From cbae816bd9c5f65c780aa9c61bf7a94e45b05440 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Tue, 13 Feb 2024 10:49:36 +0100
Subject: [PATCH] More debug variables

---
 .../lib/soes/MetalMusings_EaserCAT_2000.xml   | 436 +++++++++++++-----
 Firmware/lib/soes/ecat_options.h              |   4 +-
 Firmware/lib/soes/eeprom.bin                  | Bin 2048 -> 2048 bytes
 Firmware/lib/soes/eeprom.hex                  |   2 +-
 Firmware/lib/soes/esi.json                    |  55 ++-
 Firmware/lib/soes/objectlist.c                |  95 +++-
 Firmware/lib/soes/utypes.h                    |   5 +-
 7 files changed, 444 insertions(+), 153 deletions(-)

diff --git a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
index 4428c6e..917deff 100755
--- a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
+++ b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
@@ -191,40 +191,6 @@
                   </Flags>
                 </SubItem>
               </DataType>
-              <DataType>
-                <Name>DT1604</Name>
-                <BitSize>144</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>Enable1</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>Padding 1</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-              </DataType>
               <DataType>
                 <Name>DT1A00</Name>
                 <BitSize>80</BitSize>
@@ -393,6 +359,102 @@
                   </Flags>
                 </SubItem>
               </DataType>
+              <DataType>
+                <Name>DT1A07</Name>
+                <BitSize>80</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>D1</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1A08</Name>
+                <BitSize>80</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>D2</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1A09</Name>
+                <BitSize>80</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>D3</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1A0A</Name>
+                <BitSize>80</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>D4</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
               <DataType>
                 <Name>DT1C00ARR</Name>
                 <BaseType>USINT</BaseType>
@@ -428,15 +490,15 @@
               <DataType>
                 <Name>DT1C12ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>80</BitSize>
+                <BitSize>64</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>5</Elements>
+                  <Elements>4</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C12</Name>
-                <BitSize>96</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -450,7 +512,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C12ARR</Type>
-                  <BitSize>80</BitSize>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -460,15 +522,15 @@
               <DataType>
                 <Name>DT1C13ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>112</BitSize>
+                <BitSize>176</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>7</Elements>
+                  <Elements>11</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C13</Name>
-                <BitSize>128</BitSize>
+                <BitSize>192</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -482,7 +544,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C13ARR</Type>
-                  <BitSize>112</BitSize>
+                  <BitSize>176</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -647,10 +709,6 @@
                 <Name>INT</Name>
                 <BitSize>16</BitSize>
               </DataType>
-              <DataType>
-                <Name>BOOL</Name>
-                <BitSize>1</BitSize>
-              </DataType>
             </DataTypes>
             <Objects>
               <Object>
@@ -848,35 +906,6 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
-              <Object>
-                <Index>#x1604</Index>
-                <Name>Enable1</Name>
-                <Type>DT1604</Type>
-                <BitSize>144</BitSize>
-                <Info>
-                  <SubItem>
-                    <Name>Max SubIndex</Name>
-                    <Info>
-                      <DefaultValue>2</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Enable1</Name>
-                    <Info>
-                      <DefaultValue>#x70040001</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>Padding 1</Name>
-                    <Info>
-                      <DefaultValue>#x00000007</DefaultValue>
-                    </Info>
-                  </SubItem>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                </Flags>
-              </Object>
               <Object>
                 <Index>#x1A00</Index>
                 <Name>EncPos</Name>
@@ -1038,6 +1067,98 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x1A07</Index>
+                <Name>D1</Name>
+                <Type>DT1A07</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>D1</Name>
+                    <Info>
+                      <DefaultValue>#x60070020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1A08</Index>
+                <Name>D2</Name>
+                <Type>DT1A08</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>D2</Name>
+                    <Info>
+                      <DefaultValue>#x60080020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1A09</Index>
+                <Name>D3</Name>
+                <Type>DT1A09</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>D3</Name>
+                    <Info>
+                      <DefaultValue>#x60090020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1A0A</Index>
+                <Name>D4</Name>
+                <Type>DT1A0A</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>D4</Name>
+                    <Info>
+                      <DefaultValue>#x600A0020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
               <Object>
                 <Index>#x1C00</Index>
                 <Name>Sync Manager Communication Type</Name>
@@ -1083,12 +1204,12 @@
                 <Index>#x1C12</Index>
                 <Name>Sync Manager 2 PDO Assignment</Name>
                 <Type>DT1C12</Type>
-                <BitSize>96</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>5</DefaultValue>
+                      <DefaultValue>4</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -1115,12 +1236,6 @@
                       <DefaultValue>#x1603</DefaultValue>
                     </Info>
                   </SubItem>
-                  <SubItem>
-                    <Name>PDO Mapping</Name>
-                    <Info>
-                      <DefaultValue>#x1604</DefaultValue>
-                    </Info>
-                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -1130,12 +1245,12 @@
                 <Index>#x1C13</Index>
                 <Name>Sync Manager 3 PDO Assignment</Name>
                 <Type>DT1C13</Type>
-                <BitSize>128</BitSize>
+                <BitSize>192</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>7</DefaultValue>
+                      <DefaultValue>11</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -1180,6 +1295,30 @@
                       <DefaultValue>#x1A06</DefaultValue>
                     </Info>
                   </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A07</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A08</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A09</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A0A</DefaultValue>
+                    </Info>
+                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -1296,6 +1435,58 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x6007</Index>
+                <Name>D1</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6008</Index>
+                <Name>D2</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6009</Index>
+                <Name>D3</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x600A</Index>
+                <Name>D4</Name>
+                <Type>DINT</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>
@@ -1380,19 +1571,6 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
-              <Object>
-                <Index>#x7004</Index>
-                <Name>Enable1</Name>
-                <Type>BOOL</Type>
-                <BitSize>1</BitSize>
-                <Info>
-                  <DefaultValue>0</DefaultValue>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                </Flags>
-              </Object>
             </Objects>
           </Dictionary>
         </Profile>
@@ -1461,22 +1639,6 @@
             <DataType>INT</DataType>
           </Entry>
         </RxPdo>
-        <RxPdo Fixed="true" Mandatory="true" Sm="2">
-          <Index>#x1604</Index>
-          <Name>Enable1</Name>
-          <Entry>
-            <Index>#x7004</Index>
-            <SubIndex>#x0</SubIndex>
-            <BitLen>1</BitLen>
-            <Name>Enable1</Name>
-            <DataType>BOOL</DataType>
-          </Entry>
-          <Entry>
-            <Index>0</Index>
-            <SubIndex>0</SubIndex>
-            <BitLen>7</BitLen>
-          </Entry>
-        </RxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
           <Index>#x1A00</Index>
           <Name>EncPos</Name>
@@ -1554,6 +1716,50 @@
             <DataType>LREAL</DataType>
           </Entry>
         </TxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A07</Index>
+          <Name>D1</Name>
+          <Entry>
+            <Index>#x6007</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>D1</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A08</Index>
+          <Name>D2</Name>
+          <Entry>
+            <Index>#x6008</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>D2</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A09</Index>
+          <Name>D3</Name>
+          <Entry>
+            <Index>#x6009</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>D3</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A0A</Index>
+          <Name>D4</Name>
+          <Entry>
+            <Index>#x600A</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>D4</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+        </TxPdo>
         <Mailbox DataLinkLayer="true">
           <CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
         </Mailbox>
@@ -1571,7 +1777,7 @@
         </Dc>
         <Eeprom>
           <ByteSize>2048</ByteSize>
-          <ConfigData>80060344640000</ConfigData>
+          <ConfigData>8006034C640000</ConfigData>
         </Eeprom>
       </Device>
     </Devices>
diff --git a/Firmware/lib/soes/ecat_options.h b/Firmware/lib/soes/ecat_options.h
index 990fb28..bdea3f1 100755
--- a/Firmware/lib/soes/ecat_options.h
+++ b/Firmware/lib/soes/ecat_options.h
@@ -33,8 +33,8 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 8
-#define MAX_MAPPINGS_SM3 7
+#define MAX_MAPPINGS_SM2 6
+#define MAX_MAPPINGS_SM3 11
 
 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512
diff --git a/Firmware/lib/soes/eeprom.bin b/Firmware/lib/soes/eeprom.bin
index 47287efda82e87b9f57d5f04bfdce0ce920dd01c..1156cd1d321d49b4f18e47e73206c498ef08b50f 100755
GIT binary patch
delta 24
ZcmZn=Xb|9UU}N@4VSs@*8~H!70{}TS1q}cI

delta 24
YcmZn=Xb|9UU}JVkVSoXVjr<?k0W^ICEdT%j

diff --git a/Firmware/lib/soes/eeprom.hex b/Firmware/lib/soes/eeprom.hex
index 4291203..fd705c7 100755
--- a/Firmware/lib/soes/eeprom.hex
+++ b/Firmware/lib/soes/eeprom.hex
@@ -1,4 +1,4 @@
-:2000000080060344640000000000000000001400AA0A0000CCBCBB000200000001000000A1
+:200000008006034C64000000000000000000EC00AA0A0000CCBCBB000200000001000000C1
 :20002000000000000000000000000000000000000010000200120002040000000000000096
 :200040000000000000000000000000000000000000000000000000000000000000000000A0
 :20006000000000000000000000000000000000000000000000000000000000000F00010070
diff --git a/Firmware/lib/soes/esi.json b/Firmware/lib/soes/esi.json
index 3324c97..c330457 100755
--- a/Firmware/lib/soes/esi.json
+++ b/Firmware/lib/soes/esi.json
@@ -144,6 +144,50 @@
         "pdo_mappings": [
           "txpdo"
         ]
+      },
+      "6007": {
+        "otype": "VAR",
+        "name": "D1",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER32",
+        "value": "0",
+        "data": "&Obj.D1"
+      },
+      "6008": {
+        "otype": "VAR",
+        "name": "D2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER32",
+        "value": "0",
+        "data": "&Obj.D2"
+      },
+      "6009": {
+        "otype": "VAR",
+        "name": "D3",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER32",
+        "value": "0",
+        "data": "&Obj.D3"
+      },
+      "600A": {
+        "otype": "VAR",
+        "name": "D4",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER32",
+        "value": "0",
+        "data": "&Obj.D4"
       }
     },
     "rxpdo": {
@@ -223,17 +267,6 @@
           "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 af63550..6603d45 100755
--- a/Firmware/lib/soes/objectlist.c
+++ b/Firmware/lib/soes/objectlist.c
@@ -27,10 +27,6 @@ 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";
@@ -52,6 +48,18 @@ static const char acName1A05_01[] = "ActualPosition";
 static const char acName1A06[] = "StepGenOut2";
 static const char acName1A06_00[] = "Max SubIndex";
 static const char acName1A06_01[] = "ActualPosition";
+static const char acName1A07[] = "D1";
+static const char acName1A07_00[] = "Max SubIndex";
+static const char acName1A07_01[] = "D1";
+static const char acName1A08[] = "D2";
+static const char acName1A08_00[] = "Max SubIndex";
+static const char acName1A08_01[] = "D2";
+static const char acName1A09[] = "D3";
+static const char acName1A09_00[] = "Max SubIndex";
+static const char acName1A09_01[] = "D3";
+static const char acName1A0A[] = "D4";
+static const char acName1A0A_00[] = "Max SubIndex";
+static const char acName1A0A_01[] = "D4";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -64,7 +72,6 @@ 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";
@@ -74,6 +81,10 @@ static const char acName1C13_04[] = "PDO Mapping";
 static const char acName1C13_05[] = "PDO Mapping";
 static const char acName1C13_06[] = "PDO Mapping";
 static const char acName1C13_07[] = "PDO Mapping";
+static const char acName1C13_08[] = "PDO Mapping";
+static const char acName1C13_09[] = "PDO Mapping";
+static const char acName1C13_10[] = "PDO Mapping";
+static const char acName1C13_11[] = "PDO Mapping";
 static const char acName6000[] = "EncPos";
 static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
@@ -85,6 +96,10 @@ static const char acName6005_01[] = "ActualPosition";
 static const char acName6006[] = "StepGenOut2";
 static const char acName6006_00[] = "Max SubIndex";
 static const char acName6006_01[] = "ActualPosition";
+static const char acName6007[] = "D1";
+static const char acName6008[] = "D2";
+static const char acName6009[] = "D3";
+static const char acName600A[] = "D4";
 static const char acName7000[] = "EncPosScale";
 static const char acName7001[] = "IndexLatchEnable";
 static const char acName7002[] = "StepGenIn1";
@@ -95,7 +110,6 @@ 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[] =
 {
@@ -143,12 +157,6 @@ 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},
@@ -184,6 +192,26 @@ const _objd SDO1A06[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
   {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A06_01, 0x60060140, NULL},
 };
+const _objd SDO1A07[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A07_01, 0x60070020, NULL},
+};
+const _objd SDO1A08[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A08_01, 0x60080020, NULL},
+};
+const _objd SDO1A09[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A09_01, 0x60090020, NULL},
+};
+const _objd SDO1A0A[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A0A_01, 0x600A0020, NULL},
+};
 const _objd SDO1C00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -194,16 +222,15 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, 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[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 11, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
@@ -211,6 +238,10 @@ const _objd SDO1C13[] =
   {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
   {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
   {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
+  {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
+  {0x10, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
+  {0x11, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
 };
 const _objd SDO6000[] =
 {
@@ -242,6 +273,22 @@ const _objd SDO6006[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL},
   {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6006_01, 0, &Obj.StepGenOut2.ActualPosition},
 };
+const _objd SDO6007[] =
+{
+  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
+};
+const _objd SDO6008[] =
+{
+  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
+};
+const _objd SDO6009[] =
+{
+  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
+};
+const _objd SDO600A[] =
+{
+  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
+};
 const _objd SDO7000[] =
 {
   {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
@@ -262,10 +309,6 @@ 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[] =
 {
@@ -278,7 +321,6 @@ 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},
@@ -286,9 +328,13 @@ const _objectlist SDOobjects[] =
   {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
   {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
   {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
+  {0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07},
+  {0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08},
+  {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
+  {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
+  {0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
   {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
   {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
@@ -296,10 +342,13 @@ const _objectlist SDOobjects[] =
   {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
   {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
   {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
+  {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
+  {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
+  {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
+  {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {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 cd93b85..97fcd62 100755
--- a/Firmware/lib/soes/utypes.h
+++ b/Firmware/lib/soes/utypes.h
@@ -26,6 +26,10 @@ typedef struct
    {
       double ActualPosition;
    } StepGenOut2;
+   int32_t D1;
+   int32_t D2;
+   int32_t D3;
+   int32_t D4;
 
    /* Outputs */
 
@@ -41,7 +45,6 @@ typedef struct
       double CommandedPosition;
       int16_t StepsPerMM;
    } StepGenIn2;
-   uint8_t Enable1;
 
 } _Objects;