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More debug variables

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This commit is contained in:
Hakan Bastedt
2024-02-13 10:49:36 +01:00
parent c0d2bfcf62
commit cbae816bd9
7 changed files with 444 additions and 153 deletions
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436
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -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>

4
Firmware/lib/soes/ecat_options.h
View File

@@ -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

BIN
Firmware/lib/soes/eeprom.bin
View File

Binary file not shown.

2
Firmware/lib/soes/eeprom.hex
View File

@@ -1,4 +1,4 @@
:2000000080060344640000000000000000001400AA0A0000CCBCBB000200000001000000A1
:200000008006034C64000000000000000000EC00AA0A0000CCBCBB000200000001000000C1
:20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070

55
Firmware/lib/soes/esi.json
View File

@@ -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",

95
Firmware/lib/soes/objectlist.c
View File

@@ -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}
};

5
Firmware/lib/soes/utypes.h
View File

@@ -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;