jeka/MyOwnEtherCATDevice
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Encoder works also for threading cycle. non-optmized.

Browse Source
This commit is contained in:
Hakan Bastedt
2023-12-26 18:16:04 +01:00
parent d878101c62
commit 890a81952b
7 changed files with 388 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

255
Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -114,7 +114,7 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
@@ -171,6 +171,78 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>DiffT</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A03</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A04</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
@@ -238,15 +310,15 @@
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>32</BitSize>
<BitSize>80</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
<Elements>5</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>48</BitSize>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -260,7 +332,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>32</BitSize>
<BitSize>80</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -413,7 +485,7 @@
</Object>
<Object>
<Index>#x1601</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>DT1601</Type>
<BitSize>48</BitSize>
<Info>
@@ -424,7 +496,7 @@
</Info>
</SubItem>
<SubItem>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Info>
<DefaultValue>#x70010020</DefaultValue>
</Info>
@@ -480,6 +552,75 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A02</Index>
<Name>DiffT</Name>
<Type>DT1A02</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>DiffT</Name>
<Info>
<DefaultValue>#x60020020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A03</Index>
<Name>IndexByte</Name>
<Type>DT1A03</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexByte</Name>
<Info>
<DefaultValue>#x60030020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A04</Index>
<Name>IndexStatus</Name>
<Type>DT1A04</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexStatus</Name>
<Info>
<DefaultValue>#x60040020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
@@ -554,12 +695,12 @@
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>48</BitSize>
<BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
<DefaultValue>5</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -574,6 +715,24 @@
<DefaultValue>#x1A01</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A02</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A03</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A04</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -605,6 +764,45 @@
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6002</Index>
<Name>DiffT</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6003</Index>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6004</Index>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>EncPosScale</Name>
@@ -620,7 +818,7 @@
</Object>
<Object>
<Index>#x7001</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
@@ -654,12 +852,12 @@
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1601</Index>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<Entry>
<Index>#x7001</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>EncIndexCEnable</Name>
<Name>IndexLatchEnable</Name>
<DataType>UDINT</DataType>
</Entry>
</RxPdo>
@@ -685,6 +883,39 @@
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A02</Index>
<Name>DiffT</Name>
<Entry>
<Index>#x6002</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>DiffT</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A03</Index>
<Name>IndexByte</Name>
<Entry>
<Index>#x6003</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexByte</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A04</Index>
<Name>IndexStatus</Name>
<Entry>
<Index>#x6004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexStatus</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox>