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merge into: jeka:Video4
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jeka:main jeka:Video9 jeka:Video8 jeka:Video7 jeka:Video5 jeka:revert-3-Video6 jeka:Video6 jeka:Video4
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pull from: jeka:Video5
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jeka:main jeka:Video9 jeka:Video8 jeka:Video7 jeka:Video5 jeka:revert-3-Video6 jeka:Video6 jeka:Video4

42 Commits
Video4 ... Video5

Author SHA1 Message Date
Håkan Båstedt
ed0414b90a Merge pull request #4 from MetalMusings/revert-3-Video6 
Revert "Video6 uploaded"
 2024-01-06 22:22:33 +01:00
Håkan Båstedt
1d8adf2147 Revert "Video6 uploaded" 2024-01-06 22:22:12 +01:00
Håkan Båstedt
4c4aa7aab1 Merge pull request #3 from MetalMusings/Video6 
Video6 uploaded
 2024-01-06 22:12:33 +01:00
Hakan Bastedt
b242ec3315 Pending video release 2024-01-06 21:59:09 +01:00
Hakan Bastedt
f66c600dc7 Soon video release 2024-01-06 21:02:09 +01:00
Hakan Bastedt
9a41ccd2bc Added linuxcnc test config before video release 2024-01-06 20:54:15 +01:00
Hakan Bastedt
9dcc713fab Added a commandedVelocity variable for hal 2024-01-06 20:53:34 +01:00
Hakan Bastedt
ccde6ef15e definitely works better now with SM2 sync. handleStepper is back. 2024-01-05 21:37:55 +01:00
Hakan Bastedt
7e06b0ce68 ooops it was set to use DC sync, not the intention, SM2 sync was intended. Switch to SM2 sync 2024-01-05 21:33:06 +01:00
Hakan Bastedt
37d3ea6567 Solution was to NOT do the steps in the IRQ. Set a flag and do pulses outside of the irq. 2024-01-05 19:33:13 +01:00
Hakan Bastedt
ed168df64e It actually makes pulses at 1ms intervals here. Saving this moment. 2024-01-05 17:46:31 +01:00
Hakan Bastedt
1168f7e5ad Now it is occasionally updating correct 1 ms. wip. 2024-01-04 23:00:09 +01:00
Hakan Bastedt
93405efd63 Why is actualposition updated every 2 ms, not every 1 ms? 2024-01-04 22:23:52 +01:00
Hakan Bastedt
484c984e49 Basic function using SM2 sync inteerupt. Stepgen half functional 2024-01-04 21:38:40 +01:00
Hakan Bastedt
e6cd5356c9 tests with linuxcnc, DC sync is not the way to go, leaving that 2024-01-04 11:39:01 +01:00
Hakan Bastedt
5978ebec24 Pending tests. Merging this branch 2024-01-02 23:58:29 +01:00
Hakan Bastedt
d4a83eae80 Use frequency instead of pulse width - much better resolution at high freq. 2024-01-02 23:55:32 +01:00
Hakan Bastedt
2e8e938345 Bugs found. set duty cycle after overflow() 2024-01-02 23:51:58 +01:00
Hakan Bastedt
cc1ca73219 wip, local testing to start 2024-01-02 23:32:47 +01:00
Hakan Bastedt
b57bd740ab double float = fal_float size added to lcec. LCNC starts and works 2024-01-02 18:46:26 +01:00
Hakan Bastedt
8007a2ff6c Test with minium pulse delay 5 usec - can be set easily. 2024-01-01 22:52:14 +01:00
Hakan Bastedt
a21e932b5a Direction pin works in test 2024-01-01 22:48:50 +01:00
Hakan Bastedt
64d62a954a Basic test with puls sequence 2024-01-01 22:42:12 +01:00
Hakan Bastedt
f99d9bab77 Here are those changes... Worked in another repositiry hehe 2024-01-01 20:40:29 +01:00
Hakan Bastedt
703bbfb03a wip, stepper doesn't run 2024-01-01 15:27:29 +01:00
Hakan Bastedt
f0ec7a834c Tested, works in linuxcnc, doesn't work in free run mode 2024-01-01 00:37:45 +01:00
Hakan Bastedt
28f01a9919 WIP, non-functional 2023-12-31 20:09:55 +01:00
Hakan Bastedt
bf8fccd0d6 Patch for lcec to support 64-bit floats 2023-12-31 13:06:32 +01:00
Hakan Bastedt
f27a27ed1b 64-bit data types added 2023-12-31 13:00:48 +01:00
Hakan Bastedt
485901120c Reshuffle file structure 2023-12-31 09:17:42 +01:00
Hakan Bastedt
1851f4168e Geographic annotation on pcb 2 2023-12-31 09:07:56 +01:00
Hakan Bastedt
ab034e93f8 wip stepgen 2023-12-31 08:57:37 +01:00
Hakan Bastedt
0929d23207 DC synchronization works, interrupt counter counts 2023-12-30 20:41:52 +01:00
Hakan Bastedt
818f853af0 Pending video release 2023-12-29 17:37:27 +01:00
Hakan Bastedt
5abaf4ace7 Pending video release 2023-12-29 15:05:23 +01:00
Hakan Bastedt
2a1111c537 Updates to encoder 2023-12-28 18:46:13 +01:00
Hakan Bastedt
d9b088687f New pcb 2023-12-28 18:45:54 +01:00
Hakan Bastedt
2790280c4a Added linuxcnc files 2023-12-26 18:24:03 +01:00
Hakan Bastedt
890a81952b Encoder works also for threading cycle. non-optmized. 2023-12-26 18:16:04 +01:00
Hakan Bastedt
d878101c62 After making board no 2. work 2023-12-25 20:46:53 +01:00
Hakan Bastedt
3cd2755645 Added arduino sketch to write a valid eeprom for lan9252. 2023-12-24 23:29:03 +01:00
Hakan Bastedt
49c804516d Tested in the lathe. Works, of course 2023-12-24 23:28:10 +01:00
33 changed files with 74897 additions and 1058 deletions
Expand all files Collapse all files

9
Pcb-1-lan9252/Firmware/.vscode/settings.json vendored
View File

@@ -1,6 +1,13 @@
{
"files.associations": {
"ecat_slv.h": "c",
"compare": "cpp"
"compare": "cpp",
"*.tpp": "cpp",
"*.tcc": "cpp",
"deque": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"system_error": "cpp"
}
}

829
Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000_encoder.xml → Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
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File diff suppressed because it is too large Load Diff

8
Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h
View File

@@ -4,8 +4,8 @@
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 128
#define MBXSIZEBOOT 128
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
@@ -33,8 +33,8 @@
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 7
#define MAX_MAPPINGS_SM3 6
#define MAX_MAPPINGS_SM2 2
#define MAX_MAPPINGS_SM3 5
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512

BIN
Pcb-1-lan9252/Firmware/lib/soes/eeprom.bin
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Binary file not shown.

14
Pcb-1-lan9252/Firmware/lib/soes/eeprom.hex
View File

@@ -1,12 +1,12 @@
:2000000080060344640000000000000000001400E1100000D20400000100000002000000D1
:2000200000000000000000000000000000000000001080008010800004000000000000001C
:2000000080060344640000000000000000001400AA0A0000CCBCBB000200000001000000A1
:20002000000000000000000000000000000000000010000200120002040000000000000096
:200040000000000000000000000000000000000000000000000000000000000000000000A0
:20006000000000000000000000000000000000000000000000000000000000000F00010070
:200080000A002100040C456173657243415432303030096D79456E636F64657206494D479
:2000A000434259224D6574616C4D7573696E67732045617365724341542032303030206518
:2000C0006E636F6465721E0010000203010400130000000000000000000011000000000049
:2000E00000000000000000000000280002000102030029001000001080002600010180104F
:200100008000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFC7
:200080000A002000040C4561736572434154323030300E4D616368696E65436F6E74726F64
:2000A0006C06494D474342591A4D6574616C4D7573696E67732045617365724341542032E6
:2000C000303030001E00100002030104001300000000000000000000110000000000000034
:2000E000000000000000000028000200010203002900100000100002260001010012000249
:20010000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF49
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
:20014000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBF
:20016000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9F

221
Pcb-1-lan9252/Firmware/lib/soes/esi.json
View File

@@ -1,32 +1,39 @@
{
"form": {},
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0xbbbccc",
"ProfileNo": "5001",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
"EEPROMsize": "2048",
"RxMailboxOffset": "0x1000",
"TxMailboxOffset": "0x1200",
"MailboxSize": "512",
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Incremental encoder",
"ImageName": "IMGCBY",
"TextDeviceType": "EaserCAT2000",
"TextDeviceName": "MetalMusings EaserCAT 2000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
"Port3Physical": " ",
"ESC": "LAN9252",
"SPImode": "3",
"CoeDetailsEnableSDO": "EnableSDO",
"CoeDetailsEnableSDOInfo": "EnableSDOInfo",
"CoeDetailsEnablePDOAssign": "EnablePDOAssign",
"CoeDetailsEnablePDOConfiguration": "EnablePDOConfiguration",
"CoeDetailsEnableUploadAtStartup": "EnableUploadAtStartup",
"CoeDetailsEnableSDOCompleteAccess": "EnableSDOCompleteAccess"
},
"od": {
"sdo": {
"2000": {
"otype": "RECORD",
"name": "StepperData",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "Period",
"dtype": "UNSIGNED16",
"data": "&Obj.StepperData.Period",
"value": "1000",
"access": "RO"
},
{
"name": "Resolution",
"dtype": "REAL32",
"value": "2.5",
"access": "RO",
"data": "&Obj.StepperData.Resolution"
}
],
"isSDOitem": true
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
@@ -44,148 +51,83 @@
},
"txpdo": {
"6000": {
"otype": "RECORD",
"name": "EncoderOut",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ECount",
"dtype": "INTEGER32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderOut.ECount"
},
{
"name": "IndexTriggered",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RW",
"data": "&Obj.EncoderOut.IndexTriggered"
}
],
"pdo_mappings": [
"txpdo"
]
},
"6040": {
"otype": "VAR",
"name": "ControlWord",
"name": "EncPos",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED16",
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ControlWord"
"data": "&Obj.EncPos"
},
"6060": {
"6001": {
"otype": "VAR",
"name": "OpMode",
"name": "EncFrequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"dtype": "REAL32",
"value": "0",
"data": "&Obj.OpMode"
"data": "&Obj.EncFrequency"
},
"607A": {
"6002": {
"otype": "VAR",
"name": "TargetPosition",
"name": "DiffT",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.TargetPosition"
"data": "&Obj.DiffT"
},
"60FF": {
"6003": {
"otype": "VAR",
"name": "TargetVelocity",
"name": "IndexByte",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.TargetVelocity"
"data": "&Obj.IndexByte"
},
"6004": {
"otype": "VAR",
"name": "IndexStatus",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexStatus"
}
},
"rxpdo": {
"6041": {
"otype": "VAR",
"name": "StatusWord",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED16",
"value": "0",
"data": "&Obj.StatusWord"
},
"6061": {
"otype": "VAR",
"name": "OpModeDisplay",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.OpModeDisplay"
},
"6064": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualPosition"
},
"6077": {
"otype": "VAR",
"name": "ActualTorque",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualTorque"
},
"7000": {
"otype": "RECORD",
"name": "EncoderIn",
"otype": "VAR",
"name": "EncPosScale",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IndexEnable",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.IndexEnable"
},
{
"name": "Reset",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Reset"
}
],
"pdo_mappings": [
"rxpdo"
]
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.EncPosScale"
},
"7001": {
"otype": "VAR",
"name": "IndexLatchEnable",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexLatchEnable"
},
"60664": {
"otype": "VAR",
@@ -196,17 +138,6 @@
],
"dtype": "INTEGER32",
"value": "0"
},
"606C": {
"otype": "VAR",
"name": "ActualVelocity",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualVelocity"
}
}
},

213
Pcb-1-lan9252/Firmware/lib/soes/objectlist.c
View File

@@ -13,41 +13,27 @@ static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "StatusWord";
static const char acName1600[] = "EncPosScale";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "StatusWord";
static const char acName1601[] = "OpModeDisplay";
static const char acName1600_01[] = "EncPosScale";
static const char acName1601[] = "IndexLatchEnable";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "OpModeDisplay";
static const char acName1602[] = "ActualPosition";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "ActualPosition";
static const char acName1603[] = "ActualVelocity";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "ActualVelocity";
static const char acName1604[] = "ActualTorque";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "ActualTorque";
static const char acName1605[] = "EncoderIn";
static const char acName1605_00[] = "Max SubIndex";
static const char acName1605_01[] = "IndexEnable";
static const char acName1605_02[] = "Reset";
static const char acName1A00[] = "EncoderOut";
static const char acName1601_01[] = "IndexLatchEnable";
static const char acName1A00[] = "EncPos";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "ECount";
static const char acName1A00_02[] = "IndexTriggered";
static const char acName1A01[] = "ControlWord";
static const char acName1A00_01[] = "EncPos";
static const char acName1A01[] = "EncFrequency";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "ControlWord";
static const char acName1A02[] = "OpMode";
static const char acName1A01_01[] = "EncFrequency";
static const char acName1A02[] = "DiffT";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "OpMode";
static const char acName1A03[] = "TargetPosition";
static const char acName1A02_01[] = "DiffT";
static const char acName1A03[] = "IndexByte";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "TargetPosition";
static const char acName1A04[] = "TargetVelocity";
static const char acName1A03_01[] = "IndexByte";
static const char acName1A04[] = "IndexStatus";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "TargetVelocity";
static const char acName1A04_01[] = "IndexStatus";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@@ -58,10 +44,6 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
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 acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
@@ -69,27 +51,13 @@ 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 acName2000[] = "StepperData";
static const char acName2000_00[] = "Max SubIndex";
static const char acName2000_01[] = "Period";
static const char acName2000_02[] = "Resolution";
static const char acName6000[] = "EncoderOut";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "ECount";
static const char acName6000_02[] = "IndexTriggered";
static const char acName6040[] = "ControlWord";
static const char acName6041[] = "StatusWord";
static const char acName6060[] = "OpMode";
static const char acName6061[] = "OpModeDisplay";
static const char acName6064[] = "ActualPosition";
static const char acName606C[] = "ActualVelocity";
static const char acName6077[] = "ActualTorque";
static const char acName607A[] = "TargetPosition";
static const char acName60FF[] = "TargetVelocity";
static const char acName7000[] = "EncoderIn";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "IndexEnable";
static const char acName7000_02[] = "Reset";
static const char acName6000[] = "EncPos";
static const char acName6001[] = "EncFrequency";
static const char acName6002[] = "DiffT";
static const char acName6003[] = "IndexByte";
static const char acName6004[] = "IndexStatus";
static const char acName7000[] = "EncPosScale";
static const char acName7001[] = "IndexLatchEnable";
const _objd SDO1000[] =
{
@@ -97,80 +65,58 @@ const _objd SDO1000[] =
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 272, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 2000 encoder"},
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 2000"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 8, ATYPE_RO, acName1009, 0, "3"},
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 8, ATYPE_RO, acName100A, 0, "4"},
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName100A, 0, "0.0.1"},
};
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 4321, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 1234, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 1, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 2, &Obj.serial},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x60410010, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x60610008, NULL},
};
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x60640020, NULL},
};
const _objd SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x606C0020, NULL},
};
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x60770020, NULL},
};
const _objd SDO1605[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1605_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_01, 0x70000108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_02, 0x70000208, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000120, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_02, 0x60000208, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60400010, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60600008, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x607A0020, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
};
const _objd SDO1A04[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60FF0020, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
};
const _objd SDO1C00[] =
{
@@ -182,13 +128,9 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 6, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, 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},
};
const _objd SDO1C13[] =
{
@@ -199,59 +141,33 @@ const _objd SDO1C13[] =
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
};
const _objd SDO2000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName2000_00, 2, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName2000_01, 1000, &Obj.StepperData.Period},
{0x02, DTYPE_REAL32, 32, ATYPE_RO, acName2000_02, 0x40200000, &Obj.StepperData.Resolution},
};
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 2, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6000_01, 0, &Obj.EncoderOut.ECount},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RW, acName6000_02, 0, &Obj.EncoderOut.IndexTriggered},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
};
const _objd SDO6040[] =
const _objd SDO6001[] =
{
{0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6040, 0, &Obj.ControlWord},
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
};
const _objd SDO6041[] =
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_RXPDO, acName6041, 0, &Obj.StatusWord},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
};
const _objd SDO6060[] =
const _objd SDO6003[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6060, 0, &Obj.OpMode},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.IndexByte},
};
const _objd SDO6061[] =
const _objd SDO6004[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName6061, 0, &Obj.OpModeDisplay},
};
const _objd SDO6064[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName6064, 0, &Obj.ActualPosition},
};
const _objd SDO606C[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName606C, 0, &Obj.ActualVelocity},
};
const _objd SDO6077[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName6077, 0, &Obj.ActualTorque},
};
const _objd SDO607A[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName607A, 0, &Obj.TargetPosition},
};
const _objd SDO60FF[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName60FF, 0, &Obj.TargetVelocity},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.EncoderIn.IndexEnable},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Obj.EncoderIn.Reset},
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
};
const _objd SDO7001[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
};
const _objectlist SDOobjects[] =
@@ -263,29 +179,20 @@ const _objectlist SDOobjects[] =
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{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, 2, 0, acName1605, SDO1605},
{0x1A00, OTYPE_RECORD, 2, 0, acName1A00, SDO1A00},
{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},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 6, 0, acName1C12, SDO1C12},
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_RECORD, 2, 0, acName2000, SDO2000},
{0x6000, OTYPE_RECORD, 2, 0, acName6000, SDO6000},
{0x6040, OTYPE_VAR, 0, 0, acName6040, SDO6040},
{0x6041, OTYPE_VAR, 0, 0, acName6041, SDO6041},
{0x6060, OTYPE_VAR, 0, 0, acName6060, SDO6060},
{0x6061, OTYPE_VAR, 0, 0, acName6061, SDO6061},
{0x6064, OTYPE_VAR, 0, 0, acName6064, SDO6064},
{0x606C, OTYPE_VAR, 0, 0, acName606C, SDO606C},
{0x6077, OTYPE_VAR, 0, 0, acName6077, SDO6077},
{0x607A, OTYPE_VAR, 0, 0, acName607A, SDO607A},
{0x60FF, OTYPE_VAR, 0, 0, acName60FF, SDO60FF},
{0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

33
Pcb-1-lan9252/Firmware/lib/soes/utypes.h
View File

@@ -13,36 +13,17 @@ typedef struct
/* Inputs */
struct
{
int32_t ECount;
uint8_t IndexTriggered;
} EncoderOut;
uint16_t ControlWord;
uint8_t OpMode;
int32_t TargetPosition;
int32_t TargetVelocity;
float EncPos;
float EncFrequency;
uint32_t DiffT;
uint32_t IndexByte;
uint32_t IndexStatus;
/* Outputs */
uint16_t StatusWord;
uint8_t OpModeDisplay;
int32_t ActualPosition;
int32_t ActualVelocity;
int32_t ActualTorque;
struct
{
uint8_t IndexEnable;
uint8_t Reset;
} EncoderIn;
int32_t EncPosScale;
uint32_t IndexLatchEnable;
/* Parameters */
struct
{
uint16_t Period;
float Resolution;
} StepperData;
} _Objects;
extern _Objects Obj;

7
Pcb-1-lan9252/Firmware/platformio.ini
View File

@@ -14,9 +14,10 @@ platform = ststm32
board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
debug_build_flags = -O0 -g -ggdb
monitor_port = COM7
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
lib_deps =
SPI
lib_deps =
SPI
rlogiacco/CircularBuffer@^1.3.3

109
Pcb-1-lan9252/Firmware/src/main.cpp
View File

@@ -6,44 +6,81 @@ extern "C"
#include "ecat_slv.h"
#include "utypes.h"
};
#include <CircularBuffer.h>
#define RINGBUFFERLEN 101
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
int64_t PreviousEncoderCounterValue = 0;
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
#include <Stm32F4_Encoder.h>
Encoder EncoderInit;
Encoder *encP = &EncoderInit;
#include "Stepper.h"
// #include "Stepper.h"
#define INDEX_PIN PA2
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
void StepGen(void);
void indexPulse(void);
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t OldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0;
uint32_t nFires = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
uint32_t PrevTime = 0, Prev2Time = 0;
volatile uint8_t IndexEnable = 1;
volatile uint8_t IndexTriggered = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
IndexEnable = Obj.EncoderIn.IndexEnable;
if (!IndexEnable)
IndexTriggered = 0;
if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
{
pleaseZeroTheCounter = 1;
}
OldLatchCEnable = Obj.IndexLatchEnable;
if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
{
CurPosScale = Obj.EncPosScale;
PosScaleRes = 1.0 / double(CurPosScale);
}
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
// Obj.EncoderOut.ECount = TIM2->CNT;
Obj.EncoderOut.ECount = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
Obj.EncoderOut.IndexTriggered = IndexTriggered;
uint32_t diffT = ESCvar.Time - ESCvar.PrevTime;
Obj.IndexStatus = 0;
if (indexPulseFired)
{
Obj.IndexStatus = 1;
indexPulseFired = 0;
nFires++;
PreviousEncoderCounterValue = 0;
}
uint64_t now = micros(); // Exploring the cycle times
Obj.DiffT = now - Prev2Time;
Prev2Time = PrevTime;
PrevTime = now;
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
double CurPos = pos * PosScaleRes;
Obj.EncPos = CurPos;
double diffT = 0;
double diffPos = 0;
TDelta.push(ESCvar.Time); // Running average over the length of the circular buffer
Pos.push(CurPos);
if (Pos.size() >= 2)
{
diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
diffPos = fabs(Pos.last() - Pos.first());
}
Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
Obj.IndexByte = digitalRead(INDEX_PIN);
if (Obj.IndexByte)
Serial1.printf("IS 1\n");
}
void indexPulse(void)
{
if (IndexEnable && !IndexTriggered)
{
TIM2->CNT = 0;
IndexTriggered = 1;
}
}
static esc_cfg_t config =
{
.user_arg = NULL,
@@ -52,7 +89,7 @@ static esc_cfg_t config =
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = StepGen,
.application_hook = NULL, // StepGen,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
@@ -66,23 +103,17 @@ static esc_cfg_t config =
void setup(void)
{
uint64_t ff = F_CPU;
Serial1.begin(115200);
rcc_config();
// Set starting count value
// EncoderInit.SetCount(Tim2, 0);
EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
attachInterrupt(digitalPinToInterrupt(PA2), indexPulse, RISING); // PA2 = Index pulse
StepperSetup();
// delay(5000); // To give serial port monitor time to receive
Serial1.printf("Before Ecat config\n");
ecat_slv_init(&config);
Serial1.printf("Started\n");
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
}
void loop(void)
@@ -110,16 +141,14 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev)
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}
void StepGen(void)
void indexPulse(void)
{
uint16_t Period = Obj.StepperData.Period; // Period in microseconds, so 1000 is 1 ms.
float StepperResolution = Obj.StepperData.Resolution; // 2.5 pulses/um
int32_t TargetPosition = Obj.TargetPosition; // um
int32_t ActualPosition = 0; // um
int32_t DistanceToGo = TargetPosition - ActualPosition; // um
int32_t PulsesToMake = DistanceToGo * StepperResolution;
int32_t Frequency = PulsesToMake * 1000000 / Period;
// Check if timer done.
if (pleaseZeroTheCounter)
{
TIM2->CNT = 0;
indexPulseFired = 1;
Pos.clear();
TDelta.clear();
pleaseZeroTheCounter = 0;
}
}

2
Pcb-1-lan9252/Kicad/Ethercat-stm32/.gitignore vendored
View File

@@ -1 +1,3 @@
fp-info-cache
Ethercat-stm32-backup*
*.lck

2
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl
View File

@@ -64,7 +64,7 @@
39,
40
],
"visible_layers": "002ffe8_00000001",
"visible_layers": "002202a_00000001",
"zone_display_mode": 0
},
"meta": {

4
Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252.kicad_sch
View File

@@ -1573,7 +1573,7 @@
(effects (font (size 1.27 1.27)))
)
(property "Value" "22" (at 212.09 106.68 90)
(effects (font (size 1.27 1.27)) hide)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 207.01 106.172 90)
(effects (font (size 1.27 1.27)) hide)
@@ -1731,7 +1731,7 @@
(effects (font (size 1.27 1.27)))
)
(property "Value" "22" (at 212.09 116.84 90)
(effects (font (size 1.27 1.27)) hide)
(effects (font (size 1.27 1.27)))
)
(property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 207.01 116.332 90)
(effects (font (size 1.27 1.27)) hide)

233
Pcb-1-lan9252/LAN9252_eeprom_store_valid/LAN9252_eeprom_store_valid.ino Executable file
View File

@@ -0,0 +1,233 @@
// Write a valid eeprom for LAN9252.
// Uses https://github.com/RobTillaart/I2C_EEPROM
//
// Wiring:
// 4 GND
// 5 SDA
// 6 SCL
// 8 Vcc
// (1,2,3,7) A0,A1,A2,WP unconnected => write-enabled at address 0x50
//
#include <Wire.h>
#include <I2C_eeprom.h>
const uint8_t eeprom_data[] = {
0x80, 0x06, 0x03, 0x44, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x14, 0x00, 0xe1, 0x10, 0x00, 0x00, 0xd2, 0x04, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x10, 0x80, 0x00, 0x80, 0x10, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x21, 0x00,
0x04, 0x0c, 0x45, 0x61, 0x73, 0x65, 0x72, 0x43, 0x41, 0x54, 0x32, 0x30,
0x30, 0x30, 0x09, 0x6d, 0x79, 0x45, 0x6e, 0x63, 0x6f, 0x64, 0x65, 0x72,
0x06, 0x49, 0x4d, 0x47, 0x43, 0x42, 0x59, 0x22, 0x4d, 0x65, 0x74, 0x61,
0x6c, 0x4d, 0x75, 0x73, 0x69, 0x6e, 0x67, 0x73, 0x20, 0x45, 0x61, 0x73,
0x65, 0x72, 0x43, 0x41, 0x54, 0x20, 0x32, 0x30, 0x30, 0x30, 0x20, 0x65,
0x6e, 0x63, 0x6f, 0x64, 0x65, 0x72, 0x1e, 0x00, 0x10, 0x00, 0x02, 0x03,
0x01, 0x04, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x02, 0x00, 0x01, 0x02,
0x03, 0x00, 0x29, 0x00, 0x10, 0x00, 0x00, 0x10, 0x80, 0x00, 0x26, 0x00,
0x01, 0x01, 0x80, 0x10, 0x80, 0x00, 0x22, 0x00, 0x01, 0x02, 0x00, 0x16,
0x00, 0x00, 0x24, 0x00, 0x01, 0x03, 0x00, 0x1a, 0x00, 0x00, 0x20, 0x00,
0x01, 0x04, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};
// 512 kbit bytes
#define EEPROM_MAXBYTES 32 * 1024 / 8
// the address of your EEPROM
// 0x50 when A0,A1,A2 are left unconnected
#define DEVICEADDRESS (0x50)
I2C_eeprom eeprom(DEVICEADDRESS, EEPROM_MAXBYTES);
void setup() {
Serial.begin(115200);
while (!Serial)
;
Serial.println("WAIT FOR IT");
delay(3000);
Serial.println("IT IS BEGINNING");
Wire.begin();
eeprom.begin();
#if 0
Serial.println("----------------------------------------------");
Serial.printf("Writing %d long data\n", sizeof(eeprom_data));
uint8_t ok;
ok = eeprom.writeBlockVerify(0, eeprom_data, sizeof(eeprom_data));
if (ok) {
Serial.printf("Success writeBlockVerify\n");
} else {
Serial.printf("Failed writeBlockVerify\n");
}
#endif
Serial.println("----------------------------------------------");
Serial.printf("\n VERIFYING\n");
for (uint16_t adr = 0; adr < sizeof(eeprom_data); adr++) {
uint8_t rB = eeprom.readByte(adr);
if (rB != eeprom_data[adr]) {
Serial.printf("Not same at addr=%u, read=%u should be %u\n", adr, rB, eeprom_data[adr]);
}
}
Serial.println("----------------------------------------------");
Serial.printf("\n VERIFYING DONE\n");
}
void loop() {
// Nothing to do during loop
}

10
Pcb-1-lan9252/README.md
View File

@@ -30,6 +30,16 @@ The .ioc file can be opened in CubeMX. The STM32F407 processor has functions tie
I have put [Dig_8IN_8OUT.xml](Dig_8IN_8OUT.xml) here, this is an example ESI file for the LAN9252 IC standalone, no MCU needed. It's sometimes handy to have the simplest possible ESI file at ahnd, here it is. You find the ESI file for the Encoder application [here](Firmware/lib/soes/MetalMusings_EaserCAT_2000_encoder.xml)
##### **linuxcnc** contains modifications to make EaserCAT 2000 work
The configuration files and the hal component I used are placed here.
##### LAN9252_eeprom_store_valid
Arduino sketch to program the AT24C32 eeprom with a valid eeprom content. Hook up the eeprom using I2C and run the program. The verification in the of theprogram must be passed for valid programming.
###License
Don't violate the original licenses. No warranties. Use it any way you like.

199
Pcb-1-lan9252/linuxcnc/Turner.hal Normal file
View File

@@ -0,0 +1,199 @@
# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=2
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
net x-pos-cmd => cia402.0.pos-cmd
net x-pos-fb => cia402.0.pos-fb
net x-enable => cia402.0.enable
# --- ect60 settings
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 5000
# --- from stepper(ethercat) to cia402
net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo lcec.0.4.actual-velocity => cia402.0.drv-actual-velocity
# --- from cia402 to stepper(ethercat)
net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.4.target-velocity
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
net z-pos-cmd => cia402.1.pos-cmd
net z-pos-fb => cia402.1.pos-fb
net z-enable => cia402.1.enable
# --- ect60 settings
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
# --- from servo(ethercat) to cia402
net z-statusword lcec.0.5.cia-statusword => cia402.1.statusword
net z-opmode-display lcec.0.5.opmode-display => cia402.1.opmode-display
net z-drv-act-pos lcec.0.5.actual-position => cia402.1.drv-actual-position
net z-drv-act-velo lcec.0.5.actual-velocity => cia402.1.drv-actual-velocity
# --- from cia402 to servo(ethercat)
net z-controlword cia402.1.controlword => lcec.0.5.cia-controlword
net z-modes-of-operation cia402.1.opmode => lcec.0.5.opmode
net z-drv-target-pos cia402.1.drv-target-position => lcec.0.5.target-position
net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-velocity
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.6.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.6.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.6.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf lcec.write-all servo-thread

82
Pcb-1-lan9252/linuxcnc/ethercat-conf.xml Normal file
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<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL2008"/>
<slave idx="3" type="EL5101"/>
<slave idx="4" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="b8 0b"/></sdoConfig> <!-- Max motor current (3.0A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="5" type="generic" vid="00000a88" pid="0a880002" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="68 10"/></sdoConfig> <!-- Max motor current (4.2A) -->
<sdoConfig idx="2003" subIdx="0"><sdoDataRaw data ="64 00"/></sdoConfig> <!-- Standby current percentage (100%) -->
<sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig> <!-- Open loop -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
<slave idx="6" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-pos-scale" halType="s32"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
</pdo>
<pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
</pdo>
<pdo idx="1a03">
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
</pdo>
<pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

14
Pcb-1-lan9252/linuxcnc/metalmusings_encoder.comp Normal file
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@@ -0,0 +1,14 @@
component metalmusings_encoder;
pin io bit index-c-enable;
pin in u32 index-status;
pin out u32 index-latch-enable;
function _;
license "GPL";
;;
//main function
FUNCTION(_) {
index_latch_enable = index_c_enable;
index_c_enable = index_status;
}

3
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/.gitignore vendored Normal file
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AX58100-stm32-ethercat-backups
.~lock*
fp-info-cache

3915
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/AX48100.kicad_sch Executable file
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4788
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch Executable file
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40
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv Executable file
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@@ -0,0 +1,40 @@
"Id";"Designator";"Footprint";"Quantity";"Designation";"Supplier and ref";
1;"J8";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 2";;;
2;"U1";"LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias";1;"AX58100";;;
3;"B3,B7,B4,B6,B5";"C_0805_2012Metric";5;"BLM18EG221SN1D";;;
4;"R59,R61,R51,R45,R60,R58,R50,R57,R53,R52,R56,R55,R46,R54";"R_0805_2012Metric";14;"1k";;;
5;"U5";"LQFP-100_14x14mm_P0.5mm";1;"STM32F407VGT6";;;
6;"U2";"SOIC-8_3.9x4.9mm_P1.27mm";1;"24LC32A";;;
7;"R3,R49,R2,R48,R1";"R_0805_2012Metric";5;"22";;;
8;"C23,C21,C24,C22,C19,C25,C26,C20";"C_0805_2012Metric";8;"10pF";;;
9;"J3,J4,J5";"JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical";3;"Conn_01x06_Pin";;;
10;"J9";"PinHeader_1x04_P2.54mm_Vertical";1;"I2C bus2";;;
11;"C45,C36,C34,C37,C38,C9,C39,C27,C13,C12,C40,C10,C8,C6,C29,C11,C46,C28,C3,C33,C41,C5,C2,C31,C18,C43,C14,C4,C7,C1";"C_0805_2012Metric";30;"0.1uF";;;
12;"Y2";"Crystal_HC49-U_Vertical";1;"8 MHz";;;
13;"R11,R7,R30,R12,R5,R10,R38,R13,R40,R33,R8";"R_0805_2012Metric";11;"4.7k";;;
14;"D1,D2";"LED_0805_2012Metric";2;"Green led";;;
15;"R28,R39,R25,R41,R26,R44,R27";"R_0805_2012Metric";7;"510";;;
16;"J14";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 4";;;
17;"C35,C32,C44,C30";"C_0805_2012Metric";4;"10uF";;;
18;"C49,C53";"C_0805_2012Metric";2;"2.2uF";;;
19;"D4,D5";"LED_0805_2012Metric";2;"Blue led";;;
20;"R22,R18,R19,R20,R17,R23,R21,R24";"R_0805_2012Metric";8;"49.9";;;
21;"C17,C15";"C_0805_2012Metric";2;"18pF";;;
22;"Y1";"Crystal_SMD_SeikoEpson_TSX3225-4Pin_3.2x2.5mm";1;"NXK25.000AE12F-KAB6-12";;;
23;"J12";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 2";;;
24;"J1";"JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical";1;"Conn_01x02_Pin";;;
25;"IN1,OUT1";"PulseJack JB0011D01BNL";2;"J0011D01BNL";;;
26;"J2";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"STLINK";;;
27;"C52,C51";"C_0805_2012Metric";2;"22pF";;;
28;"B2,B1";"C_0805_2012Metric";2;"BLM18EG221S";;;
29;"J10";"JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical";1;"DAC1";;;
30;"U4";"SOT-223-3_TabPin2";1;"AMS1117-3.3";;;
31;"J7";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 1";;;
32;"J6";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Serial usart1";;;
33;"SW1";"SW_Push_1P1T_XKB_TS-1187A";1;"SW PB";;;
34;"C16";"C_0805_2012Metric";1;"1uF";;;
35;"D3";"LED_0805_2012Metric";1;"Red led";;;
36;"J13";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 3";;;
37;"J11";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 1";;;
38;"U3";"SOT-223-3_TabPin2";1;"AMS1117-1.2";;;
39;"R6";"R_0805_2012Metric";1;"12k 1%";;;
1 Id Designator Footprint Quantity Designation Supplier and ref
2 1 J8 JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical 1 Stepper 2
3 2 U1 LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias 1 AX58100
4 3 B3,B7,B4,B6,B5 C_0805_2012Metric 5 BLM18EG221SN1D
5 4 R59,R61,R51,R45,R60,R58,R50,R57,R53,R52,R56,R55,R46,R54 R_0805_2012Metric 14 1k
6 5 U5 LQFP-100_14x14mm_P0.5mm 1 STM32F407VGT6
7 6 U2 SOIC-8_3.9x4.9mm_P1.27mm 1 24LC32A
8 7 R3,R49,R2,R48,R1 R_0805_2012Metric 5 22
9 8 C23,C21,C24,C22,C19,C25,C26,C20 C_0805_2012Metric 8 10pF
10 9 J3,J4,J5 JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical 3 Conn_01x06_Pin
11 10 J9 PinHeader_1x04_P2.54mm_Vertical 1 I2C bus2
12 11 C45,C36,C34,C37,C38,C9,C39,C27,C13,C12,C40,C10,C8,C6,C29,C11,C46,C28,C3,C33,C41,C5,C2,C31,C18,C43,C14,C4,C7,C1 C_0805_2012Metric 30 0.1uF
13 12 Y2 Crystal_HC49-U_Vertical 1 8 MHz
14 13 R11,R7,R30,R12,R5,R10,R38,R13,R40,R33,R8 R_0805_2012Metric 11 4.7k
15 14 D1,D2 LED_0805_2012Metric 2 Green led
16 15 R28,R39,R25,R41,R26,R44,R27 R_0805_2012Metric 7 510
17 16 J14 JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical 1 Encoder 4
18 17 C35,C32,C44,C30 C_0805_2012Metric 4 10uF
19 18 C49,C53 C_0805_2012Metric 2 2.2uF
20 19 D4,D5 LED_0805_2012Metric 2 Blue led
21 20 R22,R18,R19,R20,R17,R23,R21,R24 R_0805_2012Metric 8 49.9
22 21 C17,C15 C_0805_2012Metric 2 18pF
23 22 Y1 Crystal_SMD_SeikoEpson_TSX3225-4Pin_3.2x2.5mm 1 NXK25.000AE12F-KAB6-12
24 23 J12 JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical 1 Encoder 2
25 24 J1 JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical 1 Conn_01x02_Pin
26 25 IN1,OUT1 PulseJack JB0011D01BNL 2 J0011D01BNL
27 26 J2 JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical 1 STLINK
28 27 C52,C51 C_0805_2012Metric 2 22pF
29 28 B2,B1 C_0805_2012Metric 2 BLM18EG221S
30 29 J10 JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical 1 DAC1
31 30 U4 SOT-223-3_TabPin2 1 AMS1117-3.3
32 31 J7 JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical 1 Stepper 1
33 32 J6 JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical 1 Serial usart1
34 33 SW1 SW_Push_1P1T_XKB_TS-1187A 1 SW PB
35 34 C16 C_0805_2012Metric 1 1uF
36 35 D3 LED_0805_2012Metric 1 Red led
37 36 J13 JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical 1 Encoder 3
38 37 J11 JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical 1 Encoder 1
39 38 U3 SOT-223-3_TabPin2 1 AMS1117-1.2
40 39 R6 R_0805_2012Metric 1 12k 1%

2277
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.dsn Executable file
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47847
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pcb Executable file
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77
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_prl Executable file
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@@ -0,0 +1,77 @@
{
"board": {
"active_layer": 0,
"active_layer_preset": "",
"auto_track_width": true,
"hidden_netclasses": [],
"hidden_nets": [],
"high_contrast_mode": 0,
"net_color_mode": 1,
"opacity": {
"images": 0.6,
"pads": 1.0,
"tracks": 1.0,
"vias": 1.0,
"zones": 0.6
},
"selection_filter": {
"dimensions": true,
"footprints": true,
"graphics": true,
"keepouts": true,
"lockedItems": false,
"otherItems": true,
"pads": true,
"text": true,
"tracks": true,
"vias": true,
"zones": true
},
"visible_items": [
0,
1,
2,
3,
4,
5,
8,
9,
10,
11,
12,
13,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
32,
33,
34,
35,
36,
39,
40
],
"visible_layers": "7ffffff_80000001",
"zone_display_mode": 0
},
"meta": {
"filename": "Ax58100-stm32-ethercat.kicad_prl",
"version": 3
},
"project": {
"files": []
}
}

506
Pcb-2-Ax58100/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pro Executable file
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@@ -0,0 +1,506 @@
{
"board": {
"3dviewports": [],
"design_settings": {
"defaults": {
"board_outline_line_width": 0.09999999999999999,
"copper_line_width": 0.19999999999999998,
"copper_text_italic": false,
"copper_text_size_h": 1.5,
"copper_text_size_v": 1.5,
"copper_text_thickness": 0.3,
"copper_text_upright": false,
"courtyard_line_width": 0.049999999999999996,
"dimension_precision": 4,
"dimension_units": 3,
"dimensions": {
"arrow_length": 1270000,
"extension_offset": 500000,
"keep_text_aligned": true,
"suppress_zeroes": false,
"text_position": 0,
"units_format": 1
},
"fab_line_width": 0.09999999999999999,
"fab_text_italic": false,
"fab_text_size_h": 1.0,
"fab_text_size_v": 1.0,
"fab_text_thickness": 0.15,
"fab_text_upright": false,
"other_line_width": 0.15,
"other_text_italic": false,
"other_text_size_h": 1.0,
"other_text_size_v": 1.0,
"other_text_thickness": 0.15,
"other_text_upright": false,
"pads": {
"drill": 0.762,
"height": 1.524,
"width": 1.524
},
"silk_line_width": 0.15,
"silk_text_italic": false,
"silk_text_size_h": 1.0,
"silk_text_size_v": 1.0,
"silk_text_thickness": 0.15,
"silk_text_upright": false,
"zones": {
"min_clearance": 0.5
}
},
"diff_pair_dimensions": [
{
"gap": 0.0,
"via_gap": 0.0,
"width": 0.0
}
],
"drc_exclusions": [],
"meta": {
"version": 2
},
"rule_severities": {
"annular_width": "error",
"clearance": "error",
"connection_width": "warning",
"copper_edge_clearance": "error",
"copper_sliver": "warning",
"courtyards_overlap": "error",
"diff_pair_gap_out_of_range": "error",
"diff_pair_uncoupled_length_too_long": "error",
"drill_out_of_range": "error",
"duplicate_footprints": "warning",
"extra_footprint": "warning",
"footprint": "error",
"footprint_type_mismatch": "ignore",
"hole_clearance": "error",
"hole_near_hole": "error",
"invalid_outline": "error",
"isolated_copper": "warning",
"item_on_disabled_layer": "error",
"items_not_allowed": "error",
"length_out_of_range": "error",
"lib_footprint_issues": "warning",
"lib_footprint_mismatch": "warning",
"malformed_courtyard": "error",
"microvia_drill_out_of_range": "error",
"missing_courtyard": "ignore",
"missing_footprint": "warning",
"net_conflict": "warning",
"npth_inside_courtyard": "ignore",
"padstack": "warning",
"pth_inside_courtyard": "ignore",
"shorting_items": "error",
"silk_edge_clearance": "warning",
"silk_over_copper": "warning",
"silk_overlap": "warning",
"skew_out_of_range": "error",
"solder_mask_bridge": "error",
"starved_thermal": "error",
"text_height": "warning",
"text_thickness": "warning",
"through_hole_pad_without_hole": "error",
"too_many_vias": "error",
"track_dangling": "warning",
"track_width": "error",
"tracks_crossing": "error",
"unconnected_items": "error",
"unresolved_variable": "error",
"via_dangling": "warning",
"zones_intersect": "error"
},
"rules": {
"max_error": 0.005,
"min_clearance": 0.0,
"min_connection": 0.0,
"min_copper_edge_clearance": 0.0,
"min_hole_clearance": 0.25,
"min_hole_to_hole": 0.25,
"min_microvia_diameter": 0.19999999999999998,
"min_microvia_drill": 0.09999999999999999,
"min_resolved_spokes": 2,
"min_silk_clearance": 0.0,
"min_text_height": 0.7999999999999999,
"min_text_thickness": 0.08,
"min_through_hole_diameter": 0.3,
"min_track_width": 0.0,
"min_via_annular_width": 0.09999999999999999,
"min_via_diameter": 0.5,
"solder_mask_clearance": 0.0,
"solder_mask_min_width": 0.0,
"solder_mask_to_copper_clearance": 0.0,
"use_height_for_length_calcs": true
},
"teardrop_options": [
{
"td_allow_use_two_tracks": true,
"td_curve_segcount": 5,
"td_on_pad_in_zone": false,
"td_onpadsmd": true,
"td_onroundshapesonly": false,
"td_ontrackend": false,
"td_onviapad": true
}
],
"teardrop_parameters": [
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_round_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_rect_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_track_end",
"td_width_to_size_filter_ratio": 0.9
}
],
"track_widths": [
0.0
],
"via_dimensions": [
{
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9
README.md
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@@ -6,7 +6,14 @@ that I used during the creation of my own EtherCAT device.
This job is documented in a series of Youtube videos, from my first attempts to understand
how EtherCAT works, to making my own pcb, program it and testing it in LinuxCNC.
## My own EtherCat device 4. The PCB is here
## Make my own EtherCat device 5. The lathe is alive
I hook up the EaserCAT 2000 board to my mini-lathe and make it work.
Documentation is available here, please select the *Video5* branch.
[![Watch the video](https://img.youtube.com/vi/wOtMrlHCCic/default.jpg)](https://youtu.be/wOtMrlHCCic)0
## Make my own EtherCat device 4. The PCB is here
In this video it starts to be interesting. I have got the pcb and I try to make it work.
Now I finally make documentation available, see [this folder](Pcb-1-lan9252).