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EaserCAT-7000 initial

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This commit is contained in:
Hakan Bastedt
2025-02-08 11:41:29 +01:00
parent c410207d52
commit dda9d3bf20
59 changed files with 185416 additions and 2187 deletions
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42
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/ecat_options.h Executable file
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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1600
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM3 3
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

BIN
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.bin Executable file
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Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/eeprom.hex Executable file
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:20002000000000000000000000000000000000000010000200120002040000000000000096
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:00000001FF

151
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json Executable file
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{
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0x6000",
"ProfileNo": "5001",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
"EEPROMsize": "2048",
"RxMailboxOffset": "0x1000",
"TxMailboxOffset": "0x1200",
"MailboxSize": "512",
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Plasma cutter",
"ImageName": "IMGCBY",
"TextDeviceType": "EaserCAT 6000",
"TextDeviceName": "MetalMusings EaserCAT 6000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
"Port3Physical": " ",
"ESC": "LAN9252",
"SPImode": "3",
"CoeDetailsEnableSDO": "EnableSDO",
"CoeDetailsEnableSDOInfo": "EnableSDOInfo",
"CoeDetailsEnablePDOAssign": "EnablePDOAssign",
"CoeDetailsEnablePDOConfiguration": "EnablePDOConfiguration",
"CoeDetailsEnableUploadAtStartup": "EnableUploadAtStartup",
"CoeDetailsEnableSDOCompleteAccess": "EnableSDOCompleteAccess"
},
"od": {
"sdo": {
"2000": {
"otype": "VAR",
"name": "VelocityScale",
"access": "RO",
"dtype": "REAL32",
"value": "0",
"isSDOitem": true,
"data": "&Obj.VelocityScale"
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New record subitem",
"dtype": "UNSIGNED8"
}
]
}
},
"txpdo": {
"600": {
"otype": "VAR",
"name": "EncFrequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.EncFrequency"
},
"6000": {
"otype": "VAR",
"name": "Input12",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.Input12"
},
"6001": {
"otype": "VAR",
"name": "Velocity",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Velocity"
},
"6002": {
"otype": "VAR",
"name": "Frequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.Frequency"
}
},
"rxpdo": {
"7000": {
"otype": "VAR",
"name": "Output4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Output4"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0"
}
}
},
"dc": [
{
"Name": "SM-Synchron",
"Description": "SM-Synchron",
"AssignActivate": "#x000",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
},
{
"Name": "DC",
"Description": "DC-Synchron",
"AssignActivate": "#x300",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
}
]
}

153
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c Executable file
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#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
static const char acName1000[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Max SubIndex";
static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "Output4";
static const char acName1600_00[] = "Max SubIndex";
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_00[] = "Max SubIndex";
static const char acName1A01_01[] = "Velocity";
static const char acName1A02[] = "Frequency";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Frequency";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
static const char acName1C00_02[] = "Communications Type SM1";
static const char acName1C00_03[] = "Communications Type SM2";
static const char acName1C00_04[] = "Communications Type SM3";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "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";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName2000[] = "VelocityScale";
static const char acName6000[] = "Input12";
static const char acName6001[] = "Velocity";
static const char acName6002[] = "Frequency";
static const char acName7000[] = "Output4";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 6000"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName100A, 0, "0.0.1"},
};
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},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000008, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 1, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 3, 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},
};
const _objd SDO2000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x00000000, &Obj.VelocityScale},
};
const _objd SDO6000[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.Velocity},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Frequency},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
};
const _objectlist SDOobjects[] =
{
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 3, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

31
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h Executable file
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#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
int32_t Input12;
float Velocity;
uint32_t Frequency;
/* Outputs */
uint8_t Output4;
/* Parameters */
float VelocityScale;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */