Updated eeprom

Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json

@@ -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",
+        "value": "0",
-        "data": "&Obj.MaxAcceleration4"
+        "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"
       }
     }
   },

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

@@ -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[] =
 {

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

@@ -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;