 0xFF
extern "C" void spi_setup(void);
extern "C" void spi_select (int8_t board);
extern "C" void spi_unselect (int8_t board);
extern "C" void write (int8_t board, uint8_t *data, uint8_t size);
extern "C" void read (int8_t board, uint8_t *result, uint8_t size);
extern "C" void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size);
#endif /* SRC_APP_SPI_H_ */

351
Cards/EaserCAT-2000/Firmware/lib/soes/objectlist.c Executable file
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@@ -0,0 +1,351 @@
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
static const char acName1000[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Max SubIndex";
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[] = "IndexLatchEnable";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "IndexLatchEnable";
static const char acName1601[] = "CommandedPosition1";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "CommandedPosition1";
static const char acName1602[] = "CommandedPosition2";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "CommandedPosition2";
static const char acName1603[] = "StepsPerMM1";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "StepsPerMM1";
static const char acName1604[] = "StepsPerMM2";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "StepsPerMM2";
static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos";
static const char acName1A01[] = "EncFrequency";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "EncFrequency";
static const char acName1A02[] = "DiffT";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "DiffT";
static const char acName1A03[] = "IndexByte";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "IndexByte";
static const char acName1A04[] = "IndexStatus";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "IndexStatus";
static const char acName1A05[] = "ActualPosition1";
static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "ActualPosition1";
static const char acName1A06[] = "ActualPosition2";
static const char acName1A06_00[] = "Max SubIndex";
static const char acName1A06_01[] = "ActualPosition2";
static const char acName1A07[] = "D1";
static const char acName1A07_00[] = "Max SubIndex";
static const char acName1A07_01[] = "D1";
static const char acName1A08[] = "D2";
static const char acName1A08_00[] = "Max SubIndex";
static const char acName1A08_01[] = "D2";
static const char acName1A09[] = "D3";
static const char acName1A09_00[] = "Max SubIndex";
static const char acName1A09_01[] = "D3";
static const char acName1A0A[] = "D4";
static const char acName1A0A_00[] = "Max SubIndex";
static const char acName1A0A_01[] = "D4";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
static const char acName1C00_02[] = "Communications Type SM1";
static const char acName1C00_03[] = "Communications Type SM2";
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 acName1C12_04[] = "PDO Mapping";
static const char acName1C12_05[] = "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";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping";
static const char acName1C13_07[] = "PDO Mapping";
static const char acName1C13_08[] = "PDO Mapping";
static const char acName1C13_09[] = "PDO Mapping";
static const char acName1C13_10[] = "PDO Mapping";
static const char acName1C13_11[] = "PDO Mapping";
static const char acName6000[] = "EncPos";
static const char acName6001[] = "EncFrequency";
static const char acName6002[] = "DiffT";
static const char acName6003[] = "IndexByte";
static const char acName6004[] = "IndexStatus";
static const char acName6005[] = "ActualPosition1";
static const char acName6006[] = "ActualPosition2";
static const char acName6007[] = "D1";
static const char acName6008[] = "D2";
static const char acName6009[] = "D3";
static const char acName600A[] = "D4";
static const char acName7000[] = "IndexLatchEnable";
static const char acName7001[] = "CommandedPosition1";
static const char acName7002[] = "CommandedPosition2";
static const char acName7003[] = "StepsPerMM1";
static const char acName7004[] = "StepsPerMM2";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 2000"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName100A, 0, "0.0.1"},
};
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, 12303564, 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, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, 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 SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
};
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
};
const _objd SDO1A00[] =
{
{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, 0x60020010, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
};
const _objd SDO1A04[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
};
const _objd SDO1A05[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
};
const _objd SDO1A06[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
};
const _objd SDO1A07[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
};
const _objd SDO1A08[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
};
const _objd SDO1A09[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
};
const _objd SDO1A0A[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, 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},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 11, 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},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
{0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
{0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
{0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
};
const _objd SDO6000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.IndexByte},
};
const _objd SDO6004[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
};
const _objd SDO6005[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
};
const _objd SDO6006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
};
const _objd SDO6007[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
};
const _objd SDO6008[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
};
const _objd SDO6009[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
};
const _objd SDO600A[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
};
const _objd SDO7001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
};
const _objd SDO7002[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
};
const _objd SDO7003[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
};
const _objd SDO7004[] =
{
{0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
};
const _objectlist SDOobjects[] =
{
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{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},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
{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},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07},
{0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08},
{0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
{0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
{0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
{0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
{0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
{0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
{0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

40
Cards/EaserCAT-2000/Firmware/lib/soes/utypes.h Executable file
View File

@@ -0,0 +1,40 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
float EncPos;
float EncFrequency;
uint16_t DiffT;
uint32_t IndexByte;
uint32_t IndexStatus;
float ActualPosition1;
float ActualPosition2;
int16_t D1;
int16_t D2;
int16_t D3;
int16_t D4;
/* Outputs */
uint32_t IndexLatchEnable;
float CommandedPosition1;
float CommandedPosition2;
int16_t StepsPerMM1;
int16_t StepsPerMM2;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

24
Cards/EaserCAT-2000/Firmware/platformio.ini Executable file
View File

@@ -0,0 +1,24 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:genericSTM32F407VGT6]
framework = arduino
platform = ststm32
board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
monitor_port = COM7
monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
lib_deps =
SPI
rlogiacco/CircularBuffer

99
Cards/EaserCAT-2000/Firmware/src/MyEncoder.cpp Executable file
View File

@@ -0,0 +1,99 @@
#include "MyENcoder.h"
MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
{
tim_base = _tim_base;
indexPin = _indexPin;
attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
EncoderInit.SetCount(0);
}
#define ONE_PERIOD 65536
#define HALF_PERIOD 32768
int64_t MyEncoder::unwrapEncoder(uint16_t in)
{
int32_t c32 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int32_t dif = (c32 - previousEncoderCounterValue); // core concept: prev + (current - prev) = current
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int32_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < -HALF_PERIOD)
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousEncoderCounterValue + mod_dif;
previousEncoderCounterValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}
void MyEncoder::indexPulse(void)
{
if (pleaseZeroTheCounter)
{
tim_base->CNT = 0;
indexPulseFired = 1;
Pos.clear();
TDelta.clear();
pleaseZeroTheCounter = 0;
}
}
uint8_t MyEncoder::indexHappened()
{
if (indexPulseFired)
{
indexPulseFired = 0;
previousEncoderCounterValue = 0;
return 1;
}
return 0;
}
double MyEncoder::currentPos()
{
curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
return curPos;
}
double MyEncoder::frequency(uint64_t time)
{
double diffT = 0;
double diffPos = 0;
double frequency;
TDelta.push(time); // Running average over the length of the circular buffer
Pos.push(curPos);
if (Pos.size() == RINGBUFFERLEN)
{
diffT = 1.0e-6 * (TDelta.last() - TDelta.first()); // Time is in microseconds
diffPos = fabs(Pos.last() - Pos.first());
frequency = diffPos / diffT;
oldFrequency = frequency;
return frequency; // Revolutions per second
}
else
return oldFrequency;
}
uint8_t MyEncoder::getIndexState()
{
return digitalRead(indexPin);
}
void MyEncoder::setScale(double scale)
{
if (CurPosScale != scale && scale != 0)
{
CurPosScale = scale;
PosScaleRes = 1.0 / double(scale);
}
}
void MyEncoder::setLatch(uint8_t latchEnable)
{
if (latchEnable && !oldLatchCEnable) // Should only happen first time IndexCEnable is set
{
pleaseZeroTheCounter = 1;
}
oldLatchCEnable = latchEnable;
}

148
Cards/EaserCAT-2000/Firmware/src/StepGen.cpp Executable file
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#include <Arduino.h>
#include <stdio.h>
#include "StepGen.h"
StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
{
timerIsRunning = 0;
timerStepPosition = 0;
timerStepDirection = 0;
timerStepPositionAtEnd = 0;
timerNewEndStepPosition = 0;
actualPosition = 0;
requestedPosition = 0;
stepsPerMM = 0;
enabled = 0;
dirPin = _dirPin;
stepPin = _stepPin;
timerChan = _timerChannel;
MyTim = new HardwareTimer(Timer);
MyTim->attachInterrupt(irq);
pinMode(dirPin, OUTPUT);
}
void StepGen::reqPos(double_t pos)
{
requestedPosition = pos;
}
double StepGen::reqPos()
{
return requestedPosition;
}
void StepGen::actPos(double pos)
{
actualPosition = pos;
}
double StepGen::actPos()
{
return actualPosition;
}
void StepGen::enable(uint8_t yes)
{
enabled = yes;
}
void StepGen::handleStepper(void)
{
if (!enabled)
return;
pwmCycleTime = StepGen::sync0CycleTime;
actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos();
#if 1
// Wild "tone" kludge. map() function
#define SPEED_MIN 0.00005
#define SPEED_MAX 0.0005
#define FACT_LOW 1.0
#define FACT_HIGH 20.0
if (abs(diffPosition) < SPEED_MIN) // 60 mm/min = 0.001 mm/ms
{
pwmCycleTime = FACT_LOW * StepGen::sync0CycleTime;
}
else if (abs(diffPosition) > SPEED_MAX) // 60 mm/min = 0.001 mm/ms
{
pwmCycleTime = FACT_HIGH * StepGen::sync0CycleTime;
}
else
{
pwmCycleTime = (FACT_LOW + (FACT_HIGH - FACT_LOW) * (abs(diffPosition) - SPEED_MIN) / (SPEED_MAX - SPEED_MIN)) * StepGen::sync0CycleTime;
}
#endif
uint64_t fre = (abs(diffPosition) * stepsPerMM * 1000000) / pwmCycleTime; // Frequency needed
if (fre > maxFreq) // Only do maxFre
{
double maxDist = (maxFreq * pwmCycleTime) / (stepsPerMM * 1000000.0) * (diffPosition > 0 ? 1 : -1);
reqPos(actPos() + maxDist);
}
int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos();
// Will be picked up by the timer_CB and the timer is reloaded, if it runs.
timerNewEndStepPosition = pulsesAtEndOfCycle;
if (!timerIsRunning) // Timer isn't running. Start it here
{
int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
if (steps != 0)
{
if (steps > 0)
{
digitalWrite(dirPin, HIGH);
timerStepDirection = 1;
}
else
{
digitalWrite(dirPin, LOW);
timerStepDirection = -1;
}
timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
float_t freqf = abs(steps) / (pwmCycleTime*1.0e-6);
uint32_t freq = uint32_t(freqf);
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
timerIsRunning = 1;
MyTim->resume();
}
}
}
void StepGen::timerCB()
{
timerStepPosition += timerStepDirection; // The step that was just completed
if (timerNewEndStepPosition != 0) // Are we going to reload?
{
// Input for reload is timerNewEndStepPosition
// The timer has current position and from this
// can set new frequency and new endtarget for steps
MyTim->pause(); // We are not at stop, let's stop it. Note stepPin is floating
int32_t steps = timerNewEndStepPosition - timerStepPosition;
if (steps != 0)
{
uint8_t sgn = steps > 0 ? HIGH : LOW;
digitalWrite(dirPin, sgn);
float_t freqf = abs(steps) / float(pwmCycleTime*1.0e-6);
uint32_t freq = uint32_t(freqf);
timerStepDirection = steps > 0 ? 1 : -1;
timerStepPositionAtEnd = timerNewEndStepPosition;
timerNewEndStepPosition = 0; // Set to zero to not reload next time
MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
MyTim->setOverflow(freq, HERTZ_FORMAT);
MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
MyTim->resume();
timerIsRunning = 1;
}
}
if (timerStepPosition == timerStepPositionAtEnd) // Are we finished?
{
timerIsRunning = 0;
MyTim->pause();
}
}
void StepGen::setScale(int16_t spm)
{
stepsPerMM = spm;
}
uint32_t StepGen::sync0CycleTime = 0;

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Cards/EaserCAT-2000/Firmware/src/StepGen2.cpp Executable file
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#include <Arduino.h>
#include <stdio.h>
#include "StepGen2.h"
#include "extend32to64.h"
extern "C"
{
#include "esc.h"
}
extern extend32to64 longTime;
StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
{
actualPosition = 0;
commandedPosition = 0;
commandedStepPosition = 0;
initialPosition = 0;
initialStepPosition = 0;
stepsPerMM = 0;
enabled = 0;
dirPin = _dirPin;
dirPinName = digitalPinToPinName(dirPin);
stepPin = _stepPin;
pulseTimerChan = _timerChannel;
pulseTimer = new HardwareTimer(Timer);
pulseTimer->attachInterrupt(pulseTimerChan, irq); // Capture/compare innterrupt
pinMode(dirPin, OUTPUT);
startTimer = new HardwareTimer(Timer2);
startTimer->attachInterrupt(irq2);
}
uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
{
frequency = 0;
nSteps = 0;
dbg = 0;
if (!enabled) // Just .... don't
return updatePos(0);
commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
nSteps = commandedStepPosition - initialStepPosition;
if (nSteps == 0) // No movement
{
return updatePos(1);
}
lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
if (abs(nSteps) < 0) // Some small number
{ //
frequency = (abs(nSteps) + 1) / lcncCycleTime; // Distribute steps inside available time
Tpulses = abs(nSteps) / frequency; //
Tstartf = (lcncCycleTime - Tpulses) / 2.0; //
} //
else // Regular step train, up or down
{ //
float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime; // Straight line equation. position = kTRAJ x time + mTRAJ
float mTRAJ = initialPosition; // Operating on incoming positions (not steps)
if (kTRAJ > 0) //
Tstartf = (float(initialStepPosition + 1) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing upwards
else //
Tstartf = (float(initialStepPosition) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing downwards
frequency = fabs(kTRAJ * stepsPerMM); //
Tpulses = abs(nSteps) / frequency;
}
updatePos(5);
uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
dbg = timeSinceISR; //
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
return updatePos(1);
timerFrequency = uint32_t(ceil(frequency));
startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
startTimer->refresh();
startTimer->resume();
return 1;
}
void StepGen2::startTimerCB()
{
startTimer->pause(); // Once is enough.
digitalWriteFast(dirPinName, nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
// There will be a short break here for t2 usecs, in the future.
timerEndPosition += nSteps;
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
// pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
pulseTimer->refresh();
pulseTimer->resume();
}
void StepGen2::pulseTimerCB()
{
int16_t dir = digitalReadFast(dirPinName); //
if (dir == HIGH) // The step just taken
timerPosition--;
else
timerPosition++;
int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
if (diffPosition == 0)
pulseTimer->pause();
else
{
if (diffPosition < 0 && dir == LOW) // Change direction. Should not end up here, but alas
digitalWriteFast(dirPinName, HIGH); // Normal is to be HIGH when decreasing
if (diffPosition > 0 && dir == HIGH) // Change direction. Should not end up here, but alas
digitalWriteFast(dirPinName, LOW); // Normal is to be LOW when increasing
// Normally nothing is needed
}
}
uint32_t StepGen2::updatePos(uint32_t i)
{ //
initialPosition = commandedPosition; // Save the numeric position for next step
initialStepPosition = commandedStepPosition; // also the step we are at}
return i;
}
uint32_t StepGen2::sync0CycleTime = 0;

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Cards/EaserCAT-2000/Firmware/src/StepGen3.cpp Executable file
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391
Cards/EaserCAT-2000/Firmware/src/Stm32F4_Encoder.cpp Executable file
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#include <Stm32F4_Encoder.h>
/*
Stm32F4_Encoder.cpp
Created on: Nov 20, 2020
Author: GoktugH.
*/
// TIM2, TIM3, TIM4, TIM8
Encoder::Encoder()
{
int unit;
}
// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
void Encoder::SetCount(int64_t Counter)
{
tim_base->CNT = Counter;
}
// uint16_t Encoder::GetCount(enum EncTimer enc)
uint16_t Encoder::GetCount()
{
return tim_base->CNT;
}
void GpioConfigPortA(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortC(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortD(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_12 | GPIO_Pin_13) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)
{
uint16_t tmpsmcr = 0;
uint16_t tmpccmr1 = 0;
uint16_t tmpccer = 0;
/* Get the TIMx SMCR register value */
tmpsmcr = TIMx->SMCR;
/* Get the TIMx CCMR1 register value */
tmpccmr1 = TIMx->CCMR1;
/* Get the TIMx CCER register value */
tmpccer = TIMx->CCER;
/* Set the encoder Mode */
tmpsmcr &= (uint16_t)~TIM_SMCR_SMS;
tmpsmcr |= TIM_EncoderMode;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ((uint16_t)~TIM_CCMR1_CC1S) & ((uint16_t)~TIM_CCMR1_CC2S);
tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
/* Set the TI1 and the TI2 Polarities */
tmpccer &= ((uint16_t)~TIM_CCER_CC1P) & ((uint16_t)~TIM_CCER_CC2P);
tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4));
/* Write to TIMx SMCR */
TIMx->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
TIMx->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
TIMx->CCER = tmpccer;
}
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
/* Set the default configuration */
TIM_TimeBaseInitStruct->TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseInitStruct->TIM_Prescaler = 0x0000;
TIM_TimeBaseInitStruct->TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct->TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct->TIM_RepetitionCounter = 0x0000;
}
void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
uint16_t tmpcr1 = 0;
tmpcr1 = TIMx->CR1;
if ((TIMx == TIM1) || (TIMx == TIM8) ||
(TIMx == TIM2) || (TIMx == TIM3) ||
(TIMx == TIM4) || (TIMx == TIM5))
{
/* Select the Counter Mode */
tmpcr1 &= (uint16_t)(~(TIM_CR1_DIR | TIM_CR1_CMS));
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode;
}
if ((TIMx != TIM6) && (TIMx != TIM7))
{
/* Set the clock division */
tmpcr1 &= (uint16_t)(~TIM_CR1_CKD);
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision;
}
TIMx->CR1 = tmpcr1;
/* Set the Autoreload value */
TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period;
/* Set the Prescaler value */
TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler;
if ((TIMx == TIM1) || (TIMx == TIM8))
{
/* Set the Repetition Counter value */
TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter;
}
/* Generate an update event to reload the Prescaler
and the repetition counter(only for TIM1 and TIM8) value immediatly */
TIMx->EGR = TIM_PSCReloadMode_Immediate;
}
TIM_TimeBaseInitTypeDef TIMER_InitStructure;
TIM_TimeBaseInitTypeDef TIMER_InitStructureE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEEG;
void TIM_Cmd(TIM_TypeDef *TIMx, FunctionalState NewState)
{
if (NewState != DISABLE)
{
/* Enable the TIM Counter */
TIMx->CR1 |= TIM_CR1_CEN;
}
else
{
/* Disable the TIM Counter */
TIMx->CR1 &= (uint16_t)~TIM_CR1_CEN;
}
}
void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
{
uint32_t temp = 0x00;
uint32_t temp_2 = 0x00;
temp = ((uint32_t)(GPIO_AF) << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
GPIOx->AFR[GPIO_PinSource >> 0x03] &= ~((uint32_t)0xF << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
temp_2 = GPIOx->AFR[GPIO_PinSource >> 0x03] | temp;
GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
}
void encoder_config()
{
RCC->AHB1ENR |= 0x1; // GPIOA
RCC->AHB1ENR |= 0x4; // GPIOC
RCC->AHB1ENR |= 0x8; // GPIOD
RCC->AHB1ENR |= 0x10; // GPIOE
RCC->APB1ENR |= 0x20000000; // ENABLE DAC
// RCC->APB2ENR |= 0x00000002; // APB2 TIM8
RCC->APB1ENR |= 0x00000004; // APB1 TIM4
RCC->APB1ENR |= 0x00000001; // APB1 TIM2
// RCC->APB1ENR |= 0x00000002; // APB1 TIM3
GpioConfigPortA(GPIOA);
// GpioConfigPortC(GPIOC);
GpioConfigPortD(GPIOD);
#if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
#endif
GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
#if 0 // Skipping since I use TIM8 as stepper generator
TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructure.TIM_Period = 65535;
TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM8, &TIMER_InitStructure);
TIM_TimeBaseStructInit(&TIMER_InitStructure);
TIM_Cmd(TIM8, ENABLE);
TIM8->CNT = 0;
#endif
TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureE.TIM_Period = 65535;
TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM4, &TIMER_InitStructureE);
TIM_TimeBaseStructInit(&TIMER_InitStructureE);
TIM_Cmd(TIM4, ENABLE);
TIM4->CNT = 0;
TIM_EncoderInterConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEE.TIM_Period = 65535;
TIMER_InitStructureEE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM2, &TIMER_InitStructureEE);
TIM_TimeBaseStructInit(&TIMER_InitStructureEE);
TIM_Cmd(TIM2, ENABLE);
TIM2->CNT = 0;
#if 0
TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEEG.TIM_Period = 65535;
TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM3, &TIMER_InitStructureEEG);
TIM_TimeBaseStructInit(&TIMER_InitStructureEEG);
TIM_Cmd(TIM3, ENABLE);
TIM3->CNT = 0;
#endif
}
void encoder2_config()
{
#if 0
#include "mbed.h"
#include "stm32f4xx.h"
#include "stm32f4xx_hal_tim_ex.h"
TIM_HandleTypeDef timer;
TIM_Encoder_InitTypeDef encoder;
// direction to PA_9 -- step pulse to PA_8
int main()
{
GPIO_InitTypeDef GPIO_InitStruct;
__TIM1_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
timer.Instance = TIM1;
timer.Init.Period = 0xffff;
timer.Init.Prescaler = 0;
timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timer.Init.CounterMode = TIM_COUNTERMODE_UP;
encoder.EncoderMode = TIM_ENCODERMODE_TI12;
encoder.IC1Filter = 0x0f;
encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
encoder.IC1Prescaler = TIM_ICPSC_DIV4;
encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
encoder.IC2Filter = 0x0f;
encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
encoder.IC2Prescaler = TIM_ICPSC_DIV4;
encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_Encoder_Init(&timer, &encoder);
HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);
TIM1->EGR = 1; // Generate an update event
TIM1->CR1 = 1; // Enable the counter
while (1) {
int16_t count1;
count1=TIM1->CNT;
printf("%d\r\n", count1);
wait(1.0);
};
}
#endif
}

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Cards/EaserCAT-2000/Firmware/src/extend32to64.cpp Executable file
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#include "extend32to64.h"
// Extend from 32-bit to 64-bit precision
int64_t extend32to64::extendTime(uint32_t in)
{
int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < int64_t(-HALF_PERIOD))
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousTimeValue + mod_dif;
previousTimeValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}

355
Cards/EaserCAT-2000/Firmware/src/main.cpp Executable file
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#include <Arduino.h>
#include <stdio.h>
extern "C"
{
#include "ecat_slv.h"
#include "utypes.h"
};
_Objects Obj;
HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
HardwareTimer *baseTimer; // The base period timer
HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
uint32_t sync0CycleTime; // nanosecs, often 1000000 ( 1 ms )
#include "MyEncoder.h"
volatile uint16_t encCnt = 0;
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
encCnt++;
Encoder1.indexPulse();
}
// #include <RunningAverage.h>
// RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
CircularBuffer<uint16_t, 1000> irqServeDelays;
#include "StepGen3.h"
StepGen3 *Step = 0;
#include "extend32to64.h"
volatile uint64_t irqTime = 0, irqCnt = 0;
extend32to64 longTime;
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(2000);
}
volatile uint16_t basePeriodCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
volatile uint16_t deltaMakePulsesCnt;
volatile double posCmd1, posCmd2;
double oldPosCmd1, oldPosCmd2;
double deltaPosCmd1, deltaPosCmd2;
void syncWithLCNC()
{
syncTimer->pause();
baseTimer->pause();
deltaMakePulsesCnt = makePulsesCnt - prevMakePulsesCnt;
prevMakePulsesCnt = makePulsesCnt;
Step->updateStepGen(posCmd1, posCmd2, sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / BASE_PERIOD; //
baseTimer->refresh(); //
baseTimer->resume(); // Make the other steps in ISR
}
void basePeriodCB(void)
{
if (--basePeriodCnt > 0) // Stop
Step->makeAllPulses();
else
baseTimer->pause();
}
int32_t delayT;
uint16_t thisCycleTime; // In usecs
int16_t maxIrqServeTime = 0;
uint64_t oldIrqTime = 0;
uint16_t nLoops;
uint16_t failedSM2s = 0;
uint16_t totalFailedSM2s = 0;
uint16_t nLoopsAboveNorm = 0;
void handleStepper(void)
{
if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
{
thisCycleTime = irqTime - oldIrqTime;
nLoops = round(float(thisCycleTime) / float(sync0CycleTime / 1000));
nLoopsAboveNorm += nLoops - 1;
}
oldIrqTime = irqTime;
uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
irqServeDelays.push(diffT);
if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
{
uint16_t maxInBuffer = 0;
using index_t = decltype(irqServeDelays)::index_t;
for (index_t i = 0; i < irqServeDelays.size(); i++)
{
if (maxInBuffer < irqServeDelays[i])
maxInBuffer = irqServeDelays[i];
}
if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
maxIrqServeTime--;
if (maxIrqServeTime < maxInBuffer)
maxIrqServeTime = maxInBuffer;
}
if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{ // The normal case, position update every cycle
posCmd1 = Obj.CommandedPosition1; // The position update
posCmd2 = Obj.CommandedPosition2;
deltaPosCmd1 = posCmd1 - oldPosCmd1; // Needed for extrapolation in the other case
deltaPosCmd2 = posCmd2 - oldPosCmd2;
failedSM2s = 0;
}
else
{ // Not normal, we didn't get a position update. Extrapolate from previous updates
if (failedSM2s++ < 100) // Do max 10 such extrapolations, should be plenty
{ //
posCmd1 += deltaPosCmd1; // Continue with the same speed
posCmd2 += deltaPosCmd2;
}
totalFailedSM2s++;
}
oldPosCmd1 = posCmd1;
oldPosCmd2 = posCmd2;
// Obj.ActualPosition1 = Obj.CommandedPosition1;
// Obj.ActualPosition2 = Obj.CommandedPosition2;
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
if (delayT > 0 && delayT < 900)
{
syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
syncTimer->refresh();
syncTimer->resume();
}
else
{
syncWithLCNC();
}
}
float_t oldCommandedPosition = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
Obj.IndexByte = Encoder1.getIndexState();
Obj.DiffT = nLoops;
Obj.D1 = 1000 * deltaPosCmd2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = totalFailedSM2s; // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = 1000 * Obj.CommandedPosition2; // Step->stepgen_array[1].freq;
Obj.D4 = 1000 * posCmd2; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2;
}
void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker(void);
void sync0Handler(void);
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = 150,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = handleStepper,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker,
};
void measureCrystalFrequency(void);
volatile byte serveIRQ = 0;
void setup(void)
{
Serial1.begin(115200);
#if 0
measureCrystalFrequency(); // Calibrate crystal frequency
#endif
Step = new StepGen3;
encoder_config(); // Needed by encoder, probably breaks some timers.
ecat_slv_init(&config);
pinMode(PA11, OUTPUT); // Step X
pinMode(PA12, OUTPUT); // Dir X
pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z
baseTimer = new HardwareTimer(TIM11); // The base period timer
setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
// baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
syncTimer->attachInterrupt(syncWithLCNC);
}
void loop(void)
{
uint64_t dTime;
if (serveIRQ)
{
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time;
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();
}
void sync0Handler(void)
{
ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
irqTime = longTime.extendTime(micros());
serveIRQ = 1;
}
irqCnt++; // debug output
}
// Enable SM2 interrupts
void ESC_interrupt_enable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
if (mask & user_int_mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
// Set LAN9252 interrupt pin driver as push-pull active high
uint32_t bits = 0x00000111;
ESC_write(0x54, &bits, 4);
// Enable LAN9252 interrupt
bits = 0x00000001;
ESC_write(0x5c, &bits, 4);
}
}
// Disable SM2 interrupts
void ESC_interrupt_disable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
if (mask & user_int_mask)
{
// Disable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
detachInterrupt(digitalPinToInterrupt(PC3));
// Disable LAN9252 interrupt
uint32_t bits = 0x00000000;
ESC_write(0x5c, &bits, 4);
}
}
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC
uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
sync0CycleTime = ESC_SYNC0cycletime(); // nanosecs
return 0;
}
//
// Code to calibrate the crystal.
//
#include <HardwareTimer.h>
HardwareTimer *timer;
volatile uint32_t cnt;
void CB(void)
{
if (cnt-- == 0)
{
timer->pause();
}
}
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
{
const uint16_t calibrated1000 = 1042; // <- This is the factor to adjust to make 1 sec = 1 sec
uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
uint32_t PeriodTicks = period_cyc / Prescalerfactor;
timer->setPrescaleFactor(Prescalerfactor);
timer->setOverflow(PeriodTicks, TICK_FORMAT);
// Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
}
void measureCrystalFrequency(void)
{
timer = new HardwareTimer(TIM1);
Serial1.begin(115200);
delay(3000);
Serial1.printf("Clock freq = %u\n", timer->getTimerClkFreq());
setFrequencyAdjustedMicrosSeconds(timer, 1000);
timer->refresh();
timer->attachInterrupt(CB);
cnt = 10000;
Serial1.printf("\n");
uint32_t startT = micros();
timer->resume();
while (cnt != 0)
;
uint32_t endT = micros();
uint32_t diffT = endT - startT;
Serial1.printf("\n");
Serial1.printf("diff = %u\n", diffT);
Serial1.printf("\n");
delay(10000);
Serial1.printf("\n");
exit(0);
}

11
Cards/EaserCAT-2000/Firmware/test/README Executable file
View File

@@ -0,0 +1,11 @@
This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

3
Cards/EaserCAT-2000/Kicad/.gitignore vendored Normal file
View File

@@ -0,0 +1,3 @@
fp-info-cache
Ethercat-stm32-backup*
*.lck

53691
Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_pcb Executable file
View File

File diff suppressed because it is too large Load Diff

568
Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_pro Executable file
View File

@@ -0,0 +1,568 @@
{
"board": {
"3dviewports": [],
"design_settings": {
"defaults": {
"board_outline_line_width": 0.09999999999999999,
"copper_line_width": 0.19999999999999998,
"copper_text_italic": false,
"copper_text_size_h": 1.5,
"copper_text_size_v": 1.5,
"copper_text_thickness": 0.3,
"copper_text_upright": false,
"courtyard_line_width": 0.049999999999999996,
"dimension_precision": 4,
"dimension_units": 3,
"dimensions": {
"arrow_length": 1270000,
"extension_offset": 500000,
"keep_text_aligned": true,
"suppress_zeroes": false,
"text_position": 0,
"units_format": 1
},
"fab_line_width": 0.09999999999999999,
"fab_text_italic": false,
"fab_text_size_h": 1.0,
"fab_text_size_v": 1.0,
"fab_text_thickness": 0.15,
"fab_text_upright": false,
"other_line_width": 0.15,
"other_text_italic": false,
"other_text_size_h": 1.0,
"other_text_size_v": 1.0,
"other_text_thickness": 0.15,
"other_text_upright": false,
"pads": {
"drill": 0.762,
"height": 1.524,
"width": 1.524
},
"silk_line_width": 0.15,
"silk_text_italic": false,
"silk_text_size_h": 1.0,
"silk_text_size_v": 1.0,
"silk_text_thickness": 0.15,
"silk_text_upright": false,
"zones": {
"min_clearance": 0.5
}
},
"diff_pair_dimensions": [],
"drc_exclusions": [],
"meta": {
"version": 2
},
"rule_severities": {
"annular_width": "error",
"clearance": "error",
"connection_width": "warning",
"copper_edge_clearance": "error",
"copper_sliver": "warning",
"courtyards_overlap": "error",
"diff_pair_gap_out_of_range": "error",
"diff_pair_uncoupled_length_too_long": "error",
"drill_out_of_range": "error",
"duplicate_footprints": "warning",
"extra_footprint": "warning",
"footprint": "error",
"footprint_type_mismatch": "ignore",
"hole_clearance": "error",
"hole_near_hole": "error",
"invalid_outline": "error",
"isolated_copper": "warning",
"item_on_disabled_layer": "error",
"items_not_allowed": "error",
"length_out_of_range": "error",
"lib_footprint_issues": "warning",
"lib_footprint_mismatch": "warning",
"malformed_courtyard": "error",
"microvia_drill_out_of_range": "error",
"missing_courtyard": "ignore",
"missing_footprint": "warning",
"net_conflict": "warning",
"npth_inside_courtyard": "ignore",
"padstack": "warning",
"pth_inside_courtyard": "ignore",
"shorting_items": "error",
"silk_edge_clearance": "warning",
"silk_over_copper": "warning",
"silk_overlap": "warning",
"skew_out_of_range": "error",
"solder_mask_bridge": "error",
"starved_thermal": "error",
"text_height": "warning",
"text_thickness": "warning",
"through_hole_pad_without_hole": "error",
"too_many_vias": "error",
"track_dangling": "warning",
"track_width": "error",
"tracks_crossing": "error",
"unconnected_items": "error",
"unresolved_variable": "error",
"via_dangling": "warning",
"zones_intersect": "error"
},
"rules": {
"max_error": 0.005,
"min_clearance": 0.0,
"min_connection": 0.0,
"min_copper_edge_clearance": 0.0,
"min_hole_clearance": 0.25,
"min_hole_to_hole": 0.25,
"min_microvia_diameter": 0.19999999999999998,
"min_microvia_drill": 0.09999999999999999,
"min_resolved_spokes": 2,
"min_silk_clearance": 0.0,
"min_text_height": 0.7999999999999999,
"min_text_thickness": 0.08,
"min_through_hole_diameter": 0.3,
"min_track_width": 0.0,
"min_via_annular_width": 0.09999999999999999,
"min_via_diameter": 0.5,
"solder_mask_clearance": 0.0,
"solder_mask_min_width": 0.0,
"solder_mask_to_copper_clearance": 0.0,
"use_height_for_length_calcs": true
},
"teardrop_options": [
{
"td_allow_use_two_tracks": true,
"td_curve_segcount": 5,
"td_on_pad_in_zone": false,
"td_onpadsmd": true,
"td_onroundshapesonly": false,
"td_ontrackend": false,
"td_onviapad": true
}
],
"teardrop_parameters": [
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_round_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_rect_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_track_end",
"td_width_to_size_filter_ratio": 0.9
}
],
"track_widths": [],
"via_dimensions": [],
"zones_allow_external_fillets": false
},
"ipc2581": {
"dist": "",
"distpn": "",
"internal_id": "",
"mfg": "",
"mpn": ""
},
"layer_presets": [],
"viewports": []
},
"boards": [],
"cvpcb": {
"equivalence_files": []
},
"erc": {
"erc_exclusions": [],
"meta": {
"version": 0
},
"pin_map": [
[
0,
0,
0,
0,
0,
0,
1,
0,
0,
0,
0,
2
],
[
0,
2,
0,
1,
0,
0,
1,
0,
2,
2,
2,
2
],
[
0,
0,
0,
0,
0,
0,
1,
0,
1,
0,
1,
2
],
[
0,
1,
0,
0,
0,
0,
1,
1,
2,
1,
1,
2
],
[
0,
0,
0,
0,
0,
0,
1,
0,
0,
0,
0,
2
],
[
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
2
],
[
1,
1,
1,
1,
1,
0,
1,
1,
1,
1,
1,
2
],
[
0,
0,
0,
1,
0,
0,
1,
0,
0,
0,
0,
2
],
[
0,
2,
1,
2,
0,
0,
1,
0,
2,
2,
2,
2
],
[
0,
2,
0,
1,
0,
0,
1,
0,
2,
0,
0,
2
],
[
0,
2,
1,
1,
0,
0,
1,
0,
2,
0,
0,
2
],
[
2,
2,
2,
2,
2,
2,
2,
2,
2,
2,
2,
2
]
],
"rule_severities": {
"bus_definition_conflict": "error",
"bus_entry_needed": "error",
"bus_to_bus_conflict": "error",
"bus_to_net_conflict": "error",
"conflicting_netclasses": "error",
"different_unit_footprint": "error",
"different_unit_net": "error",
"duplicate_reference": "error",
"duplicate_sheet_names": "error",
"endpoint_off_grid": "warning",
"extra_units": "error",
"global_label_dangling": "warning",
"hier_label_mismatch": "error",
"label_dangling": "error",
"lib_symbol_issues": "warning",
"missing_bidi_pin": "warning",
"missing_input_pin": "warning",
"missing_power_pin": "error",
"missing_unit": "warning",
"multiple_net_names": "warning",
"net_not_bus_member": "warning",
"no_connect_connected": "warning",
"no_connect_dangling": "warning",
"pin_not_connected": "error",
"pin_not_driven": "error",
"pin_to_pin": "warning",
"power_pin_not_driven": "error",
"similar_labels": "warning",
"simulation_model_issue": "ignore",
"unannotated": "error",
"unit_value_mismatch": "error",
"unresolved_variable": "error",
"wire_dangling": "error"
}
},
"libraries": {
"pinned_footprint_libs": [],
"pinned_symbol_libs": []
},
"meta": {
"filename": "Ethercat-stm32.kicad_pro",
"version": 1
},
"net_settings": {
"classes": [
{
"bus_width": 12,
"clearance": 0.2,
"diff_pair_gap": 0.25,
"diff_pair_via_gap": 0.25,
"diff_pair_width": 0.2,
"line_style": 0,
"microvia_diameter": 0.3,
"microvia_drill": 0.1,
"name": "Default",
"pcb_color": "rgba(0, 0, 0, 0.000)",
"schematic_color": "rgba(0, 0, 0, 0.000)",
"track_width": 0.25,
"via_diameter": 0.8,
"via_drill": 0.4,
"wire_width": 6
}
],
"meta": {
"version": 3
},
"net_colors": null,
"netclass_assignments": null,
"netclass_patterns": []
},
"pcbnew": {
"last_paths": {
"gencad": "",
"idf": "",
"netlist": "C:/Program Files/KiCad/7.0/",
"plot": "",
"pos_files": "",
"specctra_dsn": "Ethercat-stm32.dsn",
"step": "",
"svg": "",
"vrml": ""
},
"page_layout_descr_file": ""
},
"schematic": {
"annotate_start_num": 0,
"bom_export_filename": "",
"bom_fmt_presets": [],
"bom_fmt_settings": {
"field_delimiter": ",",
"keep_line_breaks": false,
"keep_tabs": false,
"name": "CSV",
"ref_delimiter": ",",
"ref_range_delimiter": "",
"string_delimiter": "\""
},
"bom_presets": [],
"bom_settings": {
"exclude_dnp": false,
"fields_ordered": [
{
"group_by": false,
"label": "Reference",
"name": "Reference",
"show": true
},
{
"group_by": true,
"label": "Value",
"name": "Value",
"show": true
},
{
"group_by": false,
"label": "Datasheet",
"name": "Datasheet",
"show": true
},
{
"group_by": false,
"label": "Footprint",
"name": "Footprint",
"show": true
},
{
"group_by": false,
"label": "Qty",
"name": "${QUANTITY}",
"show": true
},
{
"group_by": true,
"label": "DNP",
"name": "${DNP}",
"show": true
}
],
"filter_string": "",
"group_symbols": true,
"name": "Grouped By Value",
"sort_asc": true,
"sort_field": "Reference"
},
"connection_grid_size": 50.0,
"drawing": {
"dashed_lines_dash_length_ratio": 12.0,
"dashed_lines_gap_length_ratio": 3.0,
"default_line_thickness": 6.0,
"default_text_size": 50.0,
"field_names": [],
"intersheets_ref_own_page": false,
"intersheets_ref_prefix": "",
"intersheets_ref_short": false,
"intersheets_ref_show": false,
"intersheets_ref_suffix": "",
"junction_size_choice": 3,
"label_size_ratio": 0.375,
"operating_point_overlay_i_precision": 3,
"operating_point_overlay_i_range": "~A",
"operating_point_overlay_v_precision": 3,
"operating_point_overlay_v_range": "~V",
"overbar_offset_ratio": 1.23,
"pin_symbol_size": 25.0,
"text_offset_ratio": 0.15
},
"legacy_lib_dir": "",
"legacy_lib_list": [],
"meta": {
"version": 1
},
"net_format_name": "",
"page_layout_descr_file": "",
"plot_directory": "",
"spice_current_sheet_as_root": false,
"spice_external_command": "spice \"%I\"",
"spice_model_current_sheet_as_root": true,
"spice_save_all_currents": false,
"spice_save_all_dissipations": false,
"spice_save_all_voltages": false,
"subpart_first_id": 65,
"subpart_id_separator": 0
},
"sheets": [
[
"5597aedc-b607-407f-bbfd-31b3b298ecb1",
""
],
[
"a120273a-c1ae-42b3-935d-01f789f654a3",
"LAN9252"
],
[
"650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03",
"LAN9252_diverse"
],
[
"d564400f-40ba-4aca-9c2a-14ec52a8353b",
"STM32F4"
],
[
"0a376a6c-0f15-42f8-81f6-3a55619be267",
"Peripherals"
]
],
"text_variables": {}
}

87
Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_sch Executable file
View File

@@ -0,0 +1,87 @@
(kicad_sch (version 20230121) (generator eeschema)
(uuid 5597aedc-b607-407f-bbfd-31b3b298ecb1)
(paper "A3")
(lib_symbols
)
(text "Huvudsida" (at 162.56 85.09 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid adf2be63-7ec7-44be-837f-901ddbc80717)
)
(sheet (at 144.78 224.79) (size 71.12 16.51) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
(property "Sheetname" "Peripherals" (at 144.78 224.0784 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "peripherals.kicad_sch" (at 144.78 241.8846 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "5"))
)
)
)
(sheet (at 46.99 224.79) (size 82.55 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid 650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03)
(property "Sheetname" "LAN9252_diverse" (at 46.99 224.0784 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "LAN9252_diverse.kicad_sch" (at 46.99 243.1546 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "3"))
)
)
)
(sheet (at 46.99 200.66) (size 82.55 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid a120273a-c1ae-42b3-935d-01f789f654a3)
(property "Sheetname" "LAN9252" (at 46.99 199.9484 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "LAN9252.kicad_sch" (at 46.99 219.0246 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "2"))
)
)
)
(sheet (at 142.24 200.66) (size 74.93 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid d564400f-40ba-4aca-9c2a-14ec52a8353b)
(property "Sheetname" "STM32F4" (at 142.24 199.9484 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "STM32F4.kicad_sch" (at 142.24 219.0246 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "4"))
)
)
)
(sheet_instances
(path "/" (page "1"))
)
)

32
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/2.8 TFT 320x240 led with sd and touch.kicad_mod Executable file
View File

@@ -0,0 +1,32 @@
(footprint "2.8 TFT 320x240 led with sd and touch" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr smd)
(fp_text reference "REF**" (at -33.782 -7.112 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1dd33759-143b-476c-bb42-c5e5d445a2fc)
)
(fp_text value "2.8 TFT 320x240 led with sd and touch" (at -36.83 -0.254 90 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1ce2bf2b-b61f-46da-a1cb-06e193ac5296)
)
(fp_rect (start -43 25) (end 43 -25)
(stroke (width 0.12) (type solid)) (fill none) (layer "F.SilkS") (tstamp 9717e78c-245e-4b0a-ba7e-ef5374b0c38c))
(pad "1" thru_hole roundrect (at 40.005 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 21623806-8193-49aa-8e86-f5d741ee3217))
(pad "2" thru_hole roundrect (at 40.005 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1c8efd92-4e91-4579-bd5c-5fab3c9a7156))
(pad "3" thru_hole roundrect (at 40.005 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp c0b8101a-448b-46a1-9a8a-2ff22c1b14db))
(pad "4" thru_hole roundrect (at 40.005 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp a34698d6-085b-485a-ba4e-0184bb2cbfd8))
(pad "5" thru_hole roundrect (at -40.3 16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d099de14-88e2-441e-a73e-ff95baeb8e26))
(pad "6" thru_hole roundrect (at -40.3 13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 59a1ecf0-8d7b-4db7-8aa7-b858a90fc7be))
(pad "7" thru_hole roundrect (at -40.3 11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b96d741a-8459-4bdc-b8c3-996255ed9d94))
(pad "8" thru_hole roundrect (at -40.3 8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 378396b7-816f-412c-b398-2bfbec7f6a55))
(pad "9" thru_hole roundrect (at -40.3 6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 3f510b37-3d66-4b1f-a522-569a3c2d8bbf))
(pad "10" thru_hole roundrect (at -40.3 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 434996e1-61bd-42ff-a716-8e2eded0b81d))
(pad "11" thru_hole roundrect (at -40.3 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d04da8c4-1375-40f5-862d-89a40323615e))
(pad "12" thru_hole roundrect (at -40.3 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d3eb6fac-45c7-4fd1-9912-2d8c789ffa62))
(pad "13" thru_hole roundrect (at -40.3 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 925b72f2-8f72-452d-a630-3febc08cc9ad))
(pad "14" thru_hole roundrect (at -40.3 -6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b4fcf448-08be-496d-8886-fa111b5b3ed1))
(pad "15" thru_hole roundrect (at -40.3 -8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 71333f91-0375-4115-aff4-5c1287b2ffc3))
(pad "16" thru_hole roundrect (at -40.3 -11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1da1d33c-0ecb-4e9c-810a-201946bf2333))
(pad "17" thru_hole roundrect (at -40.3 -13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp da71bc08-e42f-44ea-865c-6032dc757532))
(pad "18" thru_hole roundrect (at -40.3 -16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp e630b3ad-972b-48f8-8387-439339d1a82b))
)

36
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/4.0 TFT 480x320 led with sd and touch.kicad_mod Executable file
View File

@@ -0,0 +1,36 @@
(footprint "4.0 TFT 480x320 led with sd and touch" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr through_hole)
(fp_text reference "REF**" (at 6.858 -7.112 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1dd33759-143b-476c-bb42-c5e5d445a2fc)
)
(fp_text value "4.0 TFT 480x320 led with sd and touch" (at 3.47 -0.254 90 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1ce2bf2b-b61f-46da-a1cb-06e193ac5296)
)
(fp_rect (start -1.93 30.9) (end 106.07 -30.9)
(stroke (width 0.12) (type solid)) (fill none) (layer "F.SilkS") (tstamp 9717e78c-245e-4b0a-ba7e-ef5374b0c38c))
(pad "" np_thru_hole circle (at 1.07 -27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 7ce980db-52dc-41e1-bac4-30a0cf9df4f2))
(pad "" np_thru_hole circle (at 1.07 27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp d2f64eb5-177b-453b-a52e-31c9cd53aa66))
(pad "" np_thru_hole circle (at 103.07 -27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 9edc280a-c2af-4851-92a3-2973bd93b7ea))
(pad "" np_thru_hole circle (at 103.07 27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp f03fba2d-995e-47a0-b9be-5909be892403))
(pad "1" thru_hole roundrect (at 104.14 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 21623806-8193-49aa-8e86-f5d741ee3217))
(pad "2" thru_hole roundrect (at 104.14 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1c8efd92-4e91-4579-bd5c-5fab3c9a7156))
(pad "3" thru_hole roundrect (at 104.14 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp c0b8101a-448b-46a1-9a8a-2ff22c1b14db))
(pad "4" thru_hole roundrect (at 104.14 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp a34698d6-085b-485a-ba4e-0184bb2cbfd8))
(pad "5" thru_hole roundrect (at 0 16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d099de14-88e2-441e-a73e-ff95baeb8e26))
(pad "6" thru_hole roundrect (at 0 13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 59a1ecf0-8d7b-4db7-8aa7-b858a90fc7be))
(pad "7" thru_hole roundrect (at 0 11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b96d741a-8459-4bdc-b8c3-996255ed9d94))
(pad "8" thru_hole roundrect (at 0 8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 378396b7-816f-412c-b398-2bfbec7f6a55))
(pad "9" thru_hole roundrect (at 0 6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 3f510b37-3d66-4b1f-a522-569a3c2d8bbf))
(pad "10" thru_hole roundrect (at 0 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 434996e1-61bd-42ff-a716-8e2eded0b81d))
(pad "11" thru_hole roundrect (at 0 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d04da8c4-1375-40f5-862d-89a40323615e))
(pad "12" thru_hole roundrect (at 0 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d3eb6fac-45c7-4fd1-9912-2d8c789ffa62))
(pad "13" thru_hole roundrect (at 0 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 925b72f2-8f72-452d-a630-3febc08cc9ad))
(pad "14" thru_hole roundrect (at 0 -6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b4fcf448-08be-496d-8886-fa111b5b3ed1))
(pad "15" thru_hole roundrect (at 0 -8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 71333f91-0375-4115-aff4-5c1287b2ffc3))
(pad "16" thru_hole roundrect (at 0 -11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1da1d33c-0ecb-4e9c-810a-201946bf2333))
(pad "17" thru_hole roundrect (at 0 -13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp da71bc08-e42f-44ea-865c-6032dc757532))
(pad "18" thru_hole roundrect (at 0 -16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp e630b3ad-972b-48f8-8387-439339d1a82b))
)

48
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER.kicad_mod Executable file
View File

@@ -0,0 +1,48 @@
(footprint "IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 6381DD42)
(attr through_hole)
(fp_text reference "REF**" (at -4.445 -12.065) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1f808c90-825e-49d0-9480-2865cbd239e3)
)
(fp_text value "IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER" (at 17.145 12.065) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp cd8735a2-64b2-46f7-86e5-f65aa6773d1a)
)
(fp_line (start 7.62 10.16) (end -7.62 10.16) (layer "F.SilkS") (width 0.127) (tstamp 184ea5e5-773a-4470-a1d9-ada8f7c72915))
(fp_line (start 7.62 -10.16) (end 7.62 10.16) (layer "F.SilkS") (width 0.127) (tstamp 332001f5-cc71-4238-ac59-603f5e908f28))
(fp_line (start -7.62 -10.16) (end 7.62 -10.16) (layer "F.SilkS") (width 0.127) (tstamp 55d53cb2-4740-441d-b360-53850205a522))
(fp_line (start -7.62 10.16) (end -7.62 -10.16) (layer "F.SilkS") (width 0.127) (tstamp eb50be0a-af3d-4f72-8f32-b836afc4ea23))
(fp_circle (center -8.6 -9) (end -8.5 -9) (layer "F.SilkS") (width 0.2) (fill none) (tstamp c3e53920-591b-41f7-bfa4-cdec252f192d))
(fp_line (start 7.87 10.41) (end -7.87 10.41) (layer "F.CrtYd") (width 0.05) (tstamp 9d0dccba-7ac6-439e-bee8-29aefc9066a6))
(fp_line (start -7.87 10.41) (end -7.87 -10.41) (layer "F.CrtYd") (width 0.05) (tstamp a58804ce-8cb0-4f6a-a098-d45aeb1aae2d))
(fp_line (start 7.87 -10.41) (end 7.87 10.41) (layer "F.CrtYd") (width 0.05) (tstamp df63f6d8-a5ee-4781-9ec1-cc05348d1b96))
(fp_line (start -7.87 -10.41) (end 7.87 -10.41) (layer "F.CrtYd") (width 0.05) (tstamp faf89614-78d8-4859-84c0-3ebe11c19d95))
(fp_line (start -7.62 -10.16) (end 7.62 -10.16) (layer "F.Fab") (width 0.127) (tstamp 5ded9bb8-1156-457b-84b6-685326575cf1))
(fp_line (start 7.62 -10.16) (end 7.62 10.16) (layer "F.Fab") (width 0.127) (tstamp 940db903-16a4-48e2-a98f-adad90558e9e))
(fp_line (start 7.62 10.16) (end -7.62 10.16) (layer "F.Fab") (width 0.127) (tstamp a2ec6ef3-fc2f-46bb-b912-4a1b212ee2aa))
(fp_line (start -7.62 10.16) (end -7.62 -10.16) (layer "F.Fab") (width 0.127) (tstamp b51a4bcf-71d4-420a-bfc9-af8e91ffce12))
(fp_circle (center -8.6 -9) (end -8.5 -9) (layer "F.Fab") (width 0.2) (fill none) (tstamp c5b0755b-ae47-484b-a9d8-a14bc3fe4d6a))
(pad "1" thru_hole rect (at -6.35 -8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 741b3aed-a21f-49e6-afae-979a391e69e3))
(pad "2" thru_hole circle (at -6.35 -6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp e08eefbd-e4db-4df7-81f8-1db4f4624b8e))
(pad "3" thru_hole circle (at -6.35 -3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp fa23c747-4f5a-467c-b9ee-d1568722f9f4))
(pad "4" thru_hole circle (at -6.35 -1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 1526f4b4-4f3a-4309-88e3-e357e5e4fd01))
(pad "5" thru_hole circle (at -6.35 1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 346d4de3-c86e-4f9a-b0cd-327abb4e6e16))
(pad "6" thru_hole circle (at -6.35 3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 2b0dcfb1-04fb-4736-9932-8b443dc4b4db))
(pad "7" thru_hole circle (at -6.35 6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp f5651210-70bd-4ef4-b435-4f5b604ad5ea))
(pad "8" thru_hole circle (at -6.35 8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 4c930822-2577-4b8f-880c-ba5110fe90ca))
(pad "9" thru_hole circle (at 6.35 8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 58a376a7-9b6c-4a01-8858-f7f3b141df35))
(pad "10" thru_hole circle (at 6.35 6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 826cd63c-449b-4341-9d3a-e4f9d7be3522))
(pad "11" thru_hole circle (at 6.35 3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 3ecd8ab0-f3ff-4b33-b61a-ac8f6d635b8d))
(pad "12" thru_hole circle (at 6.35 1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp d98ae056-8cce-485d-8161-65c8fa9131da))
(pad "13" thru_hole circle (at 6.35 -1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 7b3e4290-3208-4aa1-a099-022dbb423783))
(pad "14" thru_hole circle (at 6.35 -3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp a1c91abb-0590-4d22-9c4d-0cc9face79ef))
(pad "15" thru_hole circle (at 6.35 -6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp bcbd6a36-e817-4130-a8e3-a17958b1b374))
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(model "C:/Users/Hakan/Downloads/DRV8825 STEPPER MOTOR DRIVER CARRIER--3DModel-STEP-1.STEP"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
(rotate (xyz -90 0 0))
)
)

29
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/L298N Motor driver module-utan motorpads.kicad_mod Executable file
View File

@@ -0,0 +1,29 @@
(footprint "L298N Motor driver module-utan motorpads" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr through_hole)
(fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 09a028f6-0462-4b35-a49b-ef2c13c355bf)
)
(fp_text value "L298N Motor driver module-utan motorpads" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 14df8c27-1aca-4de8-bd30-28d03a31e6f6)
)
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)

33
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/L298N Motor driver module.kicad_mod Executable file
View File

@@ -0,0 +1,33 @@
(footprint "L298N Motor driver module" (version 20221018) (generator pcbnew)
(layer "F.Cu")
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348
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias.kicad_mod Executable file
View File

@@ -0,0 +1,348 @@
(footprint "LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(descr "LQFP, 80 Pin (https://www.renesas.com/eu/en/package-image/pdf/outdrawing/q80.10x10.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
(tags "LQFP QFP")
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(fp_text value "LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias" (at 0 7.35) (layer "F.Fab")
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(pad "67" smd roundrect (at 1.4 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp fb2f46f5-c78f-4fbd-ba08-8a4100c976d8))
(pad "68" smd roundrect (at 1 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 6d6e1fad-c06e-4786-a691-fba5e9dd0e1b))
(pad "69" smd roundrect (at 0.6 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 42103648-634c-419f-9fbc-4ba66b82d1aa))
(pad "70" smd roundrect (at 0.2 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 1eaf98ee-0640-45c9-b717-2450f475a292))
(pad "71" smd roundrect (at -0.2 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 27bfab82-b658-43fa-8d50-59ee0ca72d97))
(pad "72" smd roundrect (at -0.6 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 60e5fc74-08a3-4db8-a1c0-4684abffcb6a))
(pad "73" smd roundrect (at -1 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 22608ae5-d499-4454-b51d-86f40e1f9679))
(pad "74" smd roundrect (at -1.4 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp ac334e14-408a-44ca-a5f3-9ac479bf2303))
(pad "75" smd roundrect (at -1.8 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp eb85667d-1d76-4a1a-b218-6420eed784e8))
(pad "76" smd roundrect (at -2.2 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 4e722732-36fb-479b-816a-a6981bfd2e2c))
(pad "77" smd roundrect (at -2.6 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp d14f7c99-5641-42a7-9325-1fc1bdebad7d))
(pad "78" smd roundrect (at -3 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 08220d57-c9b6-4a80-b56b-f9d237a90e79))
(pad "79" smd roundrect (at -3.4 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 9d5bd4e3-9c57-429e-8f79-5eb9908f5665))
(pad "80" smd roundrect (at -3.8 -5.6625) (size 0.25 1.475) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 56578a29-4295-4269-b1c7-4244a7f89431))
(pad "81" thru_hole circle (at -1.8 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 16391819-43ac-4734-80c1-34ad12a20b03))
(pad "81" thru_hole circle (at -1.8 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp c79c41d4-2bbc-4f52-a74b-31a4fba09e9b))
(pad "81" thru_hole circle (at -1.8 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 46d71156-7c0a-47c6-999d-2d75a92a9dcd))
(pad "81" thru_hole circle (at -1.8 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 12a77539-6cda-47cc-962e-6d19266036b7))
(pad "81" thru_hole circle (at -0.6 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp adb21cd2-d504-44d7-99f1-8a56890c2bed))
(pad "81" thru_hole circle (at -0.6 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 0bbaa0b7-6acc-46ea-9259-124b37923068))
(pad "81" thru_hole circle (at -0.6 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 3af3c50a-a553-41cb-aaad-4b5d4451be2c))
(pad "81" thru_hole circle (at -0.6 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp c286aaae-6526-436f-930d-3b059458a276))
(pad "81" smd rect (at 0 0) (size 4.1 4.1) (layers "B.Cu") (tstamp 3524f943-29c4-43e0-92bc-5a9a84114d38))
(pad "81" smd rect (at 0 0) (size 5.3 4.5) (layers "F.Cu" "F.Mask") (tstamp 88727049-5477-40c7-8453-c60008c63992))
(pad "81" thru_hole circle (at 0.6 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 7be4eceb-8fd4-44a3-ac4c-9e24c2e9defd))
(pad "81" thru_hole circle (at 0.6 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp b2019f80-ee10-4345-9965-c0bac17c6275))
(pad "81" thru_hole circle (at 0.6 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp da8885f6-e2d7-4797-9607-cfb52f650bf0))
(pad "81" thru_hole circle (at 0.6 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp aa3a8115-8e44-4ad1-bd65-ccd7f22502df))
(pad "81" thru_hole circle (at 1.8 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 6706993c-a834-462c-8357-a40f1869517b))
(pad "81" thru_hole circle (at 1.8 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 726bba8c-e324-4c4f-afdf-f6697cd388e4))
(pad "81" thru_hole circle (at 1.8 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 88fe9863-0350-4442-905f-e914481006f5))
(pad "81" thru_hole circle (at 1.8 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 118dd107-8d39-4899-a0da-068651ad52b7))
(model "${KICAD7_3DMODEL_DIR}/Package_QFP.3dshapes/LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm.wrl"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
)

121
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/MODULE_ESP32_DEVKIT_V1.kicad_mod Executable file
View File

@@ -0,0 +1,121 @@
(footprint MODULE_ESP32_DEVKIT_V1 (layer F.Cu) (tedit 6381D09B)
(descr "")
(fp_text reference REF** (at -11.355 -27.36 0) (layer F.SilkS)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(fp_text value MODULE_ESP32_DEVKIT_V1 (at -0.56 27.36 0) (layer F.Fab)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(pad 1 thru_hole rect (at -12.7 -15.515) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 2 thru_hole circle (at -12.7 -12.975) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 3 thru_hole circle (at -12.7 -10.435) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 4 thru_hole circle (at -12.7 -7.895) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 5 thru_hole circle (at -12.7 -5.355) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 6 thru_hole circle (at -12.7 -2.815) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 7 thru_hole circle (at -12.7 -0.275) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 8 thru_hole circle (at -12.7 2.265) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 9 thru_hole circle (at -12.7 4.805) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 10 thru_hole circle (at -12.7 7.345) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 11 thru_hole circle (at -12.7 9.885) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 12 thru_hole circle (at -12.7 12.425) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 13 thru_hole circle (at -12.7 14.965) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 14 thru_hole circle (at -12.7 17.505) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 15 thru_hole circle (at -12.7 20.045) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 30 thru_hole circle (at 12.7 -15.515) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 29 thru_hole circle (at 12.7 -12.975) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 28 thru_hole circle (at 12.7 -10.435) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 27 thru_hole circle (at 12.7 -7.895) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 26 thru_hole circle (at 12.7 -5.355) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 25 thru_hole circle (at 12.7 -2.815) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 24 thru_hole circle (at 12.7 -0.275) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 23 thru_hole circle (at 12.7 2.265) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 22 thru_hole circle (at 12.7 4.805) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 21 thru_hole circle (at 12.7 7.345) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 20 thru_hole circle (at 12.7 9.885) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 19 thru_hole circle (at 12.7 12.425) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 18 thru_hole circle (at 12.7 14.965) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 17 thru_hole circle (at 12.7 17.505) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 16 thru_hole circle (at 12.7 20.045) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.28 23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.23 23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.23 -23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.28 -23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(fp_line (start -14.28 -25.475) (end -3.211 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start -3.211 -25.475) (end 3.5 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -25.475) (end 14.23 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 14.23 25.475) (end -14.28 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start -14.28 -25.475) (end 14.23 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.SilkS) (width 0.127))
(fp_circle (center -14.85 -15.515) (end -14.75 -15.515) (layer F.SilkS) (width 0.2))
(fp_circle (center -14.85 -15.515) (end -14.75 -15.515) (layer F.Fab) (width 0.2))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -14.28 25.475) (end -8.91 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 25.475) (end 8.78 25.475) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 25.475) (end 14.23 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 25.475) (end -8.91 18.985) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 18.985) (end -8.91 6.355) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 6.355) (end 8.78 6.355) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 6.355) (end 8.78 18.985) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 18.985) (end 8.78 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 18.985) (end 8.78 18.985) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -25.475) (end 3.5 -21.585) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -21.585) (end -3.211 -21.585) (layer F.Fab) (width 0.127))
(fp_line (start -3.211 -21.585) (end -3.211 -25.475) (layer F.Fab) (width 0.127))
(zone (net 0) (net_name "") (layer F.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed ) (copperpour not_allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(zone (net 0) (net_name "") (layers *.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks allowed) (vias not_allowed) (pads allowed ) (copperpour allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(zone (net 0) (net_name "") (layer B.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed ) (copperpour not_allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(fp_line (start -14.28 -25.475) (end -3.211 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -3.211 -25.475) (end 3.5 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 3.5 -25.475) (end 14.23 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -8.91 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -8.91 25.475) (end 8.78 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 8.78 25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.53 -25.725) (end -14.53 25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start -14.53 25.725) (end 14.48 25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.48 25.725) (end 14.48 -25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.48 -25.725) (end -14.53 -25.725) (layer F.CrtYd) (width 0.05))
)

64
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/MODULE_ESP32_NODEMCU.kicad_mod Executable file
View File

@@ -0,0 +1,64 @@
(footprint MODULE_ESP32_NODEMCU (layer F.Cu) (tedit 6381D25E)
(descr "")
(fp_text reference REF** (at -11.075 -29.385 0) (layer F.SilkS)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(fp_text value MODULE_ESP32_NODEMCU (at -1.55 29.385 0) (layer F.Fab)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(pad J5_19 thru_hole circle (at -13.0 -22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_18 thru_hole circle (at -13.0 -20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_1 thru_hole rect (at -13.0 22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_17 thru_hole circle (at -13.0 -17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_16 thru_hole circle (at -13.0 -15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_15 thru_hole circle (at -13.0 -12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_14 thru_hole circle (at -13.0 -10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_13 thru_hole circle (at -13.0 -7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_12 thru_hole circle (at -13.0 -5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_11 thru_hole circle (at -13.0 -2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_10 thru_hole circle (at -13.0 0.0) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_9 thru_hole circle (at -13.0 2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_8 thru_hole circle (at -13.0 5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_7 thru_hole circle (at -13.0 7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_6 thru_hole circle (at -13.0 10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_5 thru_hole circle (at -13.0 12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_4 thru_hole circle (at -13.0 15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_3 thru_hole circle (at -13.0 17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_2 thru_hole circle (at -13.0 20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_19 thru_hole circle (at 13.0 22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_18 thru_hole circle (at 13.0 20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_17 thru_hole circle (at 13.0 17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_16 thru_hole circle (at 13.0 15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_15 thru_hole circle (at 13.0 12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_14 thru_hole circle (at 13.0 10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_13 thru_hole circle (at 13.0 7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_12 thru_hole circle (at 13.0 5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_11 thru_hole circle (at 13.0 2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_10 thru_hole circle (at 13.0 0.0) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_9 thru_hole circle (at 13.0 -2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_8 thru_hole circle (at 13.0 -5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_7 thru_hole circle (at 13.0 -7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_6 thru_hole circle (at 13.0 -10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_5 thru_hole circle (at 13.0 -12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_4 thru_hole circle (at 13.0 -15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_3 thru_hole circle (at 13.0 -17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_2 thru_hole circle (at 13.0 -20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_1 thru_hole rect (at 13.0 -22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.5 26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.5 26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.5 -26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.5 -26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(fp_line (start -14.0 27.5) (end -14.0 -27.5) (layer F.Fab) (width 0.127))
(fp_line (start -14.0 -27.5) (end 14.0 -27.5) (layer F.Fab) (width 0.127))
(fp_line (start 14.0 -27.5) (end 14.0 27.5) (layer F.Fab) (width 0.127))
(fp_line (start 14.0 27.5) (end -14.0 27.5) (layer F.Fab) (width 0.127))
(fp_line (start -14.0 -27.5) (end -14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.0 -27.5) (end 14.0 -27.5) (layer F.SilkS) (width 0.127))
(fp_line (start 14.0 -27.5) (end 14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.0 27.5) (end 14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.25 -27.75) (end -14.25 27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start -14.25 27.75) (end 14.25 27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.25 27.75) (end 14.25 -27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.25 -27.75) (end -14.25 -27.75) (layer F.CrtYd) (width 0.05))
)

19
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/PWM_module_ebay.kicad_mod Executable file
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@@ -0,0 +1,19 @@
(footprint "PWM_module_ebay" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 0)
(attr smd)
(fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp c8121568-d3f5-48c8-9ecf-a54c1a1074ad)
)
(fp_text value "PWM_module_ebay" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp dd8648e9-e72b-41af-ac5a-778a58f169b2)
)
(fp_rect (start -2 -8.5) (end 31.5 8.5) (layer "F.SilkS") (width 0.12) (fill none) (tstamp 544f39f6-64e8-4f0a-a78a-5e28b7872f5b))
(pad "1" thru_hole roundrect (at 0 -1.27) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 6b50b86c-f9d8-4912-a87b-9d561db19997))
(pad "2" thru_hole roundrect (at 0 1.27) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 5f68daa8-c144-4203-bee1-0e7dc9fd2d2a))
(pad "3" thru_hole roundrect (at 27.94 -3.5) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 109eb1d6-b156-437a-a163-7bcc6259259e))
(pad "4" thru_hole roundrect (at 27.94 0) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp aae80b99-f5f7-4cee-b9d6-1e8589696882))
(pad "5" thru_hole roundrect (at 27.94 3.5) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 39d93395-0259-4e7b-9e15-e09f030e816a))
)

103
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/PulseJack JB0011D01BNL.kicad_mod Executable file
View File

@@ -0,0 +1,103 @@
(footprint "PulseJack JB0011D01BNL" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(descr "1 Port RJ45 Magjack Connector Through Hole 10/100 Base-T, AutoMDIX, https://www.amphenol-cs.com/media/wysiwyg/files/drawing/rjmg1bd3b8k1anr.pdf")
(tags "RJ45 Magjack")
(attr through_hole)
(fp_text reference "REF**" (at -4.445 5.49 180) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp e2f1695c-beea-4fcf-8b80-b8ca5ba8d340)
)
(fp_text value "PulseJack JB0011D01BNL" (at -4.445 -18.23 180) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp ba8f000b-59da-4929-ac44-88846ac40828)
)
(fp_text user "${REFERENCE}" (at -4.445 -6.37 180) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 9ca336cd-ca2e-4358-bf36-988a1e93b470)
)
(fp_line (start -12.42 -17.33) (end 3.53 -17.33)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 6cc8c013-9c97-410e-8b52-798376aa06f9))
(fp_line (start -12.42 -4.89) (end -12.42 -17.33)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp dfe51a95-bf40-4283-8584-c3bd5cc9df9e))
(fp_line (start -12.42 4.59) (end -12.42 -1.69)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8246d8f2-1c6f-4b33-8d25-c618de02407e))
(fp_line (start 3.53 -17.33) (end 3.53 -4.89)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp f47c6b12-f626-45aa-9068-5767b95e0936))
(fp_line (start 3.53 -1.69) (end 3.53 4.59)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0777e883-a211-4ec6-83de-d3a434fd515e))
(fp_line (start 3.53 4.59) (end -12.42 4.59)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 02396337-73e6-497a-8f0c-d054d6d0c6db))
(fp_line (start 3.73 1) (end 3.73 -1)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0c9cfb1c-8626-45ba-b8d0-0fa1d897dde5))
(fp_line (start -14.02 -4.04) (end -12.82 -5.24)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp 13cdb4cc-fea5-44e3-93ef-ac453a62464a))
(fp_line (start -14.02 -2.54) (end -14.02 -4.04)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a85fb57b-5bbf-4280-850d-8afa2455d39a))
(fp_line (start -12.82 -5.24) (end -12.82 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp e2c5f1ff-8df1-4236-b76c-300e04f8790c))
(fp_line (start -12.82 -1.34) (end -14.02 -2.54)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp ce6674fd-2fbe-4f69-89a7-10eb73acbd10))
(fp_line (start -12.82 4.99) (end -12.82 -1.34)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 60a05c14-e1f9-4ada-a1af-593963ac1586))
(fp_line (start -12.82 4.99) (end 3.93 4.99)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4fdd4f36-1a01-4604-96b0-b2181006ea98))
(fp_line (start 3.93 -17.73) (end -12.82 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp bfd74dac-89ff-4170-b66a-da6e02ab8a10))
(fp_line (start 3.93 -5.24) (end 3.93 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a7ea8871-0814-496d-bea8-76acf87a9f1d))
(fp_line (start 3.93 -1.34) (end 5.13 -2.54)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp ce9b9799-5a6e-4d3c-ad71-51ecb5f3226b))
(fp_line (start 3.93 4.99) (end 3.93 -1.34)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a7ea8871-0814-496d-bea8-76acf87a9f1d))
(fp_line (start 5.13 -4.04) (end 3.93 -5.24)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp 35eb9022-e801-4ec2-b75e-575993ae22a7))
(fp_line (start 5.13 -2.54) (end 5.13 -4.04)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 42f37172-575a-4e35-ab04-4207d00c9215))
(fp_line (start -12.32 -17.23) (end 3.43 -17.23)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 3bcf90ed-72cf-43f6-9200-1af27dc71125))
(fp_line (start -12.32 4.49) (end -12.32 -17.23)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 0e51847c-5550-4434-a920-3207f3b327a4))
(fp_line (start 0 3.49) (end -1 4.49)
(stroke (width 0.1) (type default)) (layer "F.Fab") (tstamp 2203cc90-7f47-4295-8157-870276d4dc86))
(fp_line (start 0 3.49) (end 1 4.49)
(stroke (width 0.1) (type default)) (layer "F.Fab") (tstamp aa2be614-88ae-4474-8f42-6dcd6743c3ee))
(fp_line (start 3.43 -17.23) (end 3.43 4.49)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 6433be6c-4de7-4dae-a169-d00a015d196a))
(fp_line (start 3.43 4.49) (end -12.32 4.49)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 98f93373-5da4-47b9-a4ca-c4dc9246ed79))
(pad "" np_thru_hole circle (at -10.16 -6.35 180) (size 3.25 3.25) (drill 3.25) (layers "F&B.Cu" "*.Mask") (tstamp f48b1e8e-4538-458d-a65c-3138e85ea983))
(pad "" np_thru_hole circle (at 1.27 -6.35 180) (size 3.25 3.25) (drill 3.25) (layers "F&B.Cu" "*.Mask") (tstamp 185b9caa-e029-4e3c-ac0d-88faa14dbe70))
(pad "1" thru_hole rect (at 0 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp e7b20907-2bab-4e95-a575-a415b5c81d21))
(pad "2" thru_hole circle (at -1.27 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp 795bd836-c6e1-4e60-8c0e-c390a64de36d))
(pad "3" thru_hole circle (at -2.54 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp e8ffc943-c00a-44ac-890a-53d47631b4ca))
(pad "4" thru_hole circle (at -3.81 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp 07a28928-313b-4940-b033-f561fb74708a))
(pad "5" thru_hole circle (at -5.08 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp f45e2541-d577-4c9c-b663-888b4be2cd9d))
(pad "6" thru_hole circle (at -6.35 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp c75da34c-c8bd-4693-b686-9e59682fd0df))
(pad "7" thru_hole circle (at -7.62 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp d93d30c2-35fb-434c-a82d-d583066fc83d))
(pad "8" thru_hole circle (at -8.89 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp df23d44a-7a80-4775-875f-744a84f07092))
(pad "9" thru_hole circle (at 1.8796 -11.2522 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 31281c12-ca20-4a5f-84f9-96702a50100e))
(pad "10" thru_hole circle (at -0.6604 -9.7282 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 1481ff80-5f30-4ef2-91da-ead74ebeaa80))
(pad "11" thru_hole circle (at -8.2296 -11.2522 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 9804c560-faa5-4df3-9d54-539192cf2965))
(pad "12" thru_hole circle (at -10.7696 -9.7282 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp f7a2d297-559e-45fa-9e90-075150e8a9fa))
(pad "SH" thru_hole circle (at -12.319 -3.302 180) (size 2.6 2.6) (drill 1.6) (layers "*.Cu" "*.Mask") (tstamp 3a4032e9-a391-42a8-8d46-37a6a669af39))
(pad "SH" thru_hole circle (at 3.429 -3.302 180) (size 2.6 2.6) (drill 1.6) (layers "*.Cu" "*.Mask") (tstamp 9c410289-a5f6-43a2-b6d5-e00c7525c3d4))
(zone (net 0) (net_name "") (layers "F&B.Cu" "F.SilkS") (tstamp 8504694f-c10f-4788-9961-ef566cd97e6b) (name "No trace zone") (hatch edge 0.5)
(connect_pads (clearance 0))
(min_thickness 0.25) (filled_areas_thickness no)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour allowed) (footprints allowed))
(fill (thermal_gap 0.5) (thermal_bridge_width 0.5))
(polygon
(pts
(xy 3.683 -13.97)
(xy -12.573 -13.97)
(xy -12.573 -17.526)
(xy 3.683 -17.526)
)
)
)
(model "${KICAD7_3DMODEL_DIR}/Connector_RJ.3dshapes/RJ45-01-J0011D01BNL.STEP"
(offset (xyz -4.4 6.6 0))
(scale (xyz 1 1 1))
(rotate (xyz -90 0 180))
)
)

19
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/Step-down_converter.kicad_mod Executable file
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@@ -0,0 +1,19 @@
(footprint "Step-down_converter" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 0)
(attr smd)
(fp_text reference "REF**" (at 1 -2 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 02961187-d897-402a-8be0-280efa86136e)
)
(fp_text value "Step-down_converter" (at 1 0 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 86ce3e0b-05da-49e1-bbdd-4b8a82d57320)
)
(fp_rect (start 9.398 -6.35) (end -8.382 5.334) (layer "F.SilkS") (width 0.12) (fill none) (tstamp a74d3364-cf5e-4ce8-81ee-30303d1a2fff))
(fp_rect (start -8.382 -6.35) (end 9.398 5.334) (layer "F.CrtYd") (width 0.12) (fill none) (tstamp 2dc45bff-1695-4e57-9525-90c2d17683f1))
(pad "IN+" thru_hole rect (at -7 4) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp f9cef32a-df9e-484b-9b98-5c39bed8e59f))
(pad "IN-" thru_hole rect (at -7 -5) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp b207658a-2d2d-4567-aa6a-a6939ed82d9a))
(pad "OUT+" thru_hole rect (at 8 4) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp 57a92d72-08d9-4070-ae87-6de89c192f43))
(pad "OUT-" thru_hole rect (at 8 -5) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp b3710e17-dffb-4214-b6d9-79b3e34fd05c))
)

91
Cards/EaserCAT-2000/Kicad/HakansLibrary.pretty/USB_Micro-Hakan.kicad_mod Executable file
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@@ -0,0 +1,91 @@
(footprint "USB_Micro-Hakan" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(descr "Micro USB AB receptable, right-angle inverted (https://www.molex.com/pdm_docs/sd/475900001_sd.pdf)")
(tags "Micro AB USB SMD")
(attr smd)
(fp_text reference "REF**" (at 0 -4.8 -180) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 934339ec-1cb6-463e-8be7-53de8c8333c7)
)
(fp_text value "USB_Micro-Hakan" (at 0 3.5) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp cbe7cf3e-519b-4cc6-bb14-9eb244b4d642)
)
(fp_text user "PCB Edge" (at 0 1.45) (layer "Dwgs.User")
(effects (font (size 0.4 0.4) (thickness 0.04)))
(tstamp bab58309-66f6-4101-abc0-1146c4c6eb53)
)
(fp_text user "${REFERENCE}" (at 0 -1.5) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 9a98430f-5a6a-4beb-9df6-2ff5de8ad42d)
)
(fp_line (start -3.87 -3.27) (end -3.87 -1.2)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2d37630d-fc20-46e3-9f0a-37884fe92080))
(fp_line (start -3.87 -3.27) (end -3 -3.27)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 7a091366-bda5-4ae9-b8bb-05ca09dde226))
(fp_line (start -3.87 1.2) (end -3.87 1.45)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0d46e52b-92f1-4829-89fc-4aaac518b86c))
(fp_line (start 1 -3.8) (end 1.6 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2da27fd0-40d0-4d12-8acb-9b0c4746f591))
(fp_line (start 1.3 -3.5) (end 1 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp ec3cbbc1-7abb-4a2b-9614-d47a3494480c))
(fp_line (start 1.3 -3.5) (end 1.6 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 35601a70-353f-406d-bbd0-8caf92f19c0b))
(fp_line (start 3 -3.27) (end 3.87 -3.27)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 40a7b295-350d-4143-baec-c6f8ff9d76d2))
(fp_line (start 3.87 -3.27) (end 3.87 -1.2)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 74dfe2ea-e3fd-4caa-b764-c1de0b7a69ff))
(fp_line (start 3.87 1.2) (end 3.87 1.45)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8ec0b9c7-7985-473b-bcc5-ddfb4408d2c9))
(fp_line (start -3.75 1.45) (end -2.8 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 024d267c-18aa-4abd-a1d0-c92a6e485600))
(fp_line (start -2.8 -0.125) (end -2.8 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 401e311c-0ca8-4584-8ff2-3f4f6b51d241))
(fp_line (start -1.95 -0.125) (end -1.95 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 73d911a7-90a3-4d1d-a029-378744021085))
(fp_line (start -1.95 1.45) (end 1.95 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp ee5977e1-c184-40f7-a823-45eb668167aa))
(fp_line (start 1.95 -0.125) (end 1.95 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 74b35cff-17e2-4b36-add6-6ec4112541a5))
(fp_line (start 2.8 -0.125) (end 2.8 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 869611ae-d851-4622-abc5-aad71c6b09f1))
(fp_line (start 2.8 1.45) (end 3.75 1.45)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 50bc56b1-3a29-4e1f-8652-d659f7d57da0))
(fp_arc (start -2.8 -0.125) (mid -2.375 -0.55) (end -1.95 -0.125)
(stroke (width 0.1) (type solid)) (layer "Edge.Cuts") (tstamp 7f5410bb-983e-4e57-b73a-0eb543c44190))
(fp_arc (start 1.95 -0.125) (mid 2.375 -0.55) (end 2.8 -0.125)
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(model "${KICAD6_3DMODEL_DIR}/Connector_USB.3dshapes/USB_Micro-AB_Molex_47590-0001.wrl"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
)

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Cards/EaserCAT-2000/Kicad/LAN9252.kicad_sch Executable file
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Cards/EaserCAT-2000/Kicad/LAN9252_diverse.kicad_sch Executable file
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Cards/EaserCAT-2000/Kicad/STM32F4.kicad_sch Executable file
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Cards/EaserCAT-2000/Kicad/Symbols/HakansLibrary.kicad_sym Executable file
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Cards/EaserCAT-2000/Kicad/Symbols/LAN9252_PT.kicad_sym Executable file
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@@ -0,0 +1,321 @@
(kicad_symbol_lib (version 20220914) (generator kicad_symbol_editor)
(symbol "LAN9252_PT" (pin_names (offset 1.016)) (in_bom yes) (on_board yes)
(property "Reference" "U" (at -60.96 59.69 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Value" "LAN9252_PT" (at -29.21 -60.96 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Footprint" "LAN9252_PT:QFP50P1200X1200X120-65N" (at -5.08 6.35 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Datasheet" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "MF" "Microchip" (at -1.27 -13.97 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "MAXIMUM_PACKAGE_HEIGHT" "1.2 mm" (at 0 -2.54 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Package" "TQFP-64 Microchip" (at -1.27 -11.43 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Price" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Check_prices" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "STANDARD" "IPC 7351B" (at -1.27 -5.08 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "PARTREV" "04-08-15" (at -1.27 -13.97 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "SnapEDA_Link" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "MP" "LAN9252/PT" (at -2.54 3.81 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Purchase-URL" "" (at 0 0 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Description" "\nEthernet Controller 10/100 Base-FX/T/TX PHY SPI Interface 64-TQFP-EP (10x10)\n" (at -1.27 10.16 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "Availability" "" (at 0 -2.54 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(property "MANUFACTURER" "Microchip Technology" (at -1.27 -8.89 0)
(effects (font (size 1.27 1.27)) (justify bottom) hide)
)
(symbol "LAN9252_PT_0_0"
(rectangle (start -29.21 58.42) (end 60.96 -59.69)
(stroke (width 0.254) (type default))
(fill (type background))
)
(pin input line (at -34.29 -2.54 0) (length 5.08)
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(number "1" (effects (font (size 1.016 1.016))))
)
(pin input line (at -34.29 12.7 0) (length 5.08)
(name "FXSDB/FXLOSB/~{FXSDENB}" (effects (font (size 1.016 1.016))))
(number "10" (effects (font (size 1.016 1.016))))
)
(pin input line (at -34.29 30.48 0) (length 5.08)
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(pin bidirectional line (at 66.04 -10.16 180) (length 5.08)
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(pin bidirectional line (at 66.04 -7.62 180) (length 5.08)
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)
(pin power_in line (at 66.04 59.69 180) (length 5.08)
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)
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(name "D14/AD14/DIGIO8/GPI8/GPO8/MII_TXD3/~{TX_SHIFT1}" (effects (font (size 1.016 1.016))))
(number "15" (effects (font (size 1.016 1.016))))
)
(pin bidirectional line (at 66.04 -38.1 180) (length 5.08)
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(number "16" (effects (font (size 1.016 1.016))))
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(pin bidirectional line (at 66.04 -5.08 180) (length 5.08)
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(pin bidirectional line (at 66.04 -27.94 180) (length 5.08)
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(pin output line (at -34.29 -5.08 0) (length 5.08)
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)
(pin power_in line (at 66.04 60.96 180) (length 5.08)
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(number "20" (effects (font (size 1.016 1.016))))
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(pin bidirectional line (at 66.04 -35.56 180) (length 5.08)
(name "D12/AD12/DIGIO6/GPI6/GPO6/MII_TXD1" (effects (font (size 1.016 1.016))))
(number "21" (effects (font (size 1.016 1.016))))
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(pin bidirectional line (at 66.04 -33.02 180) (length 5.08)
(name "D11/AD11/DIGIO5/GPI5/GPO5/MII_TXD0" (effects (font (size 1.016 1.016))))
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(pin bidirectional line (at 66.04 -30.48 180) (length 5.08)
(name "D10/AD10/DIGIO4/GPI4/GPO4/MII_TXEN" (effects (font (size 1.016 1.016))))
(number "23" (effects (font (size 1.016 1.016))))
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(pin power_in line (at 66.04 55.88 180) (length 5.08)
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(pin bidirectional line (at -34.29 -35.56 0) (length 5.08)
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(pin bidirectional line (at -34.29 -40.64 0) (length 5.08)
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(pin bidirectional line (at -34.29 -43.18 0) (length 5.08)
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(pin bidirectional line (at -34.29 -30.48 0) (length 5.08)
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(pin bidirectional line (at -34.29 -38.1 0) (length 5.08)
(name "A2/ALEHI/DIGIO10/GPI10/GPO10/LINKACTLED2/~{MII_LINKPOL}" (effects (font (size 1.016 1.016))))
(number "29" (effects (font (size 1.016 1.016))))
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(pin power_in line (at 66.04 48.26 180) (length 5.08)
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(pin bidirectional line (at 66.04 2.54 180) (length 5.08)
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(pin bidirectional line (at 66.04 0 180) (length 5.08)
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(pin power_in line (at 66.04 62.23 180) (length 5.08)
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(pin bidirectional line (at 66.04 -43.18 180) (length 5.08)
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(pin bidirectional line (at -34.29 -22.86 0) (length 5.08)
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(pin bidirectional line (at 66.04 -12.7 180) (length 5.08)
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(pin bidirectional line (at 66.04 -20.32 180) (length 5.08)
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(pin power_in line (at 66.04 63.5 180) (length 5.08)
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(pin power_in line (at 66.04 54.61 180) (length 5.08)
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(pin bidirectional line (at 66.04 -22.86 180) (length 5.08)
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(pin power_in line (at 66.04 -55.88 180) (length 5.08)
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(pin bidirectional line (at 66.04 -25.4 180) (length 5.08)
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(pin input line (at 66.04 -48.26 180) (length 5.08)
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(pin bidirectional line (at -34.29 5.08 0) (length 5.08)
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(pin output clock (at -34.29 2.54 0) (length 5.08)
(name "EESCL/TCK" (effects (font (size 1.016 1.016))))
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(pin output line (at 66.04 30.48 180) (length 5.08)
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(pin power_in line (at 66.04 58.42 180) (length 5.08)
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(number "47" (effects (font (size 1.016 1.016))))
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(pin output line (at -34.29 -10.16 0) (length 5.08)
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(number "48" (effects (font (size 1.016 1.016))))
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(pin bidirectional line (at 66.04 -15.24 180) (length 5.08)
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(pin power_in line (at 66.04 50.8 180) (length 5.08)
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(pin power_in line (at 66.04 38.1 180) (length 5.08)
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(pin input line (at -34.29 17.78 0) (length 5.08)
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(pin input line (at -34.29 15.24 0) (length 5.08)
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1928
Cards/EaserCAT-2000/Kicad/peripherals.kicad_sch Executable file
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BIN
Cards/EaserCAT-2000/linuxcnc/Performance.ods Executable file
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102
Cards/EaserCAT-2000/linuxcnc/lcec-64bitfloatadded.patch Normal file
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@@ -0,0 +1,102 @@
diff --git a/src/lcec_conf.c b/src/lcec_conf.c
index b0e9ad1..6cc7f8a 100644
--- a/src/lcec_conf.c
+++ b/src/lcec_conf.c
@@ -1267,6 +1267,11 @@ static void parsePdoEntryAttrs(LCEC_CONF_XML_INST_T *inst, int next, const char
p->halType = HAL_FLOAT;
continue;
}
+ if (strcasecmp(val, "float-double") == 0) {
+ p->subType = lcecPdoEntTypeFloatDouble;
+ p->halType = HAL_FLOAT;
+ continue;
+ }
fprintf(stderr, "%s: ERROR: Invalid pdoEntry halType %s\n", modname, val);
XML_StopParser(inst->parser, 0);
return;
@@ -1410,6 +1415,11 @@ static void parseComplexEntryAttrs(LCEC_CONF_XML_INST_T *inst, int next, const c
p->halType = HAL_FLOAT;
continue;
}
+ if (strcasecmp(val, "float-double") == 0) {
+ p->subType = lcecPdoEntTypeFloatDouble;
+ p->halType = HAL_FLOAT;
+ continue;
+ }
fprintf(stderr, "%s: ERROR: Invalid complexEntry halType %s\n", modname, val);
XML_StopParser(inst->parser, 0);
return;
diff --git a/src/lcec_conf.h b/src/lcec_conf.h
index 5d9943c..261c965 100644
--- a/src/lcec_conf.h
+++ b/src/lcec_conf.h
@@ -55,6 +55,7 @@ typedef enum {
lcecPdoEntTypeSimple,
lcecPdoEntTypeFloatSigned,
lcecPdoEntTypeFloatUnsigned,
+ lcecPdoEntTypeFloatDouble,
lcecPdoEntTypeComplex,
lcecPdoEntTypeFloatIeee
} LCEC_PDOENT_TYPE_T;
diff --git a/src/lcec_generic.c b/src/lcec_generic.c
index dfddf73..41a13a9 100644
--- a/src/lcec_generic.c
+++ b/src/lcec_generic.c
@@ -26,6 +26,7 @@ hal_s32_t lcec_generic_read_s32(uint8_t *pd, lcec_generic_pin_t *hal_data);
hal_u32_t lcec_generic_read_u32(uint8_t *pd, lcec_generic_pin_t *hal_data);
void lcec_generic_write_s32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_s32_t sval);
void lcec_generic_write_u32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_u32_t uval);
+void lcec_generic_write_f64(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_float_t fval);
int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
lcec_master_t *master = slave->master;
@@ -78,7 +79,7 @@ int lcec_generic_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t
case HAL_FLOAT:
// check data size
- if (hal_data->bitLength > 32) {
+ if (hal_data->bitLength > 64) {
rtapi_print_msg(RTAPI_MSG_WARN, LCEC_MSG_PFX "unable to export pin %s.%s.%s.%s: invalid process data bitlen!\n", LCEC_MODULE_NAME, master->name, slave->name, hal_data->name);
continue;
}
@@ -133,6 +134,8 @@ void lcec_generic_read(struct lcec_slave *slave, long period) {
fval = lcec_generic_read_u32(pd, hal_data);
} else if(hal_data->subType == lcecPdoEntTypeFloatIeee){
fval = EC_READ_REAL(&pd[hal_data->pdo_os]);
+ } else if(hal_data->subType == lcecPdoEntTypeFloatDouble){
+ fval = EC_READ_LREAL(&pd[hal_data->pdo_os]);
} else {
fval = lcec_generic_read_s32(pd, hal_data);
}
@@ -185,6 +188,8 @@ void lcec_generic_write(struct lcec_slave *slave, long period) {
if (hal_data->subType == lcecPdoEntTypeFloatUnsigned) {
lcec_generic_write_u32(pd, hal_data, (hal_u32_t) fval);
+ } else if (hal_data->subType == lcecPdoEntTypeFloatDouble) {
+ lcec_generic_write_f64(pd, hal_data, fval);
} else {
lcec_generic_write_s32(pd, hal_data, (hal_s32_t) fval);
}
@@ -300,3 +305,22 @@ void lcec_generic_write_u32(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_u32_t
}
}
+void lcec_generic_write_f64(uint8_t *pd, lcec_generic_pin_t *hal_data, hal_float_t fval) {
+ int i, offset;
+
+ if (hal_data->pdo_bp == 0 && hal_data->bitOffset == 0) {
+ EC_WRITE_LREAL(&pd[hal_data->pdo_os], fval);
+ return;
+ }
+ union {
+ double d;
+ uint64_t u;
+ } v;
+ v.d = fval; // Make an equivalent long int for bit operations (don't work on doubles)
+ offset = ((hal_data->pdo_os << 3) | (hal_data->pdo_bp & 0x07)) + hal_data->bitOffset;
+ for (i=0; i < hal_data->bitLength; i++, offset++) {
+ EC_WRITE_BIT(&pd[offset >> 3], offset & 0x07,v.u & 1);
+ v.u >>= 1;
+ }
+}
+

21
Cards/EaserCAT-2000/linuxcnc/metalmusings_encoder.comp Normal file
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component metalmusings_encoder;
pin io bit index-c-enable;
pin in u32 index-status;
pin out u32 index-latch-enable;
function _;
license "GPL";
;;
//main function
FUNCTION(_) {
index_latch_enable = index_c_enable;
if (index_latch_enable) {
if (index_status) {
index_c_enable = 0;
}
// else wait for index-status
} else {
index_c_enable = index_status;
}
}

1
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/.gitignore vendored Executable file
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*~

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Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg Executable file
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72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/README Executable file
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This folder contains a number of simulated lathe configs.
the "lathemacro" config offers a number of simple macros to perform
the most common lathe operations.
The GUI that controls the macros can be viewed by clicking the "Cycles"
tab top left of the graphical preview window.
There are two load-time options to control the tab behaviour:
1) norun will hide the action button, use this if you want to use only
a physical button (connected to gladevcp.cycle-start) to start the macros
(Strongly recommended, especially with Touchy)
2) notouch will allow keyboard editing of the spinboxes. Otherwise the
custom numeric keyboard will be shown.
An example loadrt line, as used here in the Gmoccapy demo is:
[DISPLAY]
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
The window will resize slowly if you grab the corner and move the mouse
inside the window. It's not as bad as it was, but still needs work.
You may need to click the unmaximise button in the toolbar to get a
window border to be able to use the resize handles.
Notes on the keyboard:
As well as the obvious functions and unit conversions, it can be used to
enter fractions. For example if you type 1.1/2 it will automatically
update to display 1.5000 and 16.17/64 will show 16.2656.
This can be used in a limited way to halve the onscreen value eg for
entering radius instead of diameter.
However it only works for whole numbers: 100/2 will become 50 but
3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
Notes on adding your own cycles:
Create a new G-code subroutine in the same format as the existing ones.
In Glade add a new tab to the 'tabs1' notebook and give it a name matching
the new cycle.
Edit the action button (inside an eventbox) to call the new G-code sub.
Rename the action button to match the tab name and append '.action' eg
MyCycle.action
Create new artwork. I used Fusion360, the models are here:
https://a360.co/3uFPZNv
and the drawings are here:
https://a360.co/3uFPZNv
Esport the drawing page as PDF and import into the lathemacro.svg file in
Inkscape. You will need to resize. Add your own arrows and annotations.
Save the new layer in a layer named "layerN" (lower case) where N is the
tab number, starting at zero. You will need to invoke the XML editor for
this (Shift-Cmd-X on Mac)
The entry boxes are positioned relative to a 1500 x 1000 image; the
original size of the SVG. So you can hover your mouse over the image in
Inkscape to determine the coordinates.
In the in the case of on-drawing controls the coordinates are entered as
an XML comment in the Tooltip for the control in x,y format (The surface speed,
tool and coolant do not need this, they are in a fixed table)
An example:
<!--300,711->Peck distance
Make sure the comment has "use markup" selected for the tooltip.
Also ensure that the control has the "show_keyb" function allocated for
the Widget->button_press event. If you copy-paste a tab and copy-paste
extra controls this should be automatic.
_All_ your new spinboxes will need their own new Adjustment, or they will
change value when you alter the original spinbox that they are a copy of.

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Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/__pycache__/lathehandler.cpython-311.pyc Executable file
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32
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/autosave.halscope Executable file
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@@ -0,0 +1,32 @@
THREAD servo-thread
MAXCHAN 8
HMULT 1
HZOOM 5
HPOS 6,169492e-01
CHAN 1
PIN lcec.0.0.commanded-position
VSCALE -4
VPOS 0,550725
VOFF 3,580000e+01
CHAN 2
PIN lcec.0.0.DiffT
VSCALE 8
VPOS 0,382609
VOFF 3,588000e+05
CHAN 4
PIN lcec.0.0.index-byte
VSCALE 5
VPOS 0,547826
VOFF 2,550000e+03
CHAN 5
PIN lcec.0.0.index-status
VSCALE 5
VPOS 0,546377
VOFF 1,400000e+04
CHAN 3
PIN lcec.0.0.actual-position
VSCALE -4
VPOS 0,549342
VOFF 3,580000e+01
TMODE 0
RMODE 0

64
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/boring.ngc Executable file
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@@ -0,0 +1,64 @@
;boring
O<boring> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [-#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#23 - #13] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
(debug, Turning finish dia #1 start dia #14 start length #13 finish length #5 coolant #9)
O100 WHILE [#14 LT [#1 - #3]]
g0 X #14
#14=[#14 + #3]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G3 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 - #3]
O101 ELSE
G1 X[#14 + #24 - [#3 * 1.5]]
O101 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G3 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 - #3]
O102 ELSE
G1 X[#1 + #24 - #3]
O102 ENDIF
G0 Z #13
G0 X #1 ; For touch-off
M5 M9
G7
O<boring> endsub
M2

77
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/chamfer.ngc Executable file
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;chamfer
O<chamfer> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D1500 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 + #20]
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 + #8]
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<chamfer> endsub
m2
%

35
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net Xpos lcec.0.0.commanded-position
net myXvel lcec.0.0.commanded-velocity joint.0.vel-cmd
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_C.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_CW.hal Executable file
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@@ -0,0 +1,59 @@
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

51
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/custom.hal Executable file
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# Include your custom HAL commands here
# Load the Huanyang VFD user component
loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
# motion.spindle-speed-in needs rev per second
loadrt scale names=scale.0,scale.1,scale.2
# scale.0 gearbox via M101-M106, M101 being lowest gear.
# scale.1 Inverted gear ratio
# scale.2 motion.spindle-speed.in in rev/sec
loadrt limit2 names=spindlemax
loadrt mult2 names=mult2.1
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread
addf mult2.1 servo-thread
addf spindlemax servo-thread
setp scale.0.gain 0.8846 # Start with fourth gear
setp scale.1.gain 1.13045
setp scale.2.gain 0.0166666667
setp mult2.1.in1 25.0
unlinkp spindle.0.forward
unlinkp spindle.0.reverse
unlinkp spindle.0.on
#unlinkp motion.spindle-at-speed
net spindle-fwd spindle.0.forward => spindle-vfd.spindle-forward
net spindle-reverse spindle.0.reverse => spindle-vfd.spindle-reverse
net spindle-on spindle.0.on => spindle-vfd.spindle-on
net spindle-at-speed <= spindle-vfd.spindle-at-speed
#net spindle-enable => spindle-vfd.enable
setp spindle-vfd.enable 1
# Prepare max limit rpm for spindle
net spindle-max-freq spindle-vfd.max-freq => mult2.1.in0
net spindle-max-rpm mult2.1.out => spindlemax.max # Max limit for motor rpm, like 67*25 = 1675
# Give speed to vfd, limited to max possible
unlinkp spindle.0.speed-out-abs
net spindle-speed-scale spindle.0.speed-out-abs => scale.1.in # Spindle rpm => Motor rpm
net spindle-speed-cmd-unlimited scale.1.out => spindlemax.in # Limit spindle rpm
net spindle-speed-cmd-limited spindlemax.out => spindle-vfd.speed-command # Feed to vfd
# Convert actual feed from rpm to rps, consider gear in use.
unlinkp spindle.0.speed-in
net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in # Motor rpm => Motor rps
net spindle-speed-gears scale.2.out => scale.0.in # Motor rps => spindle rps
net spindle-speed-in scale.0.out => spindle.0.speed-in
# Gamepad
loadusr -W hal_input -KRAL F310
# Resten är i custom_postgui.hal

74
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/custom_postgui.hal Executable file
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@@ -0,0 +1,74 @@
# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt or2 count=2
loadrt mux4 count=1
loadrt and2 count=4
loadrt oneshot count=1
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf oneshot.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 25
setp mux4.0.in2 50
setp mux4.0.in3 1000
net remote-speed-slow or2.0.in0 <= input.0.btn-x
net remote-speed-medium or2.1.in0 <= input.0.btn-a
net remote-speed-fast or2.0.in1 <= input.0.btn-b
net remote-speed-fast or2.1.in1 <= input.0.btn-b
net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net jog-speed <= mux4.0.out
net jog-x-analog <= input.0.abs-y-position
net jog-z-analog <= input.0.abs-x-position
# Spindle start+manual and stop
net manual-mode-spindle-lock and2.3.in0 halui.mode.manual <= input.0.btn-mode
net spindle-safe-start and2.3.in1 <= input.0.btn-tr
net spindle-manual-cw <= and2.3.out
net spindle-manual-stop <= input.0.btn-tl
# E-stop
net estop halui.estop.activate <= input.0.btn-y
# net manual-mode halui.mode.manual <= input.0.btn-mode
# Start/pause/resume stop
setp oneshot.0.width 0.0011
setp oneshot.0.retriggerable 0
setp oneshot.0.rising 1
setp oneshot.0.falling 0
net program-is-idle halui.program.is-idle => and2.0.in0
net program-is-running halui.program.is-running => and2.1.in0
net program-is-paused halui.program.is-paused => and2.2.in0
net button-edge-trig input.0.btn-start => oneshot.0.in
net button-start oneshot.0.out => and2.0.in1 and2.1.in1 and2.2.in1
net program-start and2.0.out => halui.program.run halui.mode.auto
net program-pause and2.1.out => halui.program.pause
net program-resume and2.2.out => halui.program.resume
net program-stop input.0.btn-select => halui.program.stop
net spindle-at-speed gmoccapy.spindle_at_speed_led
net spindle-vel-fb-rpm => gmoccapy.spindle_feedback_bar
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

49
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/drilling.ngc Executable file
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;drilling
; Use T = 0 for tailstock drilling, then this just sets speed
O<drilling> SUB
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
#10 = [#2 * 1000 / [ #1 * 3.141592]]
(debug, #10)
O90 IF [#7 GT 0.5]
M8
O90 ENDIF
O100 IF [#6 LT 0.5]
G97 M3 S#10
O<drilling> RETURN
O100 ENDIF
M6 T#6 G43
G0 X0
O83 IF [#5 GT 0] ; Pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G83 R#<_z> Q#5 Z#4
M5 M9 G18
O<drilling> RETURN
O83 ENDIF
O82 IF [1]; not pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G82 R#<_z> P0.5 Z#4
M5 M9 G18
O82 ENDIF
O<drilling> ENDSUB
O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
M2

1
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/ethercat_end.hal Executable file
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addf lcec.write-all servo-thread

45
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc Executable file
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;Facing
O<facing> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#7 G43
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
O10 IF [#6 NE 0]
(MSG, Angled facing isn't supported yet)
O10 ENDIF
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D2500 S#2 ; Constant Surface Speed Mode
M3
g95 F#4 ; Feed-Per-Rev Mode
g4p1 ; Wait to reach speed
O200 WHILE [#13 GT #5 + #3]
#13=[#13-#3]
G1 Z#13
G1 X#1
G0 Z[#13+#3]
G0 X#14
G0 Z#13
O200 ENDWHILE
G1 Z#5
G1 X#1
G0 Z[#13+#3]
G0 X[#14+#3]
G0 Z#5 ; For touch-off
M5 M9
O<facing> endsub
M2

81
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 3
diameter offset_axis_x = 0
offset_axis_x = 0.0
offset_axis_z = 0.0
offset_axis_r = 50.0
radius offset_axis_x = 0
use_toolmeasurement = False
kbd_height = 250
icon_theme = None
hide_tooltips = False

72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

23
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal Executable file
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###################################################################
# moccapy_postgui.hal file from Norbert Schechner #
###################################################################
loadrt abs names=abs_spindle_feedback
addf abs_spindle_feedback servo-thread
net spindle-speed-limited => abs_spindle_feedback.in
net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar
net spindle-at-speed gmoccapy.spindle_at_speed_led
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

32
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc Executable file
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;grooving
O<grooving> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#4 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
G96 D1500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#3 ; Feed-Per-Rev Mode
O90 IF [#5 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
G1 F#3 X#1
G0 X#14
M5 M9
G7
O<grooving> endsub
M2

70
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/hallib/README Executable file
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This directory contains halfiles (*.hal and *.tcl) that are available
using the LinuxCNC halfile search path or by an explicit directive.
The HALLIB_PATH is '.:HALLIB_DIR'
The '.' specifies the directory containing the INI file.
HALIB_DIR specifies this directory.
The explicit directive uses a prefix (LIB:) to identify halfiles:
[HAL]
HALFILE = LIB:filename.[hal|tcl]
The LinuxCNC startup script (linuxcnc) finds each halfile using the
HALLIB_PATH unless the explicit directive is used.
Also included in this directory are files associated with included
system halfiles. For example, the button layout files
(xhc-hb04-layout*.cfg) that are used with the halfile xhc-hb04.tcl.
------------------------------------------------------------------------
Hal files (*.hal) Notes
----------------------- ---------------------------------------------
axis_manualtoolchange.hal setup for using hal_manualtoolchange
(for axis or other guis)
core_sim.hal xyz simulator config
core_servo.hal xyz servo (pid) config
core_sim9.hal 9 axis (xyzabcuvw) simulation config
core_stepper.hal xyz stepper config
gantrysim.hal gantrykins config, 4 joints: X Y Y Z
lathe.hal simulate spindle with encoder,sim_encoder
locking_indexer.hal simulate locking rotary using timedelay comp
wheeljogpins.tcl enable wheel jog pins for joints & axes
moveoff_external.hal Simulate external control connections for
a moveoff component
servo_sim.hal simulate servo (pid) xyz using lowpass comp
sim_spindle_encoder.hal simulate spindle with lowpass filter
simulated-gantry-home.hal simulate gantry home switches (4 joints)
simulated_home.hal simulate xyz home switches
simulated_limits.hal simulate xyz limit switches
tripodsim.hal simulated tripodkins system
Haltcl Files (*.tcl) Notes
----------------------- ---------------------------------------------
basic_sim.tcl set up a sim config (arbitrary no. of axes)
var_show.tcl show INI variables and context
hookup_moveoff.tcl make connections for a moveoff component
plasmac.tcl common connections for the plasmac component
xhc-hb04.tcl Configuration builder for xhc-hb04 pendant
xhc-hb04-layout1.cfg button layout 1 for xhc-hb04.tcl
xhc-hb04-layout2.cfg button layout 2 for xhc-hb04.tcl
halcheck.tcl Report: 1) functions without addf
2) signals with no inputs
3) signals with no output
Haltcl libs (*_lib.tcl) Notes
----------------------- ---------------------------------------------
sim_lib.tcl simulator config procedures
procs:
core_sim (arbitrary axes)
make-ddts (arbitrary axes)
simulated_home (arbitrary axes)
use_hal_manualtoolchange
sim_spindle
util_lib.tcl utility procedures
procs:
show_context (calling parms)
show_ini (INI file settings)
show_env (environmental vars)

10
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal Executable file
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loadusr -W hal_manualtoolchange
# in case they were linked already
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number

71
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl Executable file
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# basic_sim.tcl
#
# Provide common hal components and connections for a simulated machine.
# By default, the script makes and connects ddts, simulated_home,
# spindle, and hal_manualtoolchange components.
#
# Options are available to
# a) disable specific hal components and connections
# b) save a halfile equivalent to the hal commands executed by
# this script (and any prior executed hal commands)
#
# Coordinate letters and number_of_joints are determined from the usual
# INI file settings.
#
# INI file usage:
# [HAL]HALFILE = basic_sim.tcl [Options]
# Options:
# -no_make_ddts
# -no_simulated_home
# -no_use_hal_manualtoolchange
# -no_sim_spindle
#----------------------------------------------------------------------
# Notes:
# 1) ::env() is a global associative array of environmental variables
# as exported by the main LinuxCNC script (linuxcnc)
# 2) Settings from the INI file are available as global associative
# arrays named: ::SECTION(varname)
# example: ::EMCMOT(SERVO_PERIOD)
# 3) procs are from sim_lib.tcl
#begin-----------------------------------------------------------------
source [file join $::env(HALLIB_DIR) sim_lib.tcl]
set save_options {}
if [catch {check_ini_items} msg] {
puts "\nbasic_sim.tcl ERROR: $msg\n"
exit 1
}
set axes [get_traj_coordinates]
set number_of_joints $::KINS(JOINTS)
set base_period 0 ;# 0 means no thread
if [info exists ::EMCMOT(BASE_PERIOD)] {
set base_period $::EMCMOT(BASE_PERIOD)
}
core_sim $axes \
$number_of_joints \
$::EMCMOT(SERVO_PERIOD) \
$base_period \
$::EMCMOT(EMCMOT)
if {[lsearch -nocase $::argv -no_make_ddts] < 0} {
make_ddts $number_of_joints
}
if {[lsearch -nocase $::argv -no_simulated_home] < 0} {
simulated_home $number_of_joints
}
if {[lsearch -nocase $::argv -no_use_hal_manualtoolchange] < 0} {
use_hal_manualtoolchange
lappend save_options use_hal_manualtoolchange
}
if {[lsearch -nocase $::argv -no_sim_spindle] < 0} {
sim_spindle
}
# make a halfile (inifilename_cmds.hal) with equivalent hal commands
set savefilename \
./[file rootname [file tail $::env(INI_FILE_NAME)]]_cmds.hal
save_hal_cmds $savefilename $save_options

240
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl Executable file
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# check_config.tcl
# Usage: tclsh path_to_this_file inifilename
# if a check fails, print message and exit 1
#
# checks:
# 1) mandatory items per ::mandatory_items list
# 2) if trivkins, check consistency of [JOINT_] and [AXIS_]
# MIN_LIMIT and MAX_LIMIT
#----------------------------------------------------------------------
set ::mandatory_items {KINS KINEMATICS
KINS JOINTS
}
# Ref: src/emc/nml_intf/emccfg.h,src/emc/ini/inijoint.cc,src/emc/iniaxis.cc:
set ::DEFAULT_AXIS_MAX_VELOCITY 1.0
set ::DEFAULT_AXIS_MAX_ACCELERATION 1.0
set ::DEFAULT_JOINT_MAX_VELOCITY 1.0
set ::DEFAULT_JOINT_MAX_ACCELERATION 1.0
# Ref: src/emc/ini/iniaxis.cc:
set ::DEFAULT_AXIS_MIN_LIMIT -1e99
set ::DEFAULT_AXIS_MAX_LIMIT +1e99
#----------------------------------------------------------------------
proc warnings msg {
puts -nonewline "\n$::progname:\n"
catch {puts ($::kins(module) kinematics) WARNING:"}
foreach m $msg {puts " $m"}
puts ""
} ;# warnings
proc err_exit msg {
puts -nonewline "\n$::progname:\n"
catch {puts ($::kins(module) kinematics) ERROR:"}
foreach m $msg {puts " $m"}
puts ""
exit 1
} ;# err_exit
proc check_mandatory_items {} {
foreach {section item} $::mandatory_items {
if ![info exists ::[set section]($item) ] {
set section [string trim $section :]
lappend emsg "Missing \[$section\]$item="
}
}
if [info exists emsg] {
err_exit $emsg
}
} ;# check_mandatory_items
proc uniq {list_name} { ;# make list unique
foreach item $list_name { set tmp($item) "" }
return [array names tmp]
} ;# uniq
proc joints_for_trivkins {coords} {
# ref: src/emc/kinematics/trivkins.c
# order of coord letters determines assigned joint number
if {"$coords" == ""} {set coords {X Y Z A B C U V W}}
set i 0
foreach a [string toupper $coords] {
# assign to consecutive joints:
lappend ::kins(jointidx,$a) $i
incr i
}
} ;# joints_for_trivkins
proc consistent_coords_for_trivkins {trivcoords} {
set m {" " "" "\t" ""} ;# mapping to remove whitespace
set trivcoords [string map $m $trivcoords]
if {"$trivcoords" == "XYZABCUVW"} {
return ;# unspecified trivkins coordinates
# allows use of any coordinates
}
set trajcoords ""
if [info exists ::TRAJ(COORDINATES)] {
set trajcoords [string map $m [lindex $::TRAJ(COORDINATES) 0]]
}
if {[string toupper "$trivcoords"] != [string toupper "$trajcoords"]} {
lappend ::wmsg "INCONSISTENT coordinates specifications:
trivkins coordinates=$trivcoords
\[TRAJ\]COORDINATES=$trajcoords"
}
} ;# consistent_coords_for_trivkins
proc validate_identity_kins_limits {} {
set emsg ""
for {set j 0} {$j < $::KINS(JOINTS)} {incr j} {
if {![info exists ::JOINT_[set j](MAX_VELOCITY)] } {
lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_VELOCITY, default used: $::DEFAULT_JOINT_MAX_VELOCITY"
}
if {![info exists ::JOINT_[set j](MAX_ACCELERATION)] } {
lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_ACCELERATION, default used: $::DEFAULT_JOINT_MAX_ACCELERATION"
}
}
foreach c [uniq $::kins(coordinates)] {
# array test avoids superfluous messages when coordinates= not specified
if [array exists ::AXIS_[set c]] {
if {![info exists ::AXIS_[set c](MAX_VELOCITY)] } {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_VELOCITY, default used: $::DEFAULT_AXIS_MAX_VELOCITY"
}
if {![info exists ::AXIS_[set c](MAX_ACCELERATION)] } {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_ACCELERATION, default used: $::DEFAULT_AXIS_MAX_ACCELERATION"
}
}
set missing_axis_min_limit 0
set missing_axis_max_limit 0
if ![info exists ::AXIS_[set c](MIN_LIMIT)] {
set ::AXIS_[set c](MIN_LIMIT) $::DEFAULT_AXIS_MIN_LIMIT
set missing_axis_min_limit 1
}
if ![info exists ::AXIS_[set c](MAX_LIMIT)] {
set ::AXIS_[set c](MAX_LIMIT) $::DEFAULT_AXIS_MAX_LIMIT
set missing_axis_max_limit 1
}
foreach j $::kins(jointidx,$c) {
if [info exists ::JOINT_[set j](MIN_LIMIT)] {
set jlim [set ::JOINT_[set j](MIN_LIMIT)]
set clim [set ::AXIS_[set c](MIN_LIMIT)]
if {$jlim > $clim} {
if $missing_axis_min_limit {
lappend ::wmsg "Unspecified \[AXIS_$c\]MIN_LIMIT, default used: $::DEFAULT_AXIS_MIN_LIMIT"
}
lappend emsg "\[JOINT_$j\]MIN_LIMIT > \[AXIS_$c\]MIN_LIMIT ($jlim > $clim)"
}
}
if [info exists ::JOINT_[set j](MAX_LIMIT)] {
set jlim [set ::JOINT_[set j](MAX_LIMIT)]
set clim [set ::AXIS_[set c](MAX_LIMIT)]
if {$jlim < $clim} {
if $missing_axis_max_limit {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_LIMIT, default used: $::DEFAULT_AXIS_MAX_LIMIT"
}
lappend emsg "\[JOINT_$j\]MAX_LIMIT < \[AXIS_$c\]MAX_LIMIT ($jlim < $clim)"
}
}
}
}
return $emsg
} ;# validate_identity_kins_limits
proc check_extrajoints {} {
if ![info exists ::EMCMOT(EMCMOT)] return
if {[string first motmod $::EMCMOT(EMCMOT)] <= 0} return
set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
foreach item $mot {
set pair [split $item =]
set parm [lindex $pair 0]
set val [lindex $pair 1]
if {"$parm" == "num_extrajoints"} {
set ::num_extrajoints $val
}
}
if [info exists ::num_extrajoints] {
lappend ::wmsg [format "Extra joints specified=%d\n \
\[KINS\]JOINTS=%d must accommodate kinematic joints *plus* extra joints " \
$::num_extrajoints $::KINS(JOINTS)]
}
} ;#check_extrajoints
proc warn_for_multiple_ini_values {} {
set sections [info globals]
set sections_to_check {JOINT_ AXIS_}
foreach section $sections {
set enforce 0
foreach csection $sections_to_check {
if {[string first $csection $section"] >= 0} {
set enforce 1
break
}
}
if !$enforce continue
foreach name [array names ::$section] {
set gsection ::$section
set val [set [set gsection]($name)]
set len [llength $val]
if {$len > 1} {
lappend ::wmsg "Unexpected multiple values \[$section\]$name: $val"
}
}
}
} ;# warn_for_multiple_ini_values
#----------------------------------------------------------------------
# begin
package require Linuxcnc ;# parse_ini
set ::progname [file rootname [file tail [info script]]]
set inifile [lindex $::argv 0]
if ![file exists $inifile] {
err_exit [list "No such file <$inifile>"]
}
if ![file readable $inifile] {
err_exit [list "File not readable <$inifile>"]
}
parse_ini $inifile
check_mandatory_items
set kins_kinematics [lindex $::KINS(KINEMATICS) end]
set ::kins(module) [lindex $kins_kinematics 0]
# parameters specified as parm=value --> ::kins(parm)=value
foreach item $kins_kinematics {
if {[string first = $item] >= 0} {
set l [split $item =]
set ::kins([lindex $l 0]) [lindex $l 1]
} else {
if {"$item" != $::kins(module)} {
puts "Unknown \[KINS\]KINEMATICS item: <$item>"
}
}
}
# coordinates --> ::kins(coordinates) (all if not specified)
if [info exists ::kins(coordinates)] {
set ::kins(coordinates) [split $::kins(coordinates) ""]
set ::kins(coordinates) [string toupper $::kins(coordinates)]
} else {
set ::kins(coordinates) {X Y Z A B C U V W}
}
# list of joints for each coord --> ::kins(jointidx,coordinateletter)
switch $::kins(module) {
trivkins {joints_for_trivkins $::kins(coordinates)}
default {
puts "$::progname: Unchecked: \[KINS\]KINEMATICS=$::KINS(KINEMATICS)"
exit 0
}
}
check_extrajoints
warn_for_multiple_ini_values
#parray ::kins
set emsg [validate_identity_kins_limits]
consistent_coords_for_trivkins $::kins(coordinates)
if [info exists ::wmsg] {warnings $::wmsg}
if {"$emsg" == ""} {exit 0}
err_exit $emsg

63
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal Executable file
View File

@@ -0,0 +1,63 @@
# HAL config file to check vel/acc constraints
#
loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
addf wcomp_xacc servo-thread
addf wcomp_xvel servo-thread
addf wcomp_yacc servo-thread
addf wcomp_yvel servo-thread
addf wcomp_zacc servo-thread
addf wcomp_zvel servo-thread
net Xacc => wcomp_xacc.in
net Xvel => wcomp_xvel.in
net Yacc => wcomp_yacc.in
net Yvel => wcomp_yvel.in
net Zacc => wcomp_zacc.in
net Zvel => wcomp_zvel.in
net acc-ok-x <= wcomp_xacc.out
net vel-ok-x <= wcomp_xvel.out
net acc-ok-y <= wcomp_yacc.out
net vel-ok-y <= wcomp_yvel.out
net acc-ok-z <= wcomp_zacc.out
net vel-ok-z <= wcomp_zvel.out
setp wcomp_xacc.max 50.001
setp wcomp_xacc.min -50.001
setp wcomp_xvel.max 5.001
setp wcomp_xvel.min -5.001
setp wcomp_yacc.max 50.001
setp wcomp_yacc.min -50.001
setp wcomp_yvel.max 5.001
setp wcomp_yvel.min -5.001
setp wcomp_zacc.max 50.001
setp wcomp_zacc.min -50.001
setp wcomp_zvel.max 5.001
setp wcomp_zvel.min -5.001
loadrt match8 names=match_all
addf match_all servo-thread
net acc-ok-x => match_all.a0
setp match_all.b0 1
net vel-ok-x => match_all.a1
setp match_all.b1 1
net acc-ok-y => match_all.a2
setp match_all.b2 1
net vel-ok-y => match_all.a3
setp match_all.b3 1
net acc-ok-z => match_all.a4
setp match_all.b4 1
net vel-ok-z => match_all.a5
setp match_all.b5 1
setp match_all.a6 0
setp match_all.a7 0
setp match_all.b6 0
setp match_all.b7 0
setp match_all.in 1
net constraints-ok <= match_all.out

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