Reshuffle file structure
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Hakan Bastedt
363
EEPROM_generator/src/od.js
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363
EEPROM_generator/src/od.js
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/**
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* SOES EEPROM generator
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* Object Dictionary edition logic
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* This tool serves as:
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- EtherCAT Slave Information XML + EEPROM binary generator
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- SOES code generator
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* Victor Sluiter 2013-2018
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* Kuba Buda 2020-2021
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*/
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'use strict'
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/** Object Dictionary sections edited by UI
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* Assumption: single non dynamic PDO */
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const _odSections = {
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sdo : {},
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txpdo : {}, // addding PDO requires matching SDO in Sync Manager, and PDO mapping
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rxpdo : {}, // this will be done when stitching sections during code generation
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};
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function getObjDict() {
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return _odSections;
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}
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function getObjDictSection(odSectionName) {
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return _odSections[odSectionName];
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}
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function setObjDictSection(odSectionName, backupValue) {
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_odSections[odSectionName] = backupValue;
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}
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function objectExists(odSectionName, index) {
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var odSection = getObjDictSection(odSectionName);
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return index && odSection[index];
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}
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function checkObjectType(expected, objd) {
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if (objd.otype != expected) {
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var msg = `Object ${objd.name} was expected to be OTYPE ${expected} but is ${objd.otype}`;
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alert(msg);
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throw new Exception(msg);
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}
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}
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function addObject(od, objd, index) {
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if (od[index]) {
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alert(`Object ${objd.name} duplicates 0x${index}: ${od[index].name} !`);
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}
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od[index] = objd;
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}
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function removeObject(od, index) {
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if (index) {
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if (od[index]) {
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delete od[index];
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} else {
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alert(`Cannot remove object 0x${index}: it does not exist`);
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}
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}
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}
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function isInArray(array, seekValue) {
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return array && (array[0] == seekValue
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|| array.find(currentValue => currentValue == seekValue));
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}
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function variableName(objectName) {
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const charsToReplace = [ ' ', '.', ',', ';', ':', '/' ];
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const charsToRemove = [ '+', '-', '*', '=', '!', '@' ];
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var variableName = objectName;
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charsToReplace.forEach(c => {
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variableName = variableName.replaceAll(c, '_');
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});
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charsToRemove.forEach(c => {
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variableName = variableName.replaceAll(c, '');
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});
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return variableName;
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}
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// ####################### Building Object Dictionary model ####################### //
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/** Takes OD entries from UI SDO section and adds to given OD */
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function addSDOitems(od) {
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const sdoSection = getObjDictSection(sdo);
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const indexes = getUsedIndexes(sdoSection);
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indexes.forEach(index => {
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const item = sdoSection[index];
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item.isSDOitem = true;
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objectlist_link_utypes(item);
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addObject(od, item, index);
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});
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}
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/** Returns true if any object in given Object Dictionary has mapping to PDO with given name */
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function isPdoWithVariables(od, indexes, pdoName) {
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for (let i = 0; i < indexes.length; i++) {
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const index = indexes[i];
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const objd = od[index];
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if (isInArray(objd.pdo_mappings, pdoName)) {
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return true;
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}
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}
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return false;
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}
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/** Regardles of value set, SDK was generating RXPDO mappings as SDO1600
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* This offset _can_ be changed, not sure why one would need it
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*/
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function getSM2_MappingOffset(form) {
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return parseInt(form.SM2Offset.value);
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}
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/** Takes OD entries from UI RXPDO section and adds to given OD */
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function addRXPDOitems(od) {
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const rxpdoSection = getObjDictSection(rxpdo);
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const form = getForm();
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const pdo = {
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name : rxpdo,
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SMassignmentIndex : '1C12',
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smOffset : getSM2_MappingOffset(form), // usually 0x1600
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};
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addPdoObjectsSection(od, rxpdoSection, pdo);
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}
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/** Takes OD entries from UI TXPDO section and adds to given OD */
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function addTXPDOitems(od) {
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const txpdoSection = getObjDictSection(txpdo);
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const form = getForm();
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const pdo = {
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name : txpdo,
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SMassignmentIndex : '1C13',
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smOffset : parseInt(form.SM3Offset.value), // usually 0x1A00
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};
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addPdoObjectsSection(od, txpdoSection, pdo);
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}
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var _booleanPaddingCount = 0;
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/**
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* Takes OD entries from given UI SDO/PDO section and adds to given OD
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* using provided SM offset, and SM assignment address.
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* Available sections are 'sdo', 'txpdo', 'rxpdo'
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*/
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function addPdoObjectsSection(od, odSection, pdo){
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var currentSMoffsetValue = pdo.smOffset;
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const indexes = getUsedIndexes(odSection);
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if (indexes.length) {
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const pdoAssignments = ensurePDOAssignmentExists(od, pdo.SMassignmentIndex);
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indexes.forEach(index => {
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const objd = odSection[index];
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const currentOffset = indexToString(currentSMoffsetValue)
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const pdoMappingObj = { otype: OTYPE.RECORD, name: objd.name, items: [
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{ name: 'Max SubIndex' },
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]};
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// create PDO assignment to SM
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const pdoAssignment = { name: "PDO Mapping", value: `0x${currentOffset}` };
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addPdoMapping(objd, pdo.name);
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objectlist_link_utypes(objd);
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switch (objd.otype) {
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case OTYPE.VAR: {
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// create PDO mapping
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pdoMappingObj.items.push({ name: objd.name, dtype: DTYPE.UNSIGNED32, value: getPdoMappingValue(index, 0, objd.dtype) });
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if (objd.dtype == DTYPE.BOOLEAN) {
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addBooleanPadding(pdoMappingObj.items, ++_booleanPaddingCount);
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}
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break;
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}
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case OTYPE.ARRAY: {
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var subindex = 1;
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objd.items.slice(subindex).forEach(subitem => {
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// create PDO mappings
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pdoMappingObj.items.push({ name: subitem.name, dtype: DTYPE.UNSIGNED32, value: getPdoMappingValue(index, subindex , objd.dtype) });
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// TODO handle padding on array of booleans
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++subindex;
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});
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break;
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}
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case OTYPE.RECORD: {
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var subindex = 1;
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objd.items.slice(subindex).forEach(subitem => {
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// create PDO mappings
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pdoMappingObj.items.push({ name: subitem.name, dtype: DTYPE.UNSIGNED32, value: getPdoMappingValue(index, subindex , subitem.dtype) });
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if (subitem.dtype == DTYPE.BOOLEAN) {
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addBooleanPadding(pdoMappingObj.items, ++_booleanPaddingCount);
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}
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++subindex;
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});
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break;
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}
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default: {
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alert(`${pdoMappingValue} object ${index} ${objd.name} has unexpected object type ${objd.otype}!`);
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break;
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}}
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addObject(od, pdoMappingObj, currentOffset);
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pdoAssignments.items.push(pdoAssignment);
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addObject(od, objd, index);
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++currentSMoffsetValue;
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});
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function addBooleanPadding(mappingOjbItems, paddingCount) {
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mappingOjbItems.push({ name: `Padding ${paddingCount}`, dtype: DTYPE.UNSIGNED32, value: `0x0000000${booleanPaddingBitsize}` });
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}
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}
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function addPdoMapping(objd, pdoName) {
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// make sure there is space
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if (!objd.pdo_mappings) {
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objd.pdo_mappings = [];
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}
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// mark object as PDO mapped, if it is not already
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if(!isInArray(objd.pdo_mappings, pdoName)) {
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objd.pdo_mappings.push(pdoName);
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}
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}
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function ensurePDOAssignmentExists(od, index) {
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var pdoAssignments = od[index];
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if (!pdoAssignments) {
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pdoAssignments = { otype: OTYPE.ARRAY, dtype: DTYPE.UNSIGNED16, name: `Sync Manager ${index[3]} PDO Assignment`, items: [
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{ name: 'Max SubIndex' },
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]};
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od[index] = pdoAssignments;
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}
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return pdoAssignments;
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}
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function getPdoMappingValue(index, subindex, dtype) {
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function toByte(value) {
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var result = value.toString(16).slice(0, 2);
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while (result.length < 2) {
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result = `0${result}`;
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}
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return result;
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}
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var bitsize = esiDTbitsize(dtype);
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return `0x${index}${toByte(subindex)}${toByte(bitsize)}`;
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}
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}
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/** populates mandatory objects with values from UI */
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function populateMandatoryObjectValues(form, od) {
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if (form) {
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od['1008'].data = form.TextDeviceName.value;
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od['1009'].data = form.HWversion.value;
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od['100A'].data = form.SWversion.value;
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od['1018'].items[1].value = parseInt(form.VendorID.value);
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od['1018'].items[2].value = parseInt(form.ProductCode.value);
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od['1018'].items[3].value = parseInt(form.RevisionNumber.value);
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od['1018'].items[4].value = parseInt(form.SerialNumber.value);
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}
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}
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/** builds complete object dictionary, with values from UI */
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function buildObjectDictionary(form) {
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const od = getMandatoryObjects();
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populateMandatoryObjectValues(form, od);
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// populate custom objects
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addSDOitems(od);
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addTXPDOitems(od);
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addRXPDOitems(od);
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_booleanPaddingCount = 0;
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return od;
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}
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// ####################### Object Dictionary index manipulation ####################### //
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function indexToString(index) {
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var indexValue = parseInt(index);
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return indexValue.toString(16).toUpperCase();
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}
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/** returns list of indexes that are used in given OD, as array of integer values */
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function getUsedIndexes(od) {
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const index_min = 0x1000;
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const index_max = 0xFFFF;
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const usedIndexes = [];
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// scan index address space for ones used
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for (let i = index_min; i <= index_max; i++) {
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const index = indexToString(i);
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const element = od[index];
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if (element) {
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usedIndexes.push(index);
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}
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}
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return usedIndexes;
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}
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// ####################### Object Dictionary edition ####################### //
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function getFirstFreeIndex(odSectionName) {
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var addressRangeStart = {
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"sdo": 0x2000,
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"txpdo": 0x6000,
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"rxpdo": 0x7000,
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}
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var result = addressRangeStart[odSectionName];
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var odSection = getObjDictSection(odSectionName);
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while (odSection[indexToString(result)]) {
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result++;
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}
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return indexToString(result);
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}
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/** returns new object description for given PDO section */
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function getNewObjd(odSectionName, otype) {
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const readableNames = {
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VAR: 'Variable',
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ARRAY: 'Array',
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RECORD: 'Record'
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}
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const objd = {
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otype: otype,
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name: `New ${readableNames[otype]}`,
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access: 'RO',
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};
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switch(otype) {
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case OTYPE.ARRAY: {
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objd.items = [
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{ name: 'Max SubIndex' },
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];
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addArraySubitem(objd);
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break;
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}
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case OTYPE.RECORD: {
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objd.items = [
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{ name: 'Max SubIndex' },
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];
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addRecordSubitem(objd);
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break;
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}}
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if (odSectionName == txpdo || odSectionName == rxpdo) {
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objd.pdo_mappings = [ odSectionName ];
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}
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return objd;
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}
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function addArraySubitem(objd) {
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if (objd.otype != OTYPE.ARRAY) { alert(`${objd} is not ARRAY, cannot add subitem`); return; }
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if (!objd.items) { alert(`${objd} does not have items list, cannot add subitem`); return; }
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const newSubitem = { name: 'New array subitem' }
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objd.items.push(newSubitem);
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return newSubitem;
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}
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function addRecordSubitem(objd) {
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if (objd.otype != OTYPE.RECORD) { alert(`${objd} is not RECORD, cannot add subitem`); return; }
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if (!objd.items) { alert(`${objd} does not have items list, cannot add subitem`); return; }
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const default_subitemDT = DTYPE.UNSIGNED8; // first from list
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const newSubitem = { name: 'New record subitem', dtype: default_subitemDT }
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objd.items.push(newSubitem);
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return newSubitem;
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}
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