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Works in TwinCAT. Prepare for test in machine.

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This commit is contained in:
Hakan Bastedt
2025-02-14 20:06:27 +01:00
parent 310a08cc67
commit e40d81e71c
11 changed files with 221 additions and 136 deletions
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2
Cards/.gitignore vendored
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@@ -32,3 +32,5 @@ fp-info-cache
# Exported BOM files # Exported BOM files
*.xml *.xml
*.csv *.csv
*.step
*.stp

4
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.vscode/c_cpp_properties.json vendored
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@@ -10,6 +10,7 @@
"includePath": [ "includePath": [
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/include", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/include",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/MyMCP3221",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21",
@@ -58,6 +59,7 @@
"path": [ "path": [
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/include", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/include",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/MyMCP3221",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21", "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21",
@@ -106,7 +108,7 @@
"PLATFORMIO=60117", "PLATFORMIO=60117",
"STM32F407xx", "STM32F407xx",
"STM32F4", "STM32F4",
"NOECAT", "ECAT",
"STM32F4xx", "STM32F4xx",
"ARDUINO=10808", "ARDUINO=10808",
"ARDUINO_ARCH_STM32", "ARDUINO_ARCH_STM32",

6
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.vscode/settings.json vendored
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@@ -11,7 +11,11 @@
"system_error": "cpp", "system_error": "cpp",
"numeric": "cpp", "numeric": "cpp",
"ostream": "cpp", "ostream": "cpp",
"cmath": "cpp" "cmath": "cpp",
"cstddef": "cpp",
"array": "cpp",
"string_view": "cpp",
"initializer_list": "cpp"
}, },
"C_Cpp.errorSquiggles": "disabled", "C_Cpp.errorSquiggles": "disabled",
"cmake.configureOnOpen": false "cmake.configureOnOpen": false

131
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
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@@ -138,7 +138,7 @@
</SubItem> </SubItem>
<SubItem> <SubItem>
<SubIdx>1</SubIdx> <SubIdx>1</SubIdx>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<Type>UDINT</Type> <Type>UDINT</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
@@ -162,7 +162,31 @@
</SubItem> </SubItem>
<SubItem> <SubItem>
<SubIdx>1</SubIdx> <SubIdx>1</SubIdx>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A03</Name>
<BitSize>48</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>Status</Name>
<Type>UDINT</Type> <Type>UDINT</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
@@ -238,15 +262,15 @@
<DataType> <DataType>
<Name>DT1C13ARR</Name> <Name>DT1C13ARR</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>DT1C13</Name> <Name>DT1C13</Name>
<BitSize>64</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -260,7 +284,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C13ARR</Type> <Type>DT1C13ARR</Type>
<BitSize>48</BitSize> <BitSize>64</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -436,7 +460,7 @@
</Object> </Object>
<Object> <Object>
<Index>#x1A01</Index> <Index>#x1A01</Index>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<Type>DT1A01</Type> <Type>DT1A01</Type>
<BitSize>48</BitSize> <BitSize>48</BitSize>
<Info> <Info>
@@ -447,7 +471,7 @@
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<Info> <Info>
<DefaultValue>#x60010020</DefaultValue> <DefaultValue>#x60010020</DefaultValue>
</Info> </Info>
@@ -459,7 +483,7 @@
</Object> </Object>
<Object> <Object>
<Index>#x1A02</Index> <Index>#x1A02</Index>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<Type>DT1A02</Type> <Type>DT1A02</Type>
<BitSize>48</BitSize> <BitSize>48</BitSize>
<Info> <Info>
@@ -470,7 +494,7 @@
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<Info> <Info>
<DefaultValue>#x60020020</DefaultValue> <DefaultValue>#x60020020</DefaultValue>
</Info> </Info>
@@ -480,6 +504,29 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1A03</Index>
<Name>Status</Name>
<Type>DT1A03</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Status</Name>
<Info>
<DefaultValue>#x60030008</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>
@@ -548,12 +595,12 @@
<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>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>
@@ -574,6 +621,12 @@
<DefaultValue>#x1A02</DefaultValue> <DefaultValue>#x1A02</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A03</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -581,7 +634,7 @@
</Object> </Object>
<Object> <Object>
<Index>#x2000</Index> <Index>#x2000</Index>
<Name>VoltageScale</Name> <Name>Scale</Name>
<Type>REAL</Type> <Type>REAL</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<Info> <Info>
@@ -591,6 +644,18 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x2001</Index>
<Name>Offset</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x6000</Index> <Index>#x6000</Index>
<Name>Input12</Name> <Name>Input12</Name>
@@ -606,8 +671,8 @@
</Object> </Object>
<Object> <Object>
<Index>#x6001</Index> <Index>#x6001</Index>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<Type>REAL</Type> <Type>DINT</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
@@ -619,7 +684,7 @@
</Object> </Object>
<Object> <Object>
<Index>#x6002</Index> <Index>#x6002</Index>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<Type>REAL</Type> <Type>REAL</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<Info> <Info>
@@ -630,6 +695,19 @@
<PdoMapping>T</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x6003</Index>
<Name>Status</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object> <Object>
<Index>#x7000</Index> <Index>#x7000</Index>
<Name>Output4</Name> <Name>Output4</Name>
@@ -677,26 +755,37 @@
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A01</Index> <Index>#x1A01</Index>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<Entry> <Entry>
<Index>#x6001</Index> <Index>#x6001</Index>
<SubIndex>#x0</SubIndex> <SubIndex>#x0</SubIndex>
<BitLen>32</BitLen> <BitLen>32</BitLen>
<Name>ArcVoltage</Name> <Name>RawData</Name>
<DataType>REAL</DataType> <DataType>DINT</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A02</Index> <Index>#x1A02</Index>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<Entry> <Entry>
<Index>#x6002</Index> <Index>#x6002</Index>
<SubIndex>#x0</SubIndex> <SubIndex>#x0</SubIndex>
<BitLen>32</BitLen> <BitLen>32</BitLen>
<Name>Voltage</Name> <Name>CalculatedVoltage</Name>
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A03</Index>
<Name>Status</Name>
<Entry>
<Index>#x6003</Index>
<SubIndex>#x0</SubIndex>
<BitLen>8</BitLen>
<Name>Status</Name>
<DataType>USINT</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
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -34,7 +34,7 @@
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 1 #define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM3 3 #define MAX_MAPPINGS_SM3 4
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512

34
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/esi.json
View File

@@ -36,12 +36,21 @@
"sdo": { "sdo": {
"2000": { "2000": {
"otype": "VAR", "otype": "VAR",
"name": "VoltageScale", "name": "Scale",
"access": "RO", "access": "RO",
"dtype": "REAL32", "dtype": "REAL32",
"value": "1", "value": "1",
"isSDOitem": true, "isSDOitem": true,
"data": "&Obj.VoltageScale" "data": "&Obj.Scale"
},
"2001": {
"otype": "VAR",
"name": "Offset",
"access": "RO",
"dtype": "REAL32",
"value": "0",
"isSDOitem": true,
"data": "&Obj.Offset"
}, },
"A": { "A": {
"otype": "RECORD", "otype": "RECORD",
@@ -83,25 +92,36 @@
}, },
"6001": { "6001": {
"otype": "VAR", "otype": "VAR",
"name": "ArcVoltage", "name": "RawData",
"access": "RO", "access": "RO",
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL32", "dtype": "INTEGER32",
"value": "0", "value": "0",
"data": "&Obj.ArcVoltage" "data": "&Obj.RawData"
}, },
"6002": { "6002": {
"otype": "VAR", "otype": "VAR",
"name": "Voltage", "name": "CalculatedVoltage",
"access": "RO", "access": "RO",
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL32", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.Voltage" "data": "&Obj.CalculatedVoltage"
},
"6003": {
"otype": "VAR",
"name": "Status",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Status"
} }
}, },
"rxpdo": { "rxpdo": {

47
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/objectlist.c
View File

@@ -19,12 +19,15 @@ static const char acName1600_01[] = "Output4";
static const char acName1A00[] = "Input12"; static const char acName1A00[] = "Input12";
static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Input12"; static const char acName1A00_01[] = "Input12";
static const char acName1A01[] = "ArcVoltage"; static const char acName1A01[] = "RawData";
static const char acName1A01_00[] = "Max SubIndex"; static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "ArcVoltage"; static const char acName1A01_01[] = "RawData";
static const char acName1A02[] = "Voltage"; static const char acName1A02[] = "CalculatedVoltage";
static const char acName1A02_00[] = "Max SubIndex"; static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Voltage"; static const char acName1A02_01[] = "CalculatedVoltage";
static const char acName1A03[] = "Status";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "Status";
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";
@@ -39,10 +42,13 @@ static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping"; static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping"; static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping"; static const char acName1C13_03[] = "PDO Mapping";
static const char acName2000[] = "VoltageScale"; static const char acName1C13_04[] = "PDO Mapping";
static const char acName2000[] = "Scale";
static const char acName2001[] = "Offset";
static const char acName6000[] = "Input12"; static const char acName6000[] = "Input12";
static const char acName6001[] = "ArcVoltage"; static const char acName6001[] = "RawData";
static const char acName6002[] = "Voltage"; static const char acName6002[] = "CalculatedVoltage";
static const char acName6003[] = "Status";
static const char acName7000[] = "Output4"; static const char acName7000[] = "Output4";
const _objd SDO1000[] = const _objd SDO1000[] =
@@ -89,6 +95,11 @@ const _objd SDO1A02[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
}; };
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030008, 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},
@@ -104,14 +115,19 @@ const _objd SDO1C12[] =
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 3, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 4, 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},
}; };
const _objd SDO2000[] = const _objd SDO2000[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x3f800000, &Obj.VoltageScale}, {0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x3f800000, &Obj.Scale},
};
const _objd SDO2001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2001, 0x00000000, &Obj.Offset},
}; };
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
@@ -119,11 +135,15 @@ const _objd SDO6000[] =
}; };
const _objd SDO6001[] = const _objd SDO6001[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.ArcVoltage}, {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.RawData},
}; };
const _objd SDO6002[] = const _objd SDO6002[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.Voltage}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.CalculatedVoltage},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.Status},
}; };
const _objd SDO7000[] = const _objd SDO7000[] =
{ {
@@ -141,13 +161,16 @@ const _objectlist SDOobjects[] =
{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},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 3, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000}, {0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
{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},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000}, {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

8
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi/utypes.h
View File

@@ -14,8 +14,9 @@ typedef struct
/* Inputs */ /* Inputs */
int32_t Input12; int32_t Input12;
float ArcVoltage; int32_t RawData;
float Voltage; float CalculatedVoltage;
uint8_t Status;
/* Outputs */ /* Outputs */
@@ -23,7 +24,8 @@ typedef struct
/* Parameters */ /* Parameters */
float VoltageScale; float Scale;
float Offset;
} _Objects; } _Objects;
extern _Objects Obj; extern _Objects Obj;

4
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/platformio.ini
View File

@@ -15,10 +15,10 @@ board = genericSTM32F407VGT6
upload_protocol = stlink upload_protocol = stlink
debug_tool = stlink debug_tool = stlink
debug_build_flags = -O0 -g -ggdb debug_build_flags = -O0 -g -ggdb
monitor_port = COM15 monitor_port = COM17
monitor_filters = send_on_enter, time, colorize, log2file monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200 monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment -DNOECAT build_flags = -Wl,--no-warn-rwx-segment -DECAT
lib_deps = lib_deps =
SPI SPI
robtillaart/ADS1X15@^0.5.1 robtillaart/ADS1X15@^0.5.1

113
Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src/main.cpp
View File

@@ -19,8 +19,9 @@ uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
#include "Wire.h" #include "Wire.h"
TwoWire Wire2(PB11, PB10); TwoWire Wire2(PB11, PB10);
#include "ADS1X15.h" #include "MyMCP3221.h"
ADS1115 ADS(0x48, &Wire2); MyMCP3221 mcp3221_0(0x48, &Wire2);
MyMCP3221 mcp3221_7(0x4f, &Wire2);
#define bitset(byte, nbit) ((byte) |= (1 << (nbit))) #define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit))) #define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
@@ -38,15 +39,27 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
static float validData0 = 0.0, validVoltage0 = 0.0;
for (int i = 0; i < sizeof(inputPin); i++) for (int i = 0; i < sizeof(inputPin); i++)
Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i); Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
float scale = Obj.VoltageScale; float scale = Obj.Scale;
if (scale == 0.0) if (scale == 0.0)
scale = 1.0; scale = 1.0;
float ADCvoltage = ADS.toVoltage(ADS.getValue()); int data0 = mcp3221_0.getData();
Obj.ArcVoltage = scale * ADCvoltage; // * ADCvoltage; // Scaled voltage, to give Plasma arc voltage if ((Obj.Status = mcp3221_0.ping()) == 0)
Obj.Voltage = ADCvoltage; // Raw voltage, read by ADC { // Read good value
Obj.CalculatedVoltage = scale * data0 + Obj.Offset; //
Obj.RawData = data0; // Raw voltage, read by ADC
validVoltage0 = Obj.CalculatedVoltage;
validData0 = data0;
}
else
{ // Didn't read a good value. Return a hopefully useful value and restart the I2C bus
Obj.CalculatedVoltage = validVoltage0; // Use value from previous call
Obj.RawData = validData0;
// Reset wire here
}
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -98,33 +111,10 @@ void setup(void)
digitalWrite(PB6, HIGH); digitalWrite(PB6, HIGH);
digitalWrite(PB7, HIGH); digitalWrite(PB7, HIGH);
#endif #endif
#if 1
// SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
//
// SPDX-License-Identifier: MIT
// --------------------------------------
// i2c_scanner
//
// Modified from https://playground.arduino.cc/Main/I2cScanner/
// --------------------------------------
Wire2.begin(); Wire2.begin();
Wire2.setClock(400000);
Serial1.begin(115200);
while (!Serial)
delay(10);
Serial1.println("\nI2C Scanner");
#else
Wire2.begin();
ADS.begin();
ADS.setGain(0); // 0 = 6.144 volt, 1 = 4.096 V
ADS.setDataRate(7); // 0 = slow 4 = medium 7 = fast
ADS.setMode(0); // continuous mode
ADS.setWireClock(400000UL); // 400 kHz
ADS.readADC(0); // first read to trigger settings
#endif
#ifdef ECAT #ifdef ECAT
ecat_slv_init(&config); ecat_slv_init(&config);
#endif #endif
@@ -146,63 +136,16 @@ void loop(void)
if (dTime > 5000) // Not doing interrupts - handle free-run if (dTime > 5000) // Not doing interrupts - handle free-run
ecat_slv(); ecat_slv();
#else #else
#if 1
byte error, address;
int nDevices;
Serial1.println("Scanning..."); Serial1.println("\nI2C Scanner");
Serial1.printf("Ping0=%d\n", mcp3221_0.ping());
nDevices = 0; Serial1.printf("Ping7=%d\n", mcp3221_7.ping());
for (address = 1; address < 127; address++) int16_t res0 = mcp3221_0.getData();
{ int16_t v0 = (res0 * 5027 * 39) / 4096;
// The i2c_scanner uses the return value of Serial1.printf("Voltage_0: %d Voltage_7: %d\n", v0, res0);
// the Write.endTransmisstion to see if delay(1000);
// a device did acknowledge to the address.
Wire2.beginTransmission(address);
error = Wire2.endTransmission();
if (error == 0)
{
Serial1.print("I2C device found at address 0x");
if (address < 16)
Serial1.print("0");
Serial1.print(address, HEX);
Serial1.println(" !");
nDevices++;
}
else if (error == 4)
{
Serial1.print("Unknown error at address 0x");
if (address < 16)
Serial1.print("0");
Serial1.println(address, HEX);
}
}
if (nDevices == 0)
Serial1.println("No I2C devices found\n");
else
Serial1.println("done\n");
delay(5000); // wait 5 seconds for next scan
#else
Serial1.print("TIC ");
int tot = 0;
uint32_t before = millis();
for (int i = 0; i < 10000; i++)
{
int16_t raw = ADS.getValue();
tot += raw;
}
uint32_t after = millis();
int16_t value = ADS.getValue();
float fval = ADS.toVoltage(value);
Serial1.printf("Time för 10000=%d värdet=", after - before);
Serial1.println(fval);
#endif
#endif #endif
} }
void sync0Handler(void) void sync0Handler(void)

6
Cards/THTIC/Kicad/THTIC.kicad_sch
View File

@@ -4087,7 +4087,7 @@
) )
(uuid "df56f7ac-826c-40a4-abc7-ebd3b2b28cb4") (uuid "df56f7ac-826c-40a4-abc7-ebd3b2b28cb4")
) )
(text "Typisk Varc=100V\nMätområde 0-200V\nOp-amp in 0-5V\nR1=(200/2.5-1)*R0\nR1=79*R0\nFinns inte så gott om\nmotstånd som tål över 200V,\nvälj 100k 2512 som tål 500V.\nR0 = 100k/79 = 1k266\nvälj 1k27" (text "Typisk Varc=100V\nMätområde 0-200V\nOp-amp in 0-5V\nR1=(100/2.5-1)*R0\nR1=39*R0\nFinns inte så gott om\nmotstånd som tål över 200V,\nvälj 100k 2512 som tål 500V.\nR0 = 100k/39 = 2.56\nvälj 2k7"
(exclude_from_sim no) (exclude_from_sim no)
(at 17.018 41.148 0) (at 17.018 41.148 0)
(effects (effects
@@ -4203,7 +4203,7 @@
) )
) )
) )
(property "Value" "1k27" (property "Value" "2k7"
(at 52.324 82.296 90) (at 52.324 82.296 90)
(effects (effects
(font (font
@@ -4408,7 +4408,7 @@
) )
) )
) )
(property "Value" "1k27" (property "Value" "2k7"
(at 51.054 126.746 90) (at 51.054 126.746 90)
(effects (effects
(font (font