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wip stepgen

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This commit is contained in:
Hakan Bastedt
2023-12-31 08:57:37 +01:00
parent 0929d23207
commit ab034e93f8
7 changed files with 364 additions and 31 deletions
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248
Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -123,6 +123,30 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1602</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>CommandedPosition</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1A00</Name> <Name>DT1A00</Name>
<BitSize>48</BitSize> <BitSize>48</BitSize>
@@ -243,6 +267,30 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1A05</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>ActualPosition</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1C00ARR</Name> <Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType> <BaseType>USINT</BaseType>
@@ -278,15 +326,15 @@
<DataType> <DataType>
<Name>DT1C12ARR</Name> <Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>32</BitSize> <BitSize>48</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>2</Elements> <Elements>3</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C12</Name> <Name>DT1C12</Name>
<BitSize>48</BitSize> <BitSize>64</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -300,7 +348,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C12ARR</Type> <Type>DT1C12ARR</Type>
<BitSize>32</BitSize> <BitSize>48</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -310,15 +358,15 @@
<DataType> <DataType>
<Name>DT1C13ARR</Name> <Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>80</BitSize> <BitSize>96</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>5</Elements> <Elements>6</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C13</Name> <Name>DT1C13</Name>
<BitSize>96</BitSize> <BitSize>112</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -332,13 +380,63 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C13ARR</Type> <Type>DT1C13ARR</Type>
<BitSize>80</BitSize> <BitSize>96</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT6005</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>ActualPosition</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7002</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>CommandedPosition</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>UDINT</Name> <Name>UDINT</Name>
<BitSize>32</BitSize> <BitSize>32</BitSize>
@@ -506,6 +604,29 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1602</Index>
<Name>StepGenIn1</Name>
<Type>DT1602</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedPosition</Name>
<Info>
<DefaultValue>#x70020120</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>EncPos</Name> <Name>EncPos</Name>
@@ -621,6 +742,29 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1A05</Index>
<Name>StepgenOut1</Name>
<Type>DT1A05</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>ActualPosition</Name>
<Info>
<DefaultValue>#x60050120</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x1C00</Index> <Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name> <Name>Sync Manager Communication Type</Name>
@@ -666,12 +810,12 @@
<Index>#x1C12</Index> <Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name> <Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type> <Type>DT1C12</Type>
<BitSize>48</BitSize> <BitSize>64</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>2</DefaultValue> <DefaultValue>3</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -686,6 +830,12 @@
<DefaultValue>#x1601</DefaultValue> <DefaultValue>#x1601</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1602</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -695,12 +845,12 @@
<Index>#x1C13</Index> <Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name> <Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type> <Type>DT1C13</Type>
<BitSize>96</BitSize> <BitSize>112</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>5</DefaultValue> <DefaultValue>6</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -733,6 +883,12 @@
<DefaultValue>#x1A04</DefaultValue> <DefaultValue>#x1A04</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A05</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -803,6 +959,29 @@
<PdoMapping>T</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x6005</Index>
<Name>StepgenOut1</Name>
<Type>DT6005</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>ActualPosition</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x7000</Index> <Index>#x7000</Index>
<Name>EncPosScale</Name> <Name>EncPosScale</Name>
@@ -829,6 +1008,29 @@
<PdoMapping>R</PdoMapping> <PdoMapping>R</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x7002</Index>
<Name>StepGenIn1</Name>
<Type>DT7002</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedPosition</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
</Objects> </Objects>
</Dictionary> </Dictionary>
</Profile> </Profile>
@@ -861,6 +1063,17 @@
<DataType>UDINT</DataType> <DataType>UDINT</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1602</Index>
<Name>StepGenIn1</Name>
<Entry>
<Index>#x7002</Index>
<SubIndex>#x1</SubIndex>
<BitLen>32</BitLen>
<Name>CommandedPosition</Name>
<DataType>DINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>EncPos</Name> <Name>EncPos</Name>
@@ -916,6 +1129,17 @@
<DataType>UDINT</DataType> <DataType>UDINT</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A05</Index>
<Name>StepgenOut1</Name>
<Entry>
<Index>#x6005</Index>
<SubIndex>#x1</SubIndex>
<BitLen>32</BitLen>
<Name>ActualPosition</Name>
<DataType>DINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true"> <Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" /> <CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox> </Mailbox>

4
Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h
View File

@@ -33,8 +33,8 @@
#define SM3_smc 0x20 #define SM3_smc 0x20
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 2 #define MAX_MAPPINGS_SM2 3
#define MAX_MAPPINGS_SM3 5 #define MAX_MAPPINGS_SM3 6
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512

40
Pcb-1-lan9252/Firmware/lib/soes/esi.json
View File

@@ -104,6 +104,26 @@
"dtype": "UNSIGNED32", "dtype": "UNSIGNED32",
"value": "0", "value": "0",
"data": "&Obj.IndexStatus" "data": "&Obj.IndexStatus"
},
"6005": {
"otype": "RECORD",
"name": "StepgenOut1",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "INTEGER32",
"data": "&Obj.StepgenOut1.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [
"txpdo"
]
} }
}, },
"rxpdo": { "rxpdo": {
@@ -129,6 +149,26 @@
"value": "0", "value": "0",
"data": "&Obj.IndexLatchEnable" "data": "&Obj.IndexLatchEnable"
}, },
"7002": {
"otype": "RECORD",
"name": "StepGenIn1",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "CommandedPosition",
"dtype": "INTEGER32",
"data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [
"rxpdo"
]
},
"60664": { "60664": {
"otype": "VAR", "otype": "VAR",
"name": "ActualPosition", "name": "ActualPosition",

48
Pcb-1-lan9252/Firmware/lib/soes/objectlist.c
View File

@@ -19,6 +19,9 @@ static const char acName1600_01[] = "EncPosScale";
static const char acName1601[] = "IndexLatchEnable"; static const char acName1601[] = "IndexLatchEnable";
static const char acName1601_00[] = "Max SubIndex"; static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "IndexLatchEnable"; 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 acName1A00[] = "EncPos"; static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPos"; static const char acName1A00_01[] = "EncPos";
@@ -34,6 +37,9 @@ static const char acName1A03_01[] = "IndexByte";
static const char acName1A04[] = "IndexStatus"; static const char acName1A04[] = "IndexStatus";
static const char acName1A04_00[] = "Max SubIndex"; static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "IndexStatus"; static const char acName1A04_01[] = "IndexStatus";
static const char acName1A05[] = "StepgenOut1";
static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "ActualPosition";
static const char acName1C00[] = "Sync Manager Communication Type"; static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex"; static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0"; static const char acName1C00_01[] = "Communications Type SM0";
@@ -44,6 +50,7 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex"; static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping"; static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping"; static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment"; static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex"; static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping"; static const char acName1C13_01[] = "PDO Mapping";
@@ -51,13 +58,20 @@ static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping"; static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping"; static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping"; static const char acName1C13_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping";
static const char acName6000[] = "EncPos"; static const char acName6000[] = "EncPos";
static const char acName6001[] = "EncFrequency"; static const char acName6001[] = "EncFrequency";
static const char acName6002[] = "DiffT"; static const char acName6002[] = "DiffT";
static const char acName6003[] = "IndexByte"; static const char acName6003[] = "IndexByte";
static const char acName6004[] = "IndexStatus"; static const char acName6004[] = "IndexStatus";
static const char acName6005[] = "StepgenOut1";
static const char acName6005_00[] = "Max SubIndex";
static const char acName6005_01[] = "ActualPosition";
static const char acName7000[] = "EncPosScale"; static const char acName7000[] = "EncPosScale";
static const char acName7001[] = "IndexLatchEnable"; static const char acName7001[] = "IndexLatchEnable";
static const char acName7002[] = "StepGenIn1";
static const char acName7002_00[] = "Max SubIndex";
static const char acName7002_01[] = "CommandedPosition";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
@@ -93,6 +107,11 @@ const _objd SDO1601[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
}; };
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020120, NULL},
};
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -118,6 +137,11 @@ const _objd SDO1A04[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
}; };
const _objd SDO1A05[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050120, NULL},
};
const _objd SDO1C00[] = const _objd SDO1C00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -128,18 +152,20 @@ const _objd SDO1C00[] =
}; };
const _objd SDO1C12[] = const _objd SDO1C12[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL}, {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
@@ -161,6 +187,11 @@ const _objd SDO6004[] =
{ {
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus}, {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
}; };
const _objd SDO6005[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6005_01, 0, &Obj.StepgenOut1.ActualPosition},
};
const _objd SDO7000[] = const _objd SDO7000[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale}, {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
@@ -169,6 +200,11 @@ const _objd SDO7001[] =
{ {
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable}, {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
}; };
const _objd SDO7002[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 1, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
};
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
{ {
@@ -179,20 +215,24 @@ const _objectlist SDOobjects[] =
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018}, {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600}, {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01}, {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02}, {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03}, {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04}, {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000}, {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001}, {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002}, {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003}, {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004}, {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000}, {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_RECORD, 1, 0, acName7002, SDO7002},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

8
Pcb-1-lan9252/Firmware/lib/soes/utypes.h
View File

@@ -18,11 +18,19 @@ typedef struct
uint32_t DiffT; uint32_t DiffT;
uint32_t IndexByte; uint32_t IndexByte;
uint32_t IndexStatus; uint32_t IndexStatus;
struct
{
int32_t ActualPosition;
} StepgenOut1;
/* Outputs */ /* Outputs */
int32_t EncPosScale; int32_t EncPosScale;
uint32_t IndexLatchEnable; uint32_t IndexLatchEnable;
struct
{
int32_t CommandedPosition;
} StepGenIn1;
} _Objects; } _Objects;

4
Pcb-1-lan9252/Firmware/src/Stepper.cpp
View File

@@ -71,7 +71,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
PE9 ------> TIM1_CH1 PE9 ------> TIM1_CH1
PA8 ------< TIM1_CH1 PA8 ------< TIM1_CH1
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_8; // 9; GPIO_InitStruct.Pin = GPIO_PIN_11; // 9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -97,7 +97,7 @@ void StepperSetup(void)
// htim1.Instance->ARR = 1; // htim1.Instance->ARR = 1;
// htim1.Instance->CCR1 = 1; // htim1.Instance->CCR1 = 1;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
TIM_TypeDef *TIMM = TIM1; TIM_TypeDef *TIMM = TIM1;
#define CLOCK_FREQ (168000000-2000000) #define CLOCK_FREQ (168000000-2000000)

43
Pcb-1-lan9252/Firmware/src/main.cpp
View File

@@ -17,13 +17,11 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev);
Encoder EncoderInit; Encoder EncoderInit;
Encoder *encP = &EncoderInit; Encoder *encP = &EncoderInit;
// #include "Stepper.h" #include "Stepper.h"
#define INDEX_PIN PA2 #define INDEX_PIN PA2
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
_Objects Obj; _Objects Obj;
volatile uint32_t sync0s = 0;
void indexPulse(void); void indexPulse(void);
double PosScaleRes = 1.0; double PosScaleRes = 1.0;
uint32_t CurPosScale = 1; uint32_t CurPosScale = 1;
@@ -32,6 +30,8 @@ volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0; uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter = 0; volatile uint8_t pleaseZeroTheCounter = 0;
uint32_t sync0CycleTime = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{ {
if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
@@ -57,7 +57,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
nFires++; nFires++;
PreviousEncoderCounterValue = 0; PreviousEncoderCounterValue = 0;
} }
Obj.DiffT = sync0s; Obj.DiffT = sync0CycleTime;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue); int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes; double CurPos = pos * PosScaleRes;
@@ -81,7 +81,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask); void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker (void); uint16_t dc_checker(void);
static esc_cfg_t config = static esc_cfg_t config =
{ {
@@ -108,6 +108,7 @@ void setup(void)
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); rcc_config();
StepperSetup();
// Set starting count value // Set starting count value
EncoderInit.SetCount(Tim2, 0); EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0); // EncoderInit.SetCount(Tim3, 0);
@@ -155,9 +156,27 @@ void indexPulse(void)
} }
} }
void countSync0(void) volatile int32_t actualPosition = 0;
volatile int32_t requestedPosition;
volatile uint32_t pulsesToGo = 0;
volatile byte forwardDirection = 0; // 1 if going forward
#define STEPPER_DIR PA12
//#define STEPPER_STEP PA11 // Set in StepperSetup
void sync0Handler(void)
{ {
sync0s++; // Update the actual position
actualPosition += pulsesToGo;
Obj.StepgenOut1.ActualPosition = actualPosition;
// Get new end position
requestedPosition = Obj.StepGenIn1.CommandedPosition;
// Get the diff and the direction
pulsesToGo = requestedPosition - actualPosition;
forwardDirection = pulsesToGo > 0 ? 1 : 0;
// Set direction pin
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
// Make the pulses using hardware timer
makePulses(sync0CycleTime/1000, pulsesToGo);
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)
@@ -170,7 +189,7 @@ void ESC_interrupt_enable(uint32_t mask)
{ {
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask)); ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
attachInterrupt(digitalPinToInterrupt(PC3), countSync0, RISING); attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
// Set LAN9252 interrupt pin driver as push-pull active high // Set LAN9252 interrupt pin driver as push-pull active high
uint32_t bits = 0x00000111; uint32_t bits = 0x00000111;
@@ -200,10 +219,12 @@ void ESC_interrupt_disable(uint32_t mask)
} }
} }
// Setup of DC extern "C" uint32_t ESC_SYNC0cycletime(void);
uint16_t dc_checker (void) // Setup of DC
uint16_t dc_checker(void)
{ {
// Indicate we run DC // Indicate we run DC
ESCvar.dcsync = 1; ESCvar.dcsync = 1;
sync0CycleTime = ESC_SYNC0cycletime();
return 0; return 0;
} }