diff --git a/Firmware/include/StepGen.h b/Firmware/include/StepGen.h
index dc2eff7..6b07d07 100755
--- a/Firmware/include/StepGen.h
+++ b/Firmware/include/StepGen.h
@@ -14,6 +14,7 @@ public:
volatile uint32_t timerNewCycleTime;
volatile double_t actualPosition;
volatile double_t requestedPosition;
+ volatile uint8_t enabled;
HardwareTimer *MyTim;
uint16_t stepsPerMM;
static uint32_t sync0CycleTime;
@@ -32,6 +33,7 @@ public:
void handleStepper(void);
void timerCB();
void setScale(int16_t spm);
+ void enable(uint8_t yes);
};
#endif
\ No newline at end of file
diff --git a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
index 738a2d1..4428c6e 100755
--- a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
+++ b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
@@ -191,6 +191,40 @@
+
+ DT1604
+ 144
+
+ 0
+ Max SubIndex
+ USINT
+ 8
+ 0
+
+ ro
+
+
+
+ 1
+ Enable1
+ ULINT
+ 64
+ 16
+
+ ro
+
+
+
+ 2
+ Padding 1
+ ULINT
+ 64
+ 80
+
+ ro
+
+
+
DT1A00
80
@@ -394,15 +428,15 @@
DT1C12ARR
UINT
- 64
+ 80
1
- 4
+ 5
DT1C12
- 80
+ 96
0
Max SubIndex
@@ -416,7 +450,7 @@
Elements
DT1C12ARR
- 64
+ 80
16
ro
@@ -613,6 +647,10 @@
INT
16
+
+ BOOL
+ 1
+
+
+
@@ -1375,6 +1461,22 @@
INT
+
+ #x1604
+ Enable1
+
+ #x7004
+ #x0
+ 1
+ Enable1
+ BOOL
+
+
+ 0
+ 0
+ 7
+
+
#x1A00
EncPos
diff --git a/Firmware/lib/soes/ecat_options.h b/Firmware/lib/soes/ecat_options.h
index 7bc2f2b..990fb28 100755
--- a/Firmware/lib/soes/ecat_options.h
+++ b/Firmware/lib/soes/ecat_options.h
@@ -33,7 +33,7 @@
#define SM3_smc 0x20
#define SM3_act 1
-#define MAX_MAPPINGS_SM2 6
+#define MAX_MAPPINGS_SM2 8
#define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 512
diff --git a/Firmware/lib/soes/esi.json b/Firmware/lib/soes/esi.json
index 23ea7ea..3324c97 100755
--- a/Firmware/lib/soes/esi.json
+++ b/Firmware/lib/soes/esi.json
@@ -223,6 +223,17 @@
"rxpdo"
]
},
+ "7004": {
+ "otype": "VAR",
+ "name": "Enable1",
+ "access": "RO",
+ "pdo_mappings": [
+ "rxpdo"
+ ],
+ "dtype": "BOOLEAN",
+ "value": "0",
+ "data": "&Obj.Enable1"
+ },
"60664": {
"otype": "VAR",
"name": "ActualPosition",
diff --git a/Firmware/lib/soes/objectlist.c b/Firmware/lib/soes/objectlist.c
index b92939f..af63550 100755
--- a/Firmware/lib/soes/objectlist.c
+++ b/Firmware/lib/soes/objectlist.c
@@ -27,6 +27,10 @@ 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 acName1604[] = "Enable1";
+static const char acName1604_00[] = "Max SubIndex";
+static const char acName1604_01[] = "Enable1";
+static const char acName1604_02[] = "Padding 1";
static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos";
@@ -60,6 +64,7 @@ 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 acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
@@ -90,6 +95,7 @@ static const char acName7003[] = "StepGenIn2";
static const char acName7003_00[] = "Max SubIndex";
static const char acName7003_01[] = "CommandedPosition";
static const char acName7003_02[] = "StepsPerMM";
+static const char acName7004[] = "Enable1";
const _objd SDO1000[] =
{
@@ -137,6 +143,12 @@ const _objd SDO1603[] =
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
};
+const _objd SDO1604[] =
+{
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 2, NULL},
+ {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_01, 0x70040001, NULL},
+ {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_02, 0x00000007, NULL},
+};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -182,11 +194,12 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
- {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL},
+ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, 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},
};
const _objd SDO1C13[] =
{
@@ -249,6 +262,10 @@ const _objd SDO7003[] =
{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 _objd SDO7004[] =
+{
+ {0x0, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.Enable1},
+};
const _objectlist SDOobjects[] =
{
@@ -261,6 +278,7 @@ const _objectlist SDOobjects[] =
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
+ {0x1604, OTYPE_RECORD, 2, 0, acName1604, SDO1604},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -269,7 +287,7 @@ const _objectlist SDOobjects[] =
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
- {0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
+ {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
@@ -282,5 +300,6 @@ const _objectlist SDOobjects[] =
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
+ {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
diff --git a/Firmware/lib/soes/utypes.h b/Firmware/lib/soes/utypes.h
index f887e0d..cd93b85 100755
--- a/Firmware/lib/soes/utypes.h
+++ b/Firmware/lib/soes/utypes.h
@@ -41,6 +41,7 @@ typedef struct
double CommandedPosition;
int16_t StepsPerMM;
} StepGenIn2;
+ uint8_t Enable1;
} _Objects;
diff --git a/Firmware/src/StepGen.cpp b/Firmware/src/StepGen.cpp
index 8f7a9c4..bedc44c 100755
--- a/Firmware/src/StepGen.cpp
+++ b/Firmware/src/StepGen.cpp
@@ -12,6 +12,7 @@ StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, u
actualPosition = 0;
requestedPosition = 0;
stepsPerMM = 0;
+ enabled = 0;
dirPin = _dirPin;
stepPin = _stepPin;
@@ -37,8 +38,16 @@ double StepGen::actPos()
return actualPosition;
}
+void StepGen::enable(uint8_t yes)
+{
+ enabled = yes;
+}
+
void StepGen::handleStepper(void)
{
+ if (!enabled)
+ return;
+
actPos(timerStepPosition / double(stepsPerMM));
double diffPosition = reqPos() - actPos();
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 2ac0178..c4ce843 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -46,8 +46,10 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
Step1.setScale(Obj.StepGenIn1.StepsPerMM);
+ Step1.enable(Obj.Enable1);
Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
Step2.setScale(Obj.StepGenIn2.StepsPerMM);
+ Step2.enable(Obj.Enable1);
}
void handleStepper(void)
@@ -123,9 +125,8 @@ void sync0Handler(void)
void ESC_interrupt_enable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
- uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
- ESCREG_ALEVENT_SM2 |
- ESCREG_ALEVENT_SM3;
+ // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+ uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
if (mask & user_int_mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
@@ -144,9 +145,8 @@ void ESC_interrupt_enable(uint32_t mask)
void ESC_interrupt_disable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
- uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
- ESCREG_ALEVENT_SM2 |
- ESCREG_ALEVENT_SM3;
+ // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+ uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
if (mask & user_int_mask)
{
@@ -160,11 +160,12 @@ void ESC_interrupt_disable(uint32_t mask)
}
extern "C" uint32_t ESC_SYNC0cycletime(void);
+
// Setup of DC
uint16_t dc_checker(void)
{
// Indicate we run DC
- ESCvar.dcsync = 0;
+ ESCvar.dcsync = 1;
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0;
}