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Hakan Bastedt
2025-06-02 14:45:01 +02:00
parent eb1d76ad3f
commit e4c3f14809
12 changed files with 2104 additions and 321 deletions
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176
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/c_cpp_properties.json vendored
View File

@@ -8,97 +8,99 @@
{
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
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""
],
"browse": {
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"path": [
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""
]
},
@@ -122,7 +124,7 @@
],
"cStandard": "gnu17",
"cppStandard": "gnu++17",
"compilerPath": "/home/debian/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc",
"compilerPath": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc.exe",
"compilerArgs": [
"-mcpu=cortex-m4",
"-mthumb",

18
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/launch.json vendored
View File

@@ -12,11 +12,11 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"projectEnvName": "genericSTM32F407VGT6",
"toolchainBinDir": "/home/debian/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"internalConsoleOptions": "openOnSessionStart",
"svdPath": "/home/debian/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
"preLaunchTask": {
"type": "PlatformIO",
"task": "Pre-Debug"
@@ -26,21 +26,21 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"projectEnvName": "genericSTM32F407VGT6",
"toolchainBinDir": "/home/debian/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"internalConsoleOptions": "openOnSessionStart",
"svdPath": "/home/debian/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd"
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (without uploading)",
"executable": "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
"projectEnvName": "genericSTM32F407VGT6",
"toolchainBinDir": "/home/debian/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
"internalConsoleOptions": "openOnSessionStart",
"svdPath": "/home/debian/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
"loadMode": "manual"
}
]

328
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
View File

@@ -171,6 +171,78 @@
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<Name>EnableOhmicSensing</Name>
<Type>UDINT</Type>
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<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>OhmicSensingVoltageLimit</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
@@ -291,6 +363,30 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A05</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>OhmicSensingSensed</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
@@ -326,15 +422,15 @@
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>64</BitSize>
<BitSize>112</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
<Elements>7</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>80</BitSize>
<BitSize>128</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -348,7 +444,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>64</BitSize>
<BitSize>112</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -358,15 +454,15 @@
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>5</Elements>
<Elements>6</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>96</BitSize>
<BitSize>112</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -380,7 +476,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -595,6 +691,72 @@
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1604</Index>
<Name>EnableOhmicSensing</Name>
<Type>DT1604</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>EnableOhmicSensing</Name>
<Info>
<DefaultValue>#x70040008</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1605</Index>
<Name>OhmicSensingSetupTime</Name>
<Type>DT1605</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>OhmicSensingSetupTime</Name>
<Info>
<DefaultValue>#x70050020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1606</Index>
<Name>OhmicSensingVoltageLimit</Name>
<Type>DT1606</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>OhmicSensingVoltageLimit</Name>
<Info>
<DefaultValue>#x70060020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>Input12</Name>
@@ -705,6 +867,28 @@
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A05</Index>
<Name>OhmicSensingSensed</Name>
<Type>DT1A05</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>OhmicSensingSensed</Name>
<Info>
<DefaultValue>#x60050008</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
@@ -749,12 +933,12 @@
<Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type>
<BitSize>80</BitSize>
<BitSize>128</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
<DefaultValue>7</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -781,6 +965,24 @@
<DefaultValue>#x1603</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1604</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1605</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1606</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
@@ -789,12 +991,12 @@
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>96</BitSize>
<BitSize>112</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>5</DefaultValue>
<DefaultValue>6</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -827,6 +1029,12 @@
<DefaultValue>#x1A04</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A05</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
@@ -932,6 +1140,19 @@
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6005</Index>
<Name>OhmicSensingSensed</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>Output4</Name>
@@ -984,6 +1205,45 @@
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7004</Index>
<Name>EnableOhmicSensing</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7005</Index>
<Name>OhmicSensingSetupTime</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7006</Index>
<Name>OhmicSensingVoltageLimit</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
@@ -1038,6 +1298,39 @@
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1604</Index>
<Name>EnableOhmicSensing</Name>
<Entry>
<Index>#x7004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>8</BitLen>
<Name>EnableOhmicSensing</Name>
<DataType>USINT</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1605</Index>
<Name>OhmicSensingSetupTime</Name>
<Entry>
<Index>#x7005</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>OhmicSensingSetupTime</Name>
<DataType>UDINT</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1606</Index>
<Name>OhmicSensingVoltageLimit</Name>
<Entry>
<Index>#x7006</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>OhmicSensingVoltageLimit</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>Input12</Name>
@@ -1093,6 +1386,17 @@
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A05</Index>
<Name>OhmicSensingSensed</Name>
<Entry>
<Index>#x6005</Index>
<SubIndex>#x0</SubIndex>
<BitLen>8</BitLen>
<Name>OhmicSensingSensed</Name>
<DataType>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox>

4
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -33,8 +33,8 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 4
#define MAX_MAPPINGS_SM3 5
#define MAX_MAPPINGS_SM2 7
#define MAX_MAPPINGS_SM3 6
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512

44
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/esi.json
View File

@@ -142,6 +142,17 @@
"dtype": "REAL32",
"value": "0",
"data": "&Obj.LowpassFilteredVoltage"
},
"6005": {
"otype": "VAR",
"name": "OhmicSensingSensed",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.OhmicSensingSensed"
}
},
"rxpdo": {
@@ -189,6 +200,39 @@
"value": "0",
"data": "&Obj.LowPassFilterThresholdVoltage"
},
"7004": {
"otype": "VAR",
"name": "EnableOhmicSensing",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.EnableOhmicSensing"
},
"7005": {
"otype": "VAR",
"name": "OhmicSensingSetupTime",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.OhmicSensingSetupTime"
},
"7006": {
"otype": "VAR",
"name": "OhmicSensingVoltageLimit",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.OhmicSensingVoltageLimit"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",

76
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/objectlist.c
View File

@@ -25,6 +25,15 @@ static const char acName1602_01[] = "VoltageOffset";
static const char acName1603[] = "LowPassFilterThresholdVoltage";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "LowPassFilterThresholdVoltage";
static const char acName1604[] = "EnableOhmicSensing";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "EnableOhmicSensing";
static const char acName1605[] = "OhmicSensingSetupTime";
static const char acName1605_00[] = "Max SubIndex";
static const char acName1605_01[] = "OhmicSensingSetupTime";
static const char acName1606[] = "OhmicSensingVoltageLimit";
static const char acName1606_00[] = "Max SubIndex";
static const char acName1606_01[] = "OhmicSensingVoltageLimit";
static const char acName1A00[] = "Input12";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Input12";
@@ -40,6 +49,9 @@ static const char acName1A03_01[] = "Status";
static const char acName1A04[] = "LowpassFilteredVoltage";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "LowpassFilteredVoltage";
static const char acName1A05[] = "OhmicSensingSensed";
static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "OhmicSensingSensed";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@@ -52,6 +64,9 @@ 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 acName1C12_06[] = "PDO Mapping";
static const char acName1C12_07[] = "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";
@@ -59,6 +74,7 @@ static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping";
static const char acName2000[] = "I2C_devicetype";
static const char acName2001[] = "I2C_address";
static const char acName2002[] = "LowpassFilterPoleFrequency";
@@ -67,10 +83,14 @@ static const char acName6001[] = "RawData";
static const char acName6002[] = "CalculatedVoltage";
static const char acName6003[] = "Status";
static const char acName6004[] = "LowpassFilteredVoltage";
static const char acName6005[] = "OhmicSensingSensed";
static const char acName7000[] = "Output4";
static const char acName7001[] = "VoltageScale";
static const char acName7002[] = "VoltageOffset";
static const char acName7003[] = "LowPassFilterThresholdVoltage";
static const char acName7004[] = "EnableOhmicSensing";
static const char acName7005[] = "OhmicSensingSetupTime";
static const char acName7006[] = "OhmicSensingVoltageLimit";
const _objd SDO1000[] =
{
@@ -116,6 +136,21 @@ const _objd SDO1603[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030020, NULL},
};
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040008, NULL},
};
const _objd SDO1605[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1605_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_01, 0x70050020, NULL},
};
const _objd SDO1606[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1606_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1606_01, 0x70060020, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -141,6 +176,11 @@ const _objd SDO1A04[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
};
const _objd SDO1A05[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050008, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -151,20 +191,24 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 7, 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},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_06, 0x1605, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_07, 0x1606, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, 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},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
};
const _objd SDO2000[] =
{
@@ -198,6 +242,10 @@ const _objd SDO6004[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0x00000000, &Obj.LowpassFilteredVoltage},
};
const _objd SDO6005[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6005, 0, &Obj.OhmicSensingSensed},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
@@ -214,6 +262,18 @@ const _objd SDO7003[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7003, 0x00000000, &Obj.LowPassFilterThresholdVoltage},
};
const _objd SDO7004[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.EnableOhmicSensing},
};
const _objd SDO7005[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7005, 0, &Obj.OhmicSensingSetupTime},
};
const _objd SDO7006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0x00000000, &Obj.OhmicSensingVoltageLimit},
};
const _objectlist SDOobjects[] =
{
@@ -226,14 +286,18 @@ const _objectlist SDOobjects[] =
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
{0x1605, OTYPE_RECORD, 1, 0, acName1605, SDO1605},
{0x1606, OTYPE_RECORD, 1, 0, acName1606, SDO1606},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
{0x1C12, OTYPE_ARRAY, 7, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
{0x2002, OTYPE_VAR, 0, 0, acName2002, SDO2002},
@@ -242,9 +306,13 @@ const _objectlist SDOobjects[] =
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0x7005, OTYPE_VAR, 0, 0, acName7005, SDO7005},
{0x7006, OTYPE_VAR, 0, 0, acName7006, SDO7006},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

4
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/utypes.h
View File

@@ -18,6 +18,7 @@ typedef struct
float CalculatedVoltage;
uint8_t Status;
float LowpassFilteredVoltage;
uint8_t OhmicSensingSensed;
/* Outputs */
@@ -25,6 +26,9 @@ typedef struct
float VoltageScale;
float VoltageOffset;
float LowPassFilterThresholdVoltage;
uint8_t EnableOhmicSensing;
uint32_t OhmicSensingSetupTime;
float OhmicSensingVoltageLimit;
/* Parameters */

2
Cards/EaserCAT-7000-DIO+I2C/Firmware/platformio.ini
View File

@@ -15,7 +15,7 @@ board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
monitor_port = COM21
monitor_port = COM4
monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment -DECAT

25
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
View File

@@ -56,8 +56,11 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
}
float oldLowPassGain = 0;
float oldLowPassFilteredVoltage = 0;
uint32_t oldLowpassFilterPoleFrequency = 0;
uint32_t timeSinceOhmicSensingEnabled = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
static float validData0 = 0.0, validVoltage0 = 0.0;
@@ -150,14 +153,32 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
float gain = oldLowPassGain;
if (oldLowpassFilterPoleFrequency != Obj.LowpassFilterPoleFrequency)
{
gain = 1 - expf(-2.0 * M_PI * Obj.LowpassFilterPoleFrequency * 1.0e-9 * ESC_SYNC0cycletime());
gain = 1 - expf(-2.0 * M_PI * Obj.LowpassFilterPoleFrequency * 0.001 /*1.0e-9 * ESC_SYNC0cycletime()*/);
oldLowPassGain = gain;
oldLowpassFilterPoleFrequency = Obj.LowpassFilterPoleFrequency;
}
if (Obj.CalculatedVoltage < Obj.LowPassFilterThresholdVoltage)
Obj.LowpassFilteredVoltage = Obj.CalculatedVoltage; // Just forward
else
Obj.LowpassFilteredVoltage += (Obj.CalculatedVoltage - Obj.LowpassFilteredVoltage) * gain;
Obj.LowpassFilteredVoltage = oldLowPassFilteredVoltage + (Obj.CalculatedVoltage - oldLowPassFilteredVoltage) * gain;
oldLowPassFilteredVoltage = Obj.LowpassFilteredVoltage;
Obj.OhmicSensingSensed = 0;
if (Obj.EnableOhmicSensing && stat == 0)
{
timeSinceOhmicSensingEnabled++; // Lazy and just use iterations now.
if (timeSinceOhmicSensingEnabled >= Obj.OhmicSensingSetupTime) // Let's check
{ //
if (Obj.CalculatedVoltage < Obj.OhmicSensingVoltageLimit) // Limit hit, set output
{
Obj.OhmicSensingSensed = 1;
}
}
}
else
{
timeSinceOhmicSensingEnabled = 0;
}
}
void ESC_interrupt_enable(uint32_t mask);