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Lowpass filter of voltage now in client

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This commit is contained in:
Hakan Bastedt
2025-03-13 23:40:22 +01:00
parent ca4248ce2d
commit fe24b8f4a3
8 changed files with 397 additions and 146 deletions
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178
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/c_cpp_properties.json vendored
View File

@@ -8,104 +8,102 @@
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/src",
"" ""
], ],
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"path": [ "path": [
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/src", "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/src",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221", "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi", "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes", "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221",
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/ADS1X15", "/mnt/server/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/ADS1X15",
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Servo/src", "/home/debian/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src", "/home/debian/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src", "/home/debian/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src", "/home/debian/.platformio/packages/framework-arduinoststm32/libraries/USBDevice/src",
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/USBDevice/src", "/home/debian/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/src",
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/src",
"" ""
] ]
}, },
"defines": [ "defines": [
"PLATFORMIO=60117", "PLATFORMIO=60118",
"STM32F407xx", "STM32F407xx",
"STM32F4", "STM32F4",
"ECAT", "ECAT",
@@ -124,7 +122,7 @@
], ],
"cStandard": "gnu17", "cStandard": "gnu17",
"cppStandard": "gnu++17", "cppStandard": "gnu++17",
"compilerPath": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc.exe", "compilerPath": "/home/debian/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc",
"compilerArgs": [ "compilerArgs": [
"-mcpu=cortex-m4", "-mcpu=cortex-m4",
"-mthumb", "-mthumb",

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

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

240
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
View File

@@ -147,6 +147,30 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1603</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>LowPassFilterThresholdVoltage</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1A00</Name> <Name>DT1A00</Name>
<BitSize>48</BitSize> <BitSize>48</BitSize>
@@ -243,6 +267,30 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1A04</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>LowpassFilteredVoltage</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1C00ARR</Name> <Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType> <BaseType>USINT</BaseType>
@@ -278,38 +326,6 @@
<DataType> <DataType>
<Name>DT1C12ARR</Name> <Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>48</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>3</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>64</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>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>48</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>64</BitSize> <BitSize>64</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
@@ -317,7 +333,7 @@
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C13</Name> <Name>DT1C12</Name>
<BitSize>80</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
@@ -331,7 +347,7 @@
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C13ARR</Type> <Type>DT1C12ARR</Type>
<BitSize>64</BitSize> <BitSize>64</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
@@ -339,6 +355,38 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>80</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>5</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>96</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>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>80</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>UDINT</Name> <Name>UDINT</Name>
<BitSize>32</BitSize> <BitSize>32</BitSize>
@@ -525,6 +573,28 @@
<Flags> <Flags>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1603</Index>
<Name>LowPassFilterThresholdVoltage</Name>
<Type>DT1603</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LowPassFilterThresholdVoltage</Name>
<Info>
<DefaultValue>#x70030020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object> <Object>
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>Input12</Name> <Name>Input12</Name>
@@ -613,6 +683,28 @@
<Flags> <Flags>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1A04</Index>
<Name>LowpassFilteredVoltage</Name>
<Type>DT1A04</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LowpassFilteredVoltage</Name>
<Info>
<DefaultValue>#x60040020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object> <Object>
<Index>#x1C00</Index> <Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name> <Name>Sync Manager Communication Type</Name>
@@ -657,12 +749,12 @@
<Index>#x1C12</Index> <Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name> <Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type> <Type>DT1C12</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>
@@ -683,6 +775,12 @@
<DefaultValue>#x1602</DefaultValue> <DefaultValue>#x1602</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1603</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
</Flags> </Flags>
@@ -691,12 +789,12 @@
<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>80</BitSize> <BitSize>96</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>4</DefaultValue> <DefaultValue>5</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -723,6 +821,12 @@
<DefaultValue>#x1A03</DefaultValue> <DefaultValue>#x1A03</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A04</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
</Flags> </Flags>
@@ -751,6 +855,18 @@
<Access>rw</Access> <Access>rw</Access>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x2002</Index>
<Name>LowpassFilterPoleFrequency</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>rw</Access>
</Flags>
</Object>
<Object> <Object>
<Index>#x6000</Index> <Index>#x6000</Index>
<Name>Input12</Name> <Name>Input12</Name>
@@ -803,6 +919,19 @@
<PdoMapping>T</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x6004</Index>
<Name>LowpassFilteredVoltage</Name>
<Type>REAL</Type>
<BitSize>32</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>
@@ -842,6 +971,19 @@
<PdoMapping>R</PdoMapping> <PdoMapping>R</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x7003</Index>
<Name>LowPassFilterThresholdVoltage</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects> </Objects>
</Dictionary> </Dictionary>
</Profile> </Profile>
@@ -885,6 +1027,17 @@
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1603</Index>
<Name>LowPassFilterThresholdVoltage</Name>
<Entry>
<Index>#x7003</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>LowPassFilterThresholdVoltage</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3"> <TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index> <Index>#x1A00</Index>
<Name>Input12</Name> <Name>Input12</Name>
@@ -929,6 +1082,17 @@
<DataType>USINT</DataType> <DataType>USINT</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A04</Index>
<Name>LowpassFilteredVoltage</Name>
<Entry>
<Index>#x6004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>LowpassFilteredVoltage</Name>
<DataType>REAL</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>

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_smc 0x20
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 3 #define MAX_MAPPINGS_SM2 4
#define MAX_MAPPINGS_SM3 4 #define MAX_MAPPINGS_SM3 5
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512

31
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/esi.json
View File

@@ -52,6 +52,15 @@
"isSDOitem": true, "isSDOitem": true,
"data": "&Obj.I2C_address" "data": "&Obj.I2C_address"
}, },
"2002": {
"otype": "VAR",
"name": "LowpassFilterPoleFrequency",
"access": "RW",
"dtype": "UNSIGNED32",
"value": "0",
"isSDOitem": true,
"data": "&Obj.LowpassFilterPoleFrequency"
},
"A": { "A": {
"otype": "RECORD", "otype": "RECORD",
"name": "Error Settings", "name": "Error Settings",
@@ -122,6 +131,17 @@
"dtype": "UNSIGNED8", "dtype": "UNSIGNED8",
"value": "0", "value": "0",
"data": "&Obj.Status" "data": "&Obj.Status"
},
"6004": {
"otype": "VAR",
"name": "LowpassFilteredVoltage",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.LowpassFilteredVoltage"
} }
}, },
"rxpdo": { "rxpdo": {
@@ -158,6 +178,17 @@
"value": "0", "value": "0",
"data": "&Obj.VoltageOffset" "data": "&Obj.VoltageOffset"
}, },
"7003": {
"otype": "VAR",
"name": "LowPassFilterThresholdVoltage",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.LowPassFilterThresholdVoltage"
},
"60664": { "60664": {
"otype": "VAR", "otype": "VAR",
"name": "ActualPosition", "name": "ActualPosition",

48
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/objectlist.c
View File

@@ -22,6 +22,9 @@ static const char acName1601_01[] = "VoltageScale";
static const char acName1602[] = "VoltageOffset"; static const char acName1602[] = "VoltageOffset";
static const char acName1602_00[] = "Max SubIndex"; static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "VoltageOffset"; 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 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";
@@ -34,6 +37,9 @@ static const char acName1A02_01[] = "CalculatedVoltage";
static const char acName1A03[] = "Status"; static const char acName1A03[] = "Status";
static const char acName1A03_00[] = "Max SubIndex"; static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "Status"; 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 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";
@@ -45,21 +51,26 @@ static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping"; static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping"; static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping"; static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment"; static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex"; 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 acName1C13_04[] = "PDO Mapping"; static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName2000[] = "I2C_devicetype"; static const char acName2000[] = "I2C_devicetype";
static const char acName2001[] = "I2C_address"; static const char acName2001[] = "I2C_address";
static const char acName2002[] = "LowpassFilterPoleFrequency";
static const char acName6000[] = "Input12"; static const char acName6000[] = "Input12";
static const char acName6001[] = "RawData"; static const char acName6001[] = "RawData";
static const char acName6002[] = "CalculatedVoltage"; static const char acName6002[] = "CalculatedVoltage";
static const char acName6003[] = "Status"; static const char acName6003[] = "Status";
static const char acName6004[] = "LowpassFilteredVoltage";
static const char acName7000[] = "Output4"; static const char acName7000[] = "Output4";
static const char acName7001[] = "VoltageScale"; static const char acName7001[] = "VoltageScale";
static const char acName7002[] = "VoltageOffset"; static const char acName7002[] = "VoltageOffset";
static const char acName7003[] = "LowPassFilterThresholdVoltage";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
@@ -100,6 +111,11 @@ const _objd SDO1602[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
}; };
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 SDO1A00[] = const _objd SDO1A00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -120,6 +136,11 @@ const _objd SDO1A03[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030008, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030008, NULL},
}; };
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 SDO1C00[] = const _objd SDO1C00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -130,18 +151,20 @@ const _objd SDO1C00[] =
}; };
const _objd SDO1C12[] = const _objd SDO1C12[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
}; };
const _objd SDO1C13[] = const _objd SDO1C13[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, 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}, {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
}; };
const _objd SDO2000[] = const _objd SDO2000[] =
{ {
@@ -151,6 +174,10 @@ const _objd SDO2001[] =
{ {
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RW, acName2001, 0, &Obj.I2C_address}, {0x0, DTYPE_UNSIGNED8, 8, ATYPE_RW, acName2001, 0, &Obj.I2C_address},
}; };
const _objd SDO2002[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName2002, 0, &Obj.LowpassFilterPoleFrequency},
};
const _objd SDO6000[] = const _objd SDO6000[] =
{ {
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12}, {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12},
@@ -167,6 +194,10 @@ const _objd SDO6003[] =
{ {
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.Status}, {0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.Status},
}; };
const _objd SDO6004[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0x00000000, &Obj.LowpassFilteredVoltage},
};
const _objd SDO7000[] = const _objd SDO7000[] =
{ {
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4}, {0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
@@ -179,6 +210,10 @@ const _objd SDO7002[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.VoltageOffset}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.VoltageOffset},
}; };
const _objd SDO7003[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7003, 0x00000000, &Obj.LowPassFilterThresholdVoltage},
};
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
{ {
@@ -190,21 +225,26 @@ const _objectlist SDOobjects[] =
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600}, {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602}, {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{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}, {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000}, {0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001}, {0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
{0x2002, OTYPE_VAR, 0, 0, acName2002, SDO2002},
{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}, {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000}, {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002}, {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

3
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/utypes.h
View File

@@ -17,17 +17,20 @@ typedef struct
int32_t RawData; int32_t RawData;
float CalculatedVoltage; float CalculatedVoltage;
uint8_t Status; uint8_t Status;
float LowpassFilteredVoltage;
/* Outputs */ /* Outputs */
uint8_t Output4; uint8_t Output4;
float VoltageScale; float VoltageScale;
float VoltageOffset; float VoltageOffset;
float LowPassFilterThresholdVoltage;
/* Parameters */ /* Parameters */
uint8_t I2C_devicetype; uint8_t I2C_devicetype;
uint8_t I2C_address; uint8_t I2C_address;
uint32_t LowpassFilterPoleFrequency;
} _Objects; } _Objects;
extern _Objects Obj; extern _Objects Obj;

21
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
View File

@@ -46,6 +46,7 @@ void ads1014_reset()
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit))) #define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
extern "C" uint32_t ESC_SYNC0cycletime(void);
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
{ {
@@ -54,6 +55,9 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW); digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
} }
float oldLowPassGain = 0;
uint32_t oldLowpassFilterPoleFrequency = 0;
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; static float validData0 = 0.0, validVoltage0 = 0.0;
@@ -113,7 +117,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
ads1014_reset(); ads1014_reset();
old_I2Cdevice = ADS1014_TYPE; old_I2Cdevice = ADS1014_TYPE;
} }
data0 = ads1014->getValue(); data0 = ads1014->getValue();
stat = ads1014->isConnected() == 1 ? 0 : 1; stat = ads1014->isConnected() == 1 ? 0 : 1;
break; break;
default: // Not supported default: // Not supported
@@ -141,6 +145,19 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
// mcp3221 has no reset, reset the I2C bus is the best we can do // mcp3221 has no reset, reset the I2C bus is the best we can do
} }
Obj.Status = I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are number of restarts (restart attempts) Obj.Status = I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are number of restarts (restart attempts)
// Low pass filter. See lowpass in linuxcnc doc
float gain = oldLowPassGain;
if (oldLowpassFilterPoleFrequency != Obj.LowpassFilterPoleFrequency)
{
gain = 1 - expf(-2.0 * M_PI * Obj.LowpassFilterPoleFrequency * 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;
} }
void ESC_interrupt_enable(uint32_t mask); void ESC_interrupt_enable(uint32_t mask);
@@ -320,8 +337,6 @@ void ESC_interrupt_disable(uint32_t mask)
} }
} }
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC // Setup of DC
uint16_t dc_checker(void) uint16_t dc_checker(void)
{ {