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Various improvements. New pdo variable stepsPerMM.

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This commit is contained in:
Hakan Bastedt
2024-01-17 00:24:17 +01:00
parent 044e8fd2c5
commit 760944afe5
9 changed files with 150 additions and 48 deletions
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108
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -125,7 +125,7 @@
</DataType>
<DataType>
<Name>DT1602</Name>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -146,10 +146,20 @@
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>StepsPerMM</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1603</Name>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -170,6 +180,16 @@
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>StepsPerMM</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
@@ -487,7 +507,7 @@
</DataType>
<DataType>
<Name>DT7002</Name>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -509,10 +529,21 @@
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>StepsPerMM</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7003</Name>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -534,6 +565,17 @@
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>StepsPerMM</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>ULINT</Name>
@@ -567,6 +609,10 @@
<Name>DINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
</DataTypes>
<Objects>
<Object>
@@ -710,12 +756,12 @@
<Index>#x1602</Index>
<Name>StepGenIn1</Name>
<Type>DT1602</Type>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -724,6 +770,12 @@
<DefaultValue>#x70020140</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>StepsPerMM</Name>
<Info>
<DefaultValue>#x70020210</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -733,12 +785,12 @@
<Index>#x1603</Index>
<Name>StepGenIn2</Name>
<Type>DT1603</Type>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -747,6 +799,12 @@
<DefaultValue>#x70030140</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>StepsPerMM</Name>
<Info>
<DefaultValue>#x70030210</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1195,12 +1253,12 @@
<Index>#x7002</Index>
<Name>StepGenIn1</Name>
<Type>DT7002</Type>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -1209,6 +1267,12 @@
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>StepsPerMM</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1218,12 +1282,12 @@
<Index>#x7003</Index>
<Name>StepGenIn2</Name>
<Type>DT7003</Type>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -1232,6 +1296,12 @@
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>StepsPerMM</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1279,6 +1349,13 @@
<Name>CommandedPosition</Name>
<DataType>LREAL</DataType>
</Entry>
<Entry>
<Index>#x7002</Index>
<SubIndex>#x2</SubIndex>
<BitLen>16</BitLen>
<Name>StepsPerMM</Name>
<DataType>INT</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1603</Index>
@@ -1290,6 +1367,13 @@
<Name>CommandedPosition</Name>
<DataType>LREAL</DataType>
</Entry>
<Entry>
<Index>#x7003</Index>
<SubIndex>#x2</SubIndex>
<BitLen>16</BitLen>
<Name>StepsPerMM</Name>
<DataType>INT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>

2
Firmware/lib/soes/ecat_options.h
View File

@@ -33,7 +33,7 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 4
#define MAX_MAPPINGS_SM2 6
#define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 512

14
Firmware/lib/soes/esi.json
View File

@@ -183,6 +183,13 @@
"data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn1.StepsPerMM"
}
],
"pdo_mappings": [
@@ -203,6 +210,13 @@
"data": "&Obj.StepGenIn2.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn2.StepsPerMM"
}
],
"pdo_mappings": [

24
Firmware/lib/soes/objectlist.c
View File

@@ -22,9 +22,11 @@ static const char acName1601_01[] = "IndexLatchEnable";
static const char acName1602[] = "StepGenIn1";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "CommandedPosition";
static const char acName1602_02[] = "StepsPerMM";
static const char acName1603[] = "StepGenIn2";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "CommandedPosition";
static const char acName1603_02[] = "StepsPerMM";
static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos";
@@ -83,9 +85,11 @@ static const char acName7001[] = "IndexLatchEnable";
static const char acName7002[] = "StepGenIn1";
static const char acName7002_00[] = "Max SubIndex";
static const char acName7002_01[] = "CommandedPosition";
static const char acName7002_02[] = "StepsPerMM";
static const char acName7003[] = "StepGenIn2";
static const char acName7003_00[] = "Max SubIndex";
static const char acName7003_01[] = "CommandedPosition";
static const char acName7003_02[] = "StepsPerMM";
const _objd SDO1000[] =
{
@@ -123,13 +127,15 @@ const _objd SDO1601[] =
};
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020210, NULL},
};
const _objd SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 2, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
};
const _objd SDO1A00[] =
{
@@ -233,13 +239,15 @@ const _objd SDO7001[] =
};
const _objd SDO7002[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 1, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.StepsPerMM},
};
const _objd SDO7003[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 1, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 2, NULL},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM},
};
const _objectlist SDOobjects[] =
@@ -251,8 +259,8 @@ const _objectlist SDOobjects[] =
{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},
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -272,7 +280,7 @@ const _objectlist SDOobjects[] =
{0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_RECORD, 1, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 1, 0, acName7003, SDO7003},
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

2
Firmware/lib/soes/utypes.h
View File

@@ -34,10 +34,12 @@ typedef struct
struct
{
double CommandedPosition;
int16_t StepsPerMM;
} StepGenIn1;
struct
{
double CommandedPosition;
int16_t StepsPerMM;
} StepGenIn2;
} _Objects;