From ada1b8aa05cb86adc652c696f11f7fa2c39ff6a3 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Sat, 8 Feb 2025 21:48:26 +0100
Subject: [PATCH] Works, sends Voltage during free-run to Twincat.

---
 .../Firmware/lib/soes-esi/eeprom.bin          | Bin 2048 -> 2048 bytes
 .../Firmware/lib/soes-esi/eeprom.hex          |   6 ++--
 .../Firmware/lib/soes-esi/esi.json            |  24 ++++++++--------
 .../Firmware/lib/soes-esi/objectlist.c        |  26 +++++++++---------
 .../Firmware/lib/soes-esi/utypes.h            |   6 ++--
 .../Firmware/platformio.ini                   |   2 +-
 .../Firmware/src/main.cpp                     |  19 +++++++------
 7 files changed, 42 insertions(+), 41 deletions(-)

diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.bin b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.bin
index 3787c1bda0e04d7bb129853d9e4f9abd18e288e8..c270007af42734d4f50813b291299d6ef44a6422 100755
GIT binary patch
delta 51
zcmZn=Xb_NXU}JVkVSoV<h6@+>U0^6+U|<3YF-~+8nP?ctXg+a*0i*fGgZAtI3;heE

delta 51
xcmZn=Xb_NXU}JVkVSoV<hE-fZb^-$f6Odw@=qNJLFpkk|;sgUmvyBJs*#X3u2^RnW

diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.hex b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.hex
index 625d11f..9ef1f9e 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.hex
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.hex
@@ -1,10 +1,10 @@
-:2000000080060344640000000000000000001400AA0A000000600000020000000100000084
+:2000000080060344640000000000000000001400D0D1BED0007000000200000001000000F9
 :20002000000000000000000000000000000000000010000200120002040000000000000096
 :200040000000000000000000000000000000000000000000000000000000000000000000A0
 :20006000000000000000000000000000000000000000000000000000000000000F00010070
-:200080000A002000040D456173657243415420363030300E4D616368696E65436F6E7472AE
+:200080000A002000040D456173657243415420373030300E4D616368696E65436F6E7472AD
 :2000A0006F6C06494D474342591A4D6574616C4D7573696E677320456173657243415420A9
-:2000C000363030301E001000020301040013000000000000000000001100000000000000FE
+:2000C000373030301E001000020301040013000000000000000000001100000000000000FD
 :2000E000000000000000000028000200010203002900100000100002260001010012000249
 :20010000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF49
 :20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json
index 61bc303..6dd7836 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json
@@ -1,8 +1,8 @@
 {
   "form": {
     "VendorName": "MetalMusings",
-    "VendorID": "0xaaa",
-    "ProductCode": "0x6000",
+    "VendorID": "0xd0bed1d0",
+    "ProductCode": "0x7000",
     "ProfileNo": "5001",
     "RevisionNumber": "0x002",
     "SerialNumber": "0x001",
@@ -17,8 +17,8 @@
     "TextGroupType": "MachineControl",
     "TextGroupName5": "Plasma cutter",
     "ImageName": "IMGCBY",
-    "TextDeviceType": "EaserCAT 6000",
-    "TextDeviceName": "MetalMusings EaserCAT 6000",
+    "TextDeviceType": "EaserCAT 7000",
+    "TextDeviceName": "MetalMusings EaserCAT 7000",
     "Port0Physical": "Y",
     "Port1Physical": "Y",
     "Port2Physical": " ",
@@ -36,12 +36,12 @@
     "sdo": {
       "2000": {
         "otype": "VAR",
-        "name": "VelocityScale",
+        "name": "VoltageScale",
         "access": "RO",
         "dtype": "REAL32",
-        "value": "0",
+        "value": "1",
         "isSDOitem": true,
-        "data": "&Obj.VelocityScale"
+        "data": "&Obj.VoltageScale"
       },
       "A": {
         "otype": "RECORD",
@@ -83,25 +83,25 @@
       },
       "6001": {
         "otype": "VAR",
-        "name": "Velocity",
+        "name": "ArcVoltage",
         "access": "RO",
         "pdo_mappings": [
           "txpdo"
         ],
         "dtype": "REAL32",
         "value": "0",
-        "data": "&Obj.Velocity"
+        "data": "&Obj.ArcVoltage"
       },
       "6002": {
         "otype": "VAR",
-        "name": "Frequency",
+        "name": "Voltage",
         "access": "RO",
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "UNSIGNED32",
+        "dtype": "REAL32",
         "value": "0",
-        "data": "&Obj.Frequency"
+        "data": "&Obj.Voltage"
       }
     },
     "rxpdo": {
diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c
index e060eb0..08980b4 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c
@@ -19,12 +19,12 @@ static const char acName1600_01[] = "Output4";
 static const char acName1A00[] = "Input12";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "Input12";
-static const char acName1A01[] = "Velocity";
+static const char acName1A01[] = "ArcVoltage";
 static const char acName1A01_00[] = "Max SubIndex";
-static const char acName1A01_01[] = "Velocity";
-static const char acName1A02[] = "Frequency";
+static const char acName1A01_01[] = "ArcVoltage";
+static const char acName1A02[] = "Voltage";
 static const char acName1A02_00[] = "Max SubIndex";
-static const char acName1A02_01[] = "Frequency";
+static const char acName1A02_01[] = "Voltage";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -39,10 +39,10 @@ static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
 static const char acName1C13_02[] = "PDO Mapping";
 static const char acName1C13_03[] = "PDO Mapping";
-static const char acName2000[] = "VelocityScale";
+static const char acName2000[] = "VoltageScale";
 static const char acName6000[] = "Input12";
-static const char acName6001[] = "Velocity";
-static const char acName6002[] = "Frequency";
+static const char acName6001[] = "ArcVoltage";
+static const char acName6002[] = "Voltage";
 static const char acName7000[] = "Output4";
 
 const _objd SDO1000[] =
@@ -51,7 +51,7 @@ const _objd SDO1000[] =
 };
 const _objd SDO1008[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 6000"},
+  {0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 7000"},
 };
 const _objd SDO1009[] =
 {
@@ -64,8 +64,8 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
-  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 24576, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 3502166480, NULL},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 28672, NULL},
   {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
   {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
 };
@@ -111,7 +111,7 @@ const _objd SDO1C13[] =
 };
 const _objd SDO2000[] =
 {
-  {0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x00000000, &Obj.VelocityScale},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x3f800000, &Obj.VoltageScale},
 };
 const _objd SDO6000[] =
 {
@@ -119,11 +119,11 @@ const _objd SDO6000[] =
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.Velocity},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.ArcVoltage},
 };
 const _objd SDO6002[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Frequency},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.Voltage},
 };
 const _objd SDO7000[] =
 {
diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h
index c6113d6..3353c11 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h
@@ -14,8 +14,8 @@ typedef struct
    /* Inputs */
 
    int32_t Input12;
-   float Velocity;
-   uint32_t Frequency;
+   float ArcVoltage;
+   float Voltage;
 
    /* Outputs */
 
@@ -23,7 +23,7 @@ typedef struct
 
    /* Parameters */
 
-   float VelocityScale;
+   float VoltageScale;
 } _Objects;
 
 extern _Objects Obj;
diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/platformio.ini b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/platformio.ini
index e25f715..763559b 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/platformio.ini
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/platformio.ini
@@ -18,7 +18,7 @@ debug_build_flags = -O0 -g -ggdb
 monitor_port = COM15
 monitor_filters = send_on_enter, time, colorize, log2file
 monitor_speed = 115200
-build_flags = -Wl,--no-warn-rwx-segment
+build_flags = -Wl,--no-warn-rwx-segment -DECAT
 lib_deps = 
 	SPI
 	robtillaart/ADS1X15@^0.5.1
diff --git a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
index ab515a0..df8caf3 100755
--- a/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
+++ b/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
@@ -40,12 +40,13 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
    for (int i = 0; i < sizeof(inputPin); i++)
       Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
-   float scale = Obj.VelocityScale;
+
+   float scale = Obj.VoltageScale;
    if (scale == 0.0)
       scale = 1.0;
-   float ADCvoltage = ADS.getValue(ADS.toVoltage(value));
-   Obj.ArcVoltage = scale * ADCvoltage; // Scaled voltage, supposedly to give Plasma voltage
-   Obj.Voltage = ADCvoltage;            // Raw voltage, read by ADC
+   float ADCvoltage = ADS.toVoltage(ADS.getValue());
+   Obj.ArcVoltage = scale*ADCvoltage;   // * ADCvoltage; // Scaled voltage, to give Plasma arc voltage
+   Obj.Voltage = ADCvoltage; // Raw voltage, read by ADC
 }
 
 void ESC_interrupt_enable(uint32_t mask);
@@ -67,10 +68,10 @@ static esc_cfg_t config =
         .post_object_download_hook = NULL,
         .rxpdo_override = NULL,
         .txpdo_override = NULL,
-        .esc_hw_interrupt_enable = ESC_interrupt_enable,
-        .esc_hw_interrupt_disable = ESC_interrupt_disable,
+        .esc_hw_interrupt_enable = NULL,  // ESC_interrupt_enable,
+        .esc_hw_interrupt_disable = NULL, // ESC_interrupt_disable,
         .esc_hw_eep_handler = NULL,
-        .esc_check_dc_handler = dc_checker,
+        .esc_check_dc_handler = NULL, // dc_checker,
 };
 
 volatile byte serveIRQ = 0;
@@ -107,14 +108,14 @@ void setup(void)
    ADS.setWireClock(400000UL); // 400 kHz
    ADS.readADC(0);             //  first read to trigger settings
 
-#if 0
+#ifdef ECAT
    ecat_slv_init(&config);
 #endif
 }
 
 void loop(void)
 {
-#if 0
+#ifdef ECAT
    uint64_t dTime;
    if (serveIRQ)
    {