Ny structure. Start of the "main" branch
This commit is contained in:
Hakan Bastedt
@@ -0,0 +1,42 @@
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#ifndef __ECAT_OPTIONS_H__
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#define __ECAT_OPTIONS_H__
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||||
|
||||
#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
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||||
#define MBX1_sma MBX0_sma+MBX0_sml
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||||
#define MBX1_sml MBXSIZE
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||||
#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
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||||
#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
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||||
#define SM2_act 1
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||||
#define SM3_sma 0x1A00
|
||||
#define SM3_smc 0x20
|
||||
#define SM3_act 1
|
||||
|
||||
#define MAX_MAPPINGS_SM2 13
|
||||
#define MAX_MAPPINGS_SM3 14
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||||
|
||||
#define MAX_RXPDO_SIZE 512
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#define MAX_TXPDO_SIZE 512
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#endif /* __ECAT_OPTIONS_H__ */
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
:20068000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7A
|
||||
:2006A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5A
|
||||
:2006C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3A
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||||
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||||
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||||
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||||
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||||
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||||
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||||
:2007A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF59
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||||
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|
||||
:2007E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF19
|
||||
:00000001FF
|
||||
@@ -0,0 +1,351 @@
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{
|
||||
"form": {
|
||||
"VendorName": "MetalMusings",
|
||||
"VendorID": "0xaaa",
|
||||
"ProductCode": "0xcadcae",
|
||||
"ProfileNo": "5002",
|
||||
"RevisionNumber": "0x001",
|
||||
"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": "Plasma torch reader",
|
||||
"ImageName": "IMGCBY",
|
||||
"TextDeviceType": "THCAD Reader ax58100",
|
||||
"TextDeviceName": "MetalMusings EaserCAT 3000 test plasma torch reader",
|
||||
"Port0Physical": "Y",
|
||||
"Port1Physical": "Y",
|
||||
"Port2Physical": " ",
|
||||
"Port3Physical": " ",
|
||||
"ESC": "AX58100",
|
||||
"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": {
|
||||
"600": {
|
||||
"otype": "VAR",
|
||||
"name": "EncFrequency",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.EncFrequency"
|
||||
},
|
||||
"6000": {
|
||||
"otype": "VAR",
|
||||
"name": "Velocity",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.Velocity"
|
||||
},
|
||||
"6001": {
|
||||
"otype": "ARRAY",
|
||||
"name": "Inputs",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "IN1",
|
||||
"data": "&Obj.Inputs[0]",
|
||||
"value": "0"
|
||||
},
|
||||
{
|
||||
"name": "IN2",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[1]"
|
||||
},
|
||||
{
|
||||
"name": "IN3",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[2]"
|
||||
},
|
||||
{
|
||||
"name": "IN4",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[3]"
|
||||
},
|
||||
{
|
||||
"name": "IN5",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[4]"
|
||||
},
|
||||
{
|
||||
"name": "IN6",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[5]"
|
||||
},
|
||||
{
|
||||
"name": "IN7",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[6]"
|
||||
},
|
||||
{
|
||||
"name": "IN8",
|
||||
"value": "0",
|
||||
"data": "&Obj.Inputs[7]"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "UNSIGNED8"
|
||||
},
|
||||
"6002": {
|
||||
"otype": "VAR",
|
||||
"name": "Frequency",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.Frequency"
|
||||
},
|
||||
"6003": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition1",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.ActualPosition1"
|
||||
},
|
||||
"6004": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition2",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.ActualPosition2"
|
||||
},
|
||||
"6005": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition3",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.ActualPosition3"
|
||||
},
|
||||
"6006": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition4",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.ActualPosition4"
|
||||
}
|
||||
},
|
||||
"rxpdo": {
|
||||
"7000": {
|
||||
"otype": "VAR",
|
||||
"name": "Scale",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.Scale"
|
||||
},
|
||||
"7001": {
|
||||
"otype": "ARRAY",
|
||||
"name": "Outputs",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "OUT1",
|
||||
"data": "&Obj.Outputs[0]",
|
||||
"value": "0"
|
||||
},
|
||||
{
|
||||
"name": "OUT2",
|
||||
"value": "0",
|
||||
"data": "&Obj.Outputs[1]"
|
||||
},
|
||||
{
|
||||
"name": "OUT3",
|
||||
"value": "0",
|
||||
"data": "&Obj.Outputs[2]"
|
||||
},
|
||||
{
|
||||
"name": "OUT4",
|
||||
"value": "0",
|
||||
"data": "&Obj.Outputs[3]"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "UNSIGNED8"
|
||||
},
|
||||
"7002": {
|
||||
"otype": "VAR",
|
||||
"name": "CommandedPosition1",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.CommandedPosition1"
|
||||
},
|
||||
"7003": {
|
||||
"otype": "VAR",
|
||||
"name": "CommandedPosition2",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.CommandedPosition2"
|
||||
},
|
||||
"7004": {
|
||||
"otype": "VAR",
|
||||
"name": "CommandedPosition3",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.CommandedPosition3"
|
||||
},
|
||||
"7005": {
|
||||
"otype": "VAR",
|
||||
"name": "CommandedPosition4",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.CommandedPosition4"
|
||||
},
|
||||
"7006": {
|
||||
"otype": "VAR",
|
||||
"name": "StepsPerMM1",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.StepsPerMM1"
|
||||
},
|
||||
"7007": {
|
||||
"otype": "VAR",
|
||||
"name": "StepsPerMM2",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.StepsPerMM2"
|
||||
},
|
||||
"7008": {
|
||||
"otype": "VAR",
|
||||
"name": "StepsPerMM3",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.StepsPerMM3"
|
||||
},
|
||||
"7009": {
|
||||
"otype": "VAR",
|
||||
"name": "StepsPerMM4",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.StepsPerMM4"
|
||||
},
|
||||
"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"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,414 @@
|
||||
#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[] = "Scale";
|
||||
static const char acName1600_00[] = "Max SubIndex";
|
||||
static const char acName1600_01[] = "Scale";
|
||||
static const char acName1601[] = "Outputs";
|
||||
static const char acName1601_00[] = "Max SubIndex";
|
||||
static const char acName1601_01[] = "OUT1";
|
||||
static const char acName1601_02[] = "OUT2";
|
||||
static const char acName1601_03[] = "OUT3";
|
||||
static const char acName1601_04[] = "OUT4";
|
||||
static const char acName1602[] = "CommandedPosition1";
|
||||
static const char acName1602_00[] = "Max SubIndex";
|
||||
static const char acName1602_01[] = "CommandedPosition1";
|
||||
static const char acName1603[] = "CommandedPosition2";
|
||||
static const char acName1603_00[] = "Max SubIndex";
|
||||
static const char acName1603_01[] = "CommandedPosition2";
|
||||
static const char acName1604[] = "CommandedPosition3";
|
||||
static const char acName1604_00[] = "Max SubIndex";
|
||||
static const char acName1604_01[] = "CommandedPosition3";
|
||||
static const char acName1605[] = "CommandedPosition4";
|
||||
static const char acName1605_00[] = "Max SubIndex";
|
||||
static const char acName1605_01[] = "CommandedPosition4";
|
||||
static const char acName1606[] = "StepsPerMM1";
|
||||
static const char acName1606_00[] = "Max SubIndex";
|
||||
static const char acName1606_01[] = "StepsPerMM1";
|
||||
static const char acName1607[] = "StepsPerMM2";
|
||||
static const char acName1607_00[] = "Max SubIndex";
|
||||
static const char acName1607_01[] = "StepsPerMM2";
|
||||
static const char acName1608[] = "StepsPerMM3";
|
||||
static const char acName1608_00[] = "Max SubIndex";
|
||||
static const char acName1608_01[] = "StepsPerMM3";
|
||||
static const char acName1609[] = "StepsPerMM4";
|
||||
static const char acName1609_00[] = "Max SubIndex";
|
||||
static const char acName1609_01[] = "StepsPerMM4";
|
||||
static const char acName1A00[] = "Velocity";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "Velocity";
|
||||
static const char acName1A01[] = "Inputs";
|
||||
static const char acName1A01_00[] = "Max SubIndex";
|
||||
static const char acName1A01_01[] = "IN1";
|
||||
static const char acName1A01_02[] = "IN2";
|
||||
static const char acName1A01_03[] = "IN3";
|
||||
static const char acName1A01_04[] = "IN4";
|
||||
static const char acName1A01_05[] = "IN5";
|
||||
static const char acName1A01_06[] = "IN6";
|
||||
static const char acName1A01_07[] = "IN7";
|
||||
static const char acName1A01_08[] = "IN8";
|
||||
static const char acName1A02[] = "Frequency";
|
||||
static const char acName1A02_00[] = "Max SubIndex";
|
||||
static const char acName1A02_01[] = "Frequency";
|
||||
static const char acName1A03[] = "ActualPosition1";
|
||||
static const char acName1A03_00[] = "Max SubIndex";
|
||||
static const char acName1A03_01[] = "ActualPosition1";
|
||||
static const char acName1A04[] = "ActualPosition2";
|
||||
static const char acName1A04_00[] = "Max SubIndex";
|
||||
static const char acName1A04_01[] = "ActualPosition2";
|
||||
static const char acName1A05[] = "ActualPosition3";
|
||||
static const char acName1A05_00[] = "Max SubIndex";
|
||||
static const char acName1A05_01[] = "ActualPosition3";
|
||||
static const char acName1A06[] = "ActualPosition4";
|
||||
static const char acName1A06_00[] = "Max SubIndex";
|
||||
static const char acName1A06_01[] = "ActualPosition4";
|
||||
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 acName1C12_06[] = "PDO Mapping";
|
||||
static const char acName1C12_07[] = "PDO Mapping";
|
||||
static const char acName1C12_08[] = "PDO Mapping";
|
||||
static const char acName1C12_09[] = "PDO Mapping";
|
||||
static const char acName1C12_0a[] = "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 acName6000[] = "Velocity";
|
||||
static const char acName6001[] = "Inputs";
|
||||
static const char acName6001_00[] = "Max SubIndex";
|
||||
static const char acName6001_01[] = "IN1";
|
||||
static const char acName6001_02[] = "IN2";
|
||||
static const char acName6001_03[] = "IN3";
|
||||
static const char acName6001_04[] = "IN4";
|
||||
static const char acName6001_05[] = "IN5";
|
||||
static const char acName6001_06[] = "IN6";
|
||||
static const char acName6001_07[] = "IN7";
|
||||
static const char acName6001_08[] = "IN8";
|
||||
static const char acName6002[] = "Frequency";
|
||||
static const char acName6003[] = "ActualPosition1";
|
||||
static const char acName6004[] = "ActualPosition2";
|
||||
static const char acName6005[] = "ActualPosition3";
|
||||
static const char acName6006[] = "ActualPosition4";
|
||||
static const char acName7000[] = "Scale";
|
||||
static const char acName7001[] = "Outputs";
|
||||
static const char acName7001_00[] = "Max SubIndex";
|
||||
static const char acName7001_01[] = "OUT1";
|
||||
static const char acName7001_02[] = "OUT2";
|
||||
static const char acName7001_03[] = "OUT3";
|
||||
static const char acName7001_04[] = "OUT4";
|
||||
static const char acName7002[] = "CommandedPosition1";
|
||||
static const char acName7003[] = "CommandedPosition2";
|
||||
static const char acName7004[] = "CommandedPosition3";
|
||||
static const char acName7005[] = "CommandedPosition4";
|
||||
static const char acName7006[] = "StepsPerMM1";
|
||||
static const char acName7007[] = "StepsPerMM2";
|
||||
static const char acName7008[] = "StepsPerMM3";
|
||||
static const char acName7009[] = "StepsPerMM4";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 408, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 3000 test plasma torch reader"},
|
||||
};
|
||||
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, 13294766, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 1, 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, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_02, 0x70010208, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_03, 0x70010308, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_04, 0x70010408, 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, 0x70030020, NULL},
|
||||
};
|
||||
const _objd SDO1604[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040020, NULL},
|
||||
};
|
||||
const _objd SDO1605[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1605_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_01, 0x70050020, NULL},
|
||||
};
|
||||
const _objd SDO1606[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1606_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1606_01, 0x70060020, NULL},
|
||||
};
|
||||
const _objd SDO1607[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1607_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1607_01, 0x70070020, NULL},
|
||||
};
|
||||
const _objd SDO1608[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1608_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1608_01, 0x70080020, NULL},
|
||||
};
|
||||
const _objd SDO1609[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1609_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1609_01, 0x70090020, 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, 8, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010108, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x60010208, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_03, 0x60010308, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_04, 0x60010408, NULL},
|
||||
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_05, 0x60010508, NULL},
|
||||
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_06, 0x60010608, NULL},
|
||||
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_07, 0x60010708, NULL},
|
||||
{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_08, 0x60010808, NULL},
|
||||
};
|
||||
const _objd SDO1A02[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
|
||||
};
|
||||
const _objd 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 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, 10, 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},
|
||||
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_06, 0x1605, NULL},
|
||||
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_07, 0x1606, NULL},
|
||||
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_08, 0x1607, NULL},
|
||||
{0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_09, 0x1608, NULL},
|
||||
{0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0a, 0x1609, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, 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},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.Velocity},
|
||||
};
|
||||
const _objd SDO6001[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_00, 8, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_01, 0, &Obj.Inputs[0]},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_02, 0, &Obj.Inputs[1]},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_03, 0, &Obj.Inputs[2]},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_04, 0, &Obj.Inputs[3]},
|
||||
{0x05, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_05, 0, &Obj.Inputs[4]},
|
||||
{0x06, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_06, 0, &Obj.Inputs[5]},
|
||||
{0x07, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_07, 0, &Obj.Inputs[6]},
|
||||
{0x08, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6001_08, 0, &Obj.Inputs[7]},
|
||||
};
|
||||
const _objd SDO6002[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.Frequency},
|
||||
};
|
||||
const _objd SDO6003[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0x00000000, &Obj.ActualPosition1},
|
||||
};
|
||||
const _objd SDO6004[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0x00000000, &Obj.ActualPosition2},
|
||||
};
|
||||
const _objd SDO6005[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition3},
|
||||
};
|
||||
const _objd SDO6006[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition4},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x00000000, &Obj.Scale},
|
||||
};
|
||||
const _objd SDO7001[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.Outputs[0]},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_02, 0, &Obj.Outputs[1]},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_03, 0, &Obj.Outputs[2]},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_04, 0, &Obj.Outputs[3]},
|
||||
};
|
||||
const _objd SDO7002[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition1},
|
||||
};
|
||||
const _objd SDO7003[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7003, 0x00000000, &Obj.CommandedPosition2},
|
||||
};
|
||||
const _objd SDO7004[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7004, 0x00000000, &Obj.CommandedPosition3},
|
||||
};
|
||||
const _objd SDO7005[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7005, 0x00000000, &Obj.CommandedPosition4},
|
||||
};
|
||||
const _objd SDO7006[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0, &Obj.StepsPerMM1},
|
||||
};
|
||||
const _objd SDO7007[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0, &Obj.StepsPerMM2},
|
||||
};
|
||||
const _objd SDO7008[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0, &Obj.StepsPerMM3},
|
||||
};
|
||||
const _objd SDO7009[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0, &Obj.StepsPerMM4},
|
||||
};
|
||||
|
||||
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, 4, 0, acName1601, SDO1601},
|
||||
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
|
||||
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
|
||||
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
|
||||
{0x1605, OTYPE_RECORD, 1, 0, acName1605, SDO1605},
|
||||
{0x1606, OTYPE_RECORD, 1, 0, acName1606, SDO1606},
|
||||
{0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607},
|
||||
{0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608},
|
||||
{0x1609, OTYPE_RECORD, 1, 0, acName1609, SDO1609},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1A01, OTYPE_RECORD, 8, 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},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 10, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
|
||||
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
|
||||
{0x6001, OTYPE_ARRAY, 8, 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},
|
||||
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
|
||||
{0x7001, OTYPE_ARRAY, 4, 0, acName7001, SDO7001},
|
||||
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
|
||||
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
|
||||
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
|
||||
{0x7005, OTYPE_VAR, 0, 0, acName7005, SDO7005},
|
||||
{0x7006, OTYPE_VAR, 0, 0, acName7006, SDO7006},
|
||||
{0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007},
|
||||
{0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008},
|
||||
{0x7009, OTYPE_VAR, 0, 0, acName7009, SDO7009},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
@@ -0,0 +1,41 @@
|
||||
#ifndef __UTYPES_H__
|
||||
#define __UTYPES_H__
|
||||
|
||||
#include "cc.h"
|
||||
|
||||
/* Object dictionary storage */
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Identity */
|
||||
|
||||
uint32_t serial;
|
||||
|
||||
/* Inputs */
|
||||
|
||||
float Velocity;
|
||||
uint8_t Inputs[8];
|
||||
float Frequency;
|
||||
float ActualPosition1;
|
||||
float ActualPosition2;
|
||||
float ActualPosition3;
|
||||
float ActualPosition4;
|
||||
|
||||
/* Outputs */
|
||||
|
||||
float Scale;
|
||||
uint8_t Outputs[4];
|
||||
float CommandedPosition1;
|
||||
float CommandedPosition2;
|
||||
float CommandedPosition3;
|
||||
float CommandedPosition4;
|
||||
int32_t StepsPerMM1;
|
||||
int32_t StepsPerMM2;
|
||||
int32_t StepsPerMM3;
|
||||
int32_t StepsPerMM4;
|
||||
|
||||
} _Objects;
|
||||
|
||||
extern _Objects Obj;
|
||||
|
||||
#endif /* __UTYPES_H__ */
|
||||
Reference in New Issue
Block a user