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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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24
Firmware/lib/soes/objectlist.c
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@@ -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}
};