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Two stepgens active pending lathe test

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This commit is contained in:
Hakan Bastedt
2024-01-13 22:44:08 +01:00
parent 25c2aa7b3c
commit deadd488dd
6 changed files with 312 additions and 51 deletions
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246
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
View File

@@ -125,7 +125,7 @@
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1602</Name> <Name>DT1602</Name>
<BitSize>144</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -146,12 +146,26 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</SubItem> </SubItem>
</DataType>
<DataType>
<Name>DT1603</Name>
<BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>2</SubIdx> <SubIdx>0</SubIdx>
<Name>CommandedVelocity</Name> <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>ULINT</Type> <Type>ULINT</Type>
<BitSize>64</BitSize> <BitSize>64</BitSize>
<BitOffs>80</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
@@ -301,6 +315,30 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1A06</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>ActualPosition</Name>
<Type>ULINT</Type>
<BitSize>64</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>
@@ -336,15 +374,15 @@
<DataType> <DataType>
<Name>DT1C12ARR</Name> <Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>48</BitSize> <BitSize>64</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>3</Elements> <Elements>4</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C12</Name> <Name>DT1C12</Name>
<BitSize>64</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -358,7 +396,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C12ARR</Type> <Type>DT1C12ARR</Type>
<BitSize>48</BitSize> <BitSize>64</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -368,15 +406,15 @@
<DataType> <DataType>
<Name>DT1C13ARR</Name> <Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>96</BitSize> <BitSize>112</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>6</Elements> <Elements>7</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C13</Name> <Name>DT1C13</Name>
<BitSize>112</BitSize> <BitSize>128</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -390,7 +428,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C13ARR</Type> <Type>DT1C13ARR</Type>
<BitSize>96</BitSize> <BitSize>112</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -422,9 +460,34 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT6006</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>ActualPosition</Name>
<Type>LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT7002</Name> <Name>DT7002</Name>
<BitSize>144</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -446,12 +509,26 @@
<PdoMapping>R</PdoMapping> <PdoMapping>R</PdoMapping>
</Flags> </Flags>
</SubItem> </SubItem>
</DataType>
<DataType>
<Name>DT7003</Name>
<BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>2</SubIdx> <SubIdx>0</SubIdx>
<Name>CommandedVelocity</Name> <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>LREAL</Type> <Type>LREAL</Type>
<BitSize>64</BitSize> <BitSize>64</BitSize>
<BitOffs>80</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping> <PdoMapping>R</PdoMapping>
@@ -633,12 +710,12 @@
<Index>#x1602</Index> <Index>#x1602</Index>
<Name>StepGenIn1</Name> <Name>StepGenIn1</Name>
<Type>DT1602</Type> <Type>DT1602</Type>
<BitSize>144</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>2</DefaultValue> <DefaultValue>1</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -647,10 +724,27 @@
<DefaultValue>#x70020140</DefaultValue> <DefaultValue>#x70020140</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> </Info>
<Name>CommandedVelocity</Name> <Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1603</Index>
<Name>StepGenIn2</Name>
<Type>DT1603</Type>
<BitSize>80</BitSize>
<Info> <Info>
<DefaultValue>#x70020240</DefaultValue> <SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedPosition</Name>
<Info>
<DefaultValue>#x70030140</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -796,6 +890,29 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1A06</Index>
<Name>StepGenOut2</Name>
<Type>DT1A06</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>ActualPosition</Name>
<Info>
<DefaultValue>#x60060140</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>
@@ -841,12 +958,12 @@
<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>64</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>3</DefaultValue> <DefaultValue>4</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -867,6 +984,12 @@
<DefaultValue>#x1602</DefaultValue> <DefaultValue>#x1602</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1603</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -876,12 +999,12 @@
<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>112</BitSize> <BitSize>128</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>6</DefaultValue> <DefaultValue>7</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -920,6 +1043,12 @@
<DefaultValue>#x1A05</DefaultValue> <DefaultValue>#x1A05</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A06</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -1013,6 +1142,29 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x6006</Index>
<Name>StepGenOut2</Name>
<Type>DT6006</Type>
<BitSize>80</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>
@@ -1043,12 +1195,12 @@
<Index>#x7002</Index> <Index>#x7002</Index>
<Name>StepGenIn1</Name> <Name>StepGenIn1</Name>
<Type>DT7002</Type> <Type>DT7002</Type>
<BitSize>144</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>2</DefaultValue> <DefaultValue>1</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -1057,8 +1209,25 @@
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x7003</Index>
<Name>StepGenIn2</Name>
<Type>DT7003</Type>
<BitSize>80</BitSize>
<Info>
<SubItem> <SubItem>
<Name>CommandedVelocity</Name> <Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedPosition</Name>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
@@ -1110,11 +1279,15 @@
<Name>CommandedPosition</Name> <Name>CommandedPosition</Name>
<DataType>LREAL</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1603</Index>
<Name>StepGenIn2</Name>
<Entry> <Entry>
<Index>#x7002</Index> <Index>#x7003</Index>
<SubIndex>#x2</SubIndex> <SubIndex>#x1</SubIndex>
<BitLen>64</BitLen> <BitLen>64</BitLen>
<Name>CommandedVelocity</Name> <Name>CommandedPosition</Name>
<DataType>LREAL</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
@@ -1184,6 +1357,17 @@
<DataType>LREAL</DataType> <DataType>LREAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A06</Index>
<Name>StepGenOut2</Name>
<Entry>
<Index>#x6006</Index>
<SubIndex>#x1</SubIndex>
<BitLen>64</BitLen>
<Name>ActualPosition</Name>
<DataType>LREAL</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>

2
Firmware/lib/soes/ecat_options.h
View File

@@ -34,7 +34,7 @@
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 4 #define MAX_MAPPINGS_SM2 4
#define MAX_MAPPINGS_SM3 6 #define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512

39
Firmware/lib/soes/esi.json
View File

@@ -124,6 +124,26 @@
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
] ]
},
"6006": {
"otype": "RECORD",
"name": "StepGenOut2",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenOut2.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [
"txpdo"
]
} }
}, },
"rxpdo": { "rxpdo": {
@@ -163,13 +183,26 @@
"data": "&Obj.StepGenIn1.CommandedPosition", "data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0", "value": "0",
"access": "RO" "access": "RO"
}
],
"pdo_mappings": [
"rxpdo"
]
},
"7003": {
"otype": "RECORD",
"name": "StepGenIn2",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
}, },
{ {
"name": "CommandedVelocity", "name": "CommandedPosition",
"dtype": "REAL64", "dtype": "REAL64",
"data": "&Obj.StepGenIn2.CommandedPosition",
"value": "0", "value": "0",
"access": "RO", "access": "RO"
"data": "&Obj.StepGenIn1.CommandedVelocity"
} }
], ],
"pdo_mappings": [ "pdo_mappings": [

60
Firmware/lib/soes/objectlist.c
View File

@@ -22,7 +22,9 @@ static const char acName1601_01[] = "IndexLatchEnable";
static const char acName1602[] = "StepGenIn1"; static const char acName1602[] = "StepGenIn1";
static const char acName1602_00[] = "Max SubIndex"; static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "CommandedPosition"; static const char acName1602_01[] = "CommandedPosition";
static const char acName1602_02[] = "CommandedVelocity"; static const char acName1603[] = "StepGenIn2";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_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";
@@ -41,6 +43,9 @@ static const char acName1A04_01[] = "IndexStatus";
static const char acName1A05[] = "StepGenOut1"; static const char acName1A05[] = "StepGenOut1";
static const char acName1A05_00[] = "Max SubIndex"; static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "ActualPosition"; 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 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";
@@ -52,6 +57,7 @@ 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 acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "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";
@@ -60,6 +66,7 @@ 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 acName1C13_06[] = "PDO Mapping";
static const char acName1C13_07[] = "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";
@@ -68,12 +75,17 @@ static const char acName6004[] = "IndexStatus";
static const char acName6005[] = "StepGenOut1"; static const char acName6005[] = "StepGenOut1";
static const char acName6005_00[] = "Max SubIndex"; static const char acName6005_00[] = "Max SubIndex";
static const char acName6005_01[] = "ActualPosition"; 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 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[] = "StepGenIn1";
static const char acName7002_00[] = "Max SubIndex"; static const char acName7002_00[] = "Max SubIndex";
static const char acName7002_01[] = "CommandedPosition"; static const char acName7002_01[] = "CommandedPosition";
static const char acName7002_02[] = "CommandedVelocity"; static const char acName7003[] = "StepGenIn2";
static const char acName7003_00[] = "Max SubIndex";
static const char acName7003_01[] = "CommandedPosition";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
@@ -111,9 +123,13 @@ const _objd SDO1601[] =
}; };
const _objd SDO1602[] = const _objd SDO1602[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL}, };
const _objd SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
}; };
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
@@ -145,6 +161,11 @@ const _objd SDO1A05[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL}, {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
}; };
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 SDO1C00[] = const _objd SDO1C00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -155,20 +176,22 @@ const _objd SDO1C00[] =
}; };
const _objd SDO1C12[] = const _objd SDO1C12[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, 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}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, 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}, {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
@@ -195,6 +218,11 @@ const _objd SDO6005[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition}, {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
}; };
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 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},
@@ -205,9 +233,13 @@ const _objd SDO7001[] =
}; };
const _objd SDO7002[] = const _objd SDO7002[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 1, NULL},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition}, {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
{0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity}, };
const _objd SDO7003[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 1, NULL},
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
}; };
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
@@ -219,24 +251,28 @@ 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, 2, 0, acName1602, SDO1602}, {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{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}, {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 7, 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}, {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
{0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
{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, 2, 0, acName7002, SDO7002}, {0x7002, OTYPE_RECORD, 1, 0, acName7002, SDO7002},
{0x7003, OTYPE_RECORD, 1, 0, acName7003, SDO7003},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

9
Firmware/lib/soes/utypes.h
View File

@@ -22,6 +22,10 @@ typedef struct
{ {
double ActualPosition; double ActualPosition;
} StepGenOut1; } StepGenOut1;
struct
{
double ActualPosition;
} StepGenOut2;
/* Outputs */ /* Outputs */
@@ -30,8 +34,11 @@ typedef struct
struct struct
{ {
double CommandedPosition; double CommandedPosition;
double CommandedVelocity;
} StepGenIn1; } StepGenIn1;
struct
{
double CommandedPosition;
} StepGenIn2;
} _Objects; } _Objects;

9
Firmware/src/main.cpp
View File

@@ -32,14 +32,12 @@ void timerCallbackStep1(void)
{ {
Step1.timerCB(); Step1.timerCB();
} }
#if 0
void timerCallbackStep2(void); void timerCallbackStep2(void);
StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2); StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2);
void timerCallbackStep2(void) void timerCallbackStep2(void)
{ {
Step2.timerCB(); Step2.timerCB();
} }
#endif
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
{ {
@@ -47,11 +45,13 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
Encoder1.setScale(Obj.EncPosScale); Encoder1.setScale(Obj.EncPosScale);
Step1.cmdPos(Obj.StepGenIn1.CommandedPosition); Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
Step2.cmdPos(Obj.StepGenIn2.CommandedPosition);
} }
void handleStepper(void) void handleStepper(void)
{ {
Step1.handleStepper(); Step1.handleStepper();
Step2.handleStepper();
} }
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -62,6 +62,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
Obj.IndexByte = Encoder1.getIndexState(); Obj.IndexByte = Encoder1.getIndexState();
Obj.StepGenOut1.ActualPosition = Step1.actPos(); Obj.StepGenOut1.ActualPosition = Step1.actPos();
Obj.StepGenOut2.ActualPosition = Step2.actPos();
Obj.DiffT = 10000 * Step1.reqPos(); // Debug Obj.DiffT = 10000 * Step1.reqPos(); // Debug
} }
@@ -97,7 +98,8 @@ void setup(void)
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); rcc_config();
Step1.setScale(500); Step1.setScale(1250); // 2000 /rev 4 mm/rev x 2.5 gear => 1250 /mm
Step2.setScale(500); // 2000 /rev 4 mm/rev => 500 /mm
ecat_slv_init(&config); ecat_slv_init(&config);
} }
@@ -164,7 +166,6 @@ uint16_t dc_checker(void)
{ {
// Indicate we run DC // Indicate we run DC
ESCvar.dcsync = 0; ESCvar.dcsync = 0;
//Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
return 0; return 0;
} }