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Updated eeprom

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This commit is contained in:
Hakan Bastedt
2025-03-02 08:18:51 +01:00
parent 8130f407b9
commit f79ad7035e
3 changed files with 48 additions and 41 deletions
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64
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
View File

@@ -157,7 +157,7 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "1",
"value": "0",
"data": "&Obj.Scale"
},
"7001": {
@@ -223,7 +223,7 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "100",
"value": "0",
"data": "&Obj.StepsPerMM1"
},
"7007": {
@@ -234,7 +234,7 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "100",
"value": "0",
"data": "&Obj.StepsPerMM2"
},
"7008": {
@@ -245,7 +245,7 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "100",
"value": "0",
"data": "&Obj.StepsPerMM3"
},
"7009": {
@@ -256,7 +256,7 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "100",
"value": "0",
"data": "&Obj.StepsPerMM4"
},
"7010": {
@@ -291,16 +291,27 @@
"dtype": "INTEGER32",
"value": "0"
},
"700D": {
"700A": {
"otype": "VAR",
"name": "MaxAcceleration4",
"name": "MaxAcceleration1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration4"
"value": "0",
"data": "&Obj.MaxAcceleration1"
},
"700B": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration2"
},
"700C": {
"otype": "VAR",
@@ -310,9 +321,20 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"value": "0",
"data": "&Obj.MaxAcceleration3"
},
"700D": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration4"
},
"700E": {
"otype": "VAR",
"name": "Enable1",
@@ -334,28 +356,6 @@
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable2"
},
"700A": {
"otype": "VAR",
"name": "MaxAcceleration1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration1"
},
"700B": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration2"
}
}
},

18
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c
View File

@@ -374,7 +374,7 @@ const _objd SDO6006[] =
};
const _objd SDO7000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x3f800000, &Obj.Scale},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x00000000, &Obj.Scale},
};
const _objd SDO7001[] =
{
@@ -398,35 +398,35 @@ const _objd SDO7005[] =
};
const _objd SDO7006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0x42c80000, &Obj.StepsPerMM1},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0x00000000, &Obj.StepsPerMM1},
};
const _objd SDO7007[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0x42c80000, &Obj.StepsPerMM2},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0x00000000, &Obj.StepsPerMM2},
};
const _objd SDO7008[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0x42c80000, &Obj.StepsPerMM3},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0x00000000, &Obj.StepsPerMM3},
};
const _objd SDO7009[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0x42c80000, &Obj.StepsPerMM4},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0x00000000, &Obj.StepsPerMM4},
};
const _objd SDO700A[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x461c4000, &Obj.MaxAcceleration1},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x00000000, &Obj.MaxAcceleration1},
};
const _objd SDO700B[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700B, 0x461c4000, &Obj.MaxAcceleration2},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700B, 0x00000000, &Obj.MaxAcceleration2},
};
const _objd SDO700C[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700C, 0x461c4000, &Obj.MaxAcceleration3},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700C, 0x00000000, &Obj.MaxAcceleration3},
};
const _objd SDO700D[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700D, 0x461c4000, &Obj.MaxAcceleration4},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700D, 0x00000000, &Obj.MaxAcceleration4},
};
const _objd SDO700E[] =
{

7
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/StepGen3.cpp
View File

@@ -1107,6 +1107,7 @@ StepGen3::StepGen3(void)
dirPin[3] = PE4;
rtapi_app_main();
#if 0
stepgen_array[0].pos_scale = JOINT_1_SCALE; // Can and should be overriden by PDO values
stepgen_array[0].maxaccel = JOINT_1_STEPGEN_MAXACCEL;
stepgen_array[1].pos_scale = JOINT_2_SCALE;
@@ -1117,6 +1118,7 @@ StepGen3::StepGen3(void)
stepgen_array[3].maxaccel = JOINT_4_STEPGEN_MAXACCEL;
stepgen_array[0].enable = stepgen_array[1].enable =
stepgen_array[2].enable = stepgen_array[3].enable = 0; // Note that they are off by default
#endif
}
void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4,
@@ -1137,6 +1139,11 @@ void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3,
stepgen_array[1].maxaccel = max_acc2;
stepgen_array[2].maxaccel = max_acc3;
stepgen_array[3].maxaccel = max_acc4;
stepgen_array[0].enable = enable1;
stepgen_array[1].enable = enable2;
stepgen_array[2].enable = enable3;
stepgen_array[3].enable = enable4;
for (int i = 0; i < num_chan; i++)
{
stepgen_t *step;