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Test in lathe coming.

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This commit is contained in:
Hakan Bastedt
2024-03-03 17:02:04 +01:00
parent cbc45bc80b
commit e8ef618fcc
13 changed files with 472 additions and 671 deletions
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147
Firmware/lib/soes/esi.json
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@@ -57,7 +57,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL64",
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncPos"
},
@@ -68,7 +68,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL64",
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncFrequency"
},
@@ -79,7 +79,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"dtype": "UNSIGNED16",
"value": "0",
"data": "&Obj.DiffT"
},
@@ -106,44 +106,26 @@
"data": "&Obj.IndexStatus"
},
"6005": {
"otype": "RECORD",
"name": "StepGenOut1",
"otype": "VAR",
"name": "ActualPosition1",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenOut1.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [
"txpdo"
]
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition1"
},
"6006": {
"otype": "RECORD",
"name": "StepGenOut2",
"otype": "VAR",
"name": "ActualPosition2",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ActualPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenOut2.ActualPosition",
"value": "0",
"access": "RO"
}
],
"pdo_mappings": [
"txpdo"
]
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition2"
},
"6007": {
"otype": "VAR",
@@ -152,7 +134,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D1"
},
@@ -163,7 +145,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D2"
},
@@ -174,7 +156,7 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D3"
},
@@ -185,24 +167,13 @@
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.D4"
}
},
"rxpdo": {
"7000": {
"otype": "VAR",
"name": "EncPosScale",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.EncPosScale"
},
"7001": {
"otype": "VAR",
"name": "IndexLatchEnable",
"access": "RO",
@@ -213,59 +184,49 @@
"value": "0",
"data": "&Obj.IndexLatchEnable"
},
"7002": {
"otype": "RECORD",
"name": "StepGenIn1",
"7001": {
"otype": "VAR",
"name": "CommandedPosition1",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "CommandedPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenIn1.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn1.StepsPerMM"
}
],
"pdo_mappings": [
"rxpdo"
]
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition1"
},
"7002": {
"otype": "VAR",
"name": "CommandedPosition2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition2"
},
"7003": {
"otype": "RECORD",
"name": "StepGenIn2",
"otype": "VAR",
"name": "StepsPerMM1",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "CommandedPosition",
"dtype": "REAL64",
"data": "&Obj.StepGenIn2.CommandedPosition",
"value": "0",
"access": "RO"
},
{
"name": "StepsPerMM",
"dtype": "INTEGER16",
"value": "0",
"access": "RO",
"data": "&Obj.StepGenIn2.StepsPerMM"
}
],
"pdo_mappings": [
"rxpdo"
]
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM1"
},
"7004": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER16",
"value": "0",
"data": "&Obj.StepsPerMM2"
},
"60664": {
"otype": "VAR",