Pending video release

EEPROM_generator/index.html

@@ -52,10 +52,12 @@
                      <option value="INTEGER8">INTEGER8</option>
                      <option value="INTEGER16">INTEGER16</option>
                      <option value="INTEGER32">INTEGER32</option>
+                     <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
-                     <option value="UNSIGNED32">UNSIGNED32</option>
+                     <option value="UNSIGNED32">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
+                     <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
                   </select></td>
                </tr>

EEPROM_generator/src/constants.js

@@ -28,10 +28,13 @@ const DTYPE = {
 	INTEGER8 : 'INTEGER8',
 	INTEGER16 : 'INTEGER16',
 	INTEGER32 : 'INTEGER32',
+	INTEGER32 : 'INTEGER64',
 	UNSIGNED8 : 'UNSIGNED8',
 	UNSIGNED16 : 'UNSIGNED16',
 	UNSIGNED32 : 'UNSIGNED32',
+	UNSIGNED32 : 'UNSIGNED64',
 	REAL32 : 'REAL32',
+	REAL64 : 'REAL64',
 	VISIBLE_STRING : 'VISIBLE_STRING',
 	/* TODO implement missing less common types */
 	// OCTET_STRING : 'OCTET_STRING',
@@ -49,10 +52,13 @@ const dtype_bitsize = {
 	'INTEGER8' : 8,
 	'INTEGER16' : 16,
 	'INTEGER32' : 32,
+	'INTEGER64' : 64,
 	'UNSIGNED8' : 8,
 	'UNSIGNED16' : 16,
 	'UNSIGNED32' : 32,
+	'UNSIGNED64' : 64,
 	'REAL32' : 32,
+	'REAL64' : 64,
 	'VISIBLE_STRING' : 8,
 };
 const booleanPaddingBitsize = 7;
@@ -62,10 +68,13 @@ const ESI_DT = {
 	'INTEGER8': { name: 'SINT', bitsize: 8, ctype: 'int8_t' },
 	'INTEGER16': { name: 'INT', bitsize: 16, ctype: 'int16_t' },
 	'INTEGER32': { name: 'DINT', bitsize: 32, ctype: 'int32_t' },
+	'INTEGER64': { name: 'LINT', bitsize: 64, ctype: 'int64_t' },
 	'UNSIGNED8': { name: 'USINT', bitsize: 8, ctype: 'uint8_t' },
 	'UNSIGNED16': { name: 'UINT', bitsize: 16, ctype: 'uint16_t' },
 	'UNSIGNED32': { name: 'UDINT', bitsize: 32, ctype: 'uint32_t' },
-	'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, // TODO check C type name
+	'UNSIGNED64': { name: 'ULINT', bitsize: 64, ctype: 'uint64_t' },
+	'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, 
+	'REAL64': { name: 'LREAL', bitsize: 64, ctype: 'double' }, 
 	'VISIBLE_STRING': { name: 'STRING', bitsize: 8, ctype: 'char *' }, // TODO check C type name
 };
 

Firmware/.vscode/settings.json

@@ -0,0 +1,14 @@
+{
+    "files.associations": {
+        "ecat_slv.h": "c",
+        "compare": "cpp",
+        "*.tpp": "cpp",
+        "*.tcc": "cpp",
+        "deque": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "system_error": "cpp"
+    },
+    "C_Cpp.errorSquiggles": "disabled"
+}

Firmware/lib/soes/ecat_options.h

@@ -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
@@ -33,7 +33,7 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 7
+#define MAX_MAPPINGS_SM2 4
 #define MAX_MAPPINGS_SM3 6
 
 #define MAX_RXPDO_SIZE   512

Firmware/lib/soes/eeprom.hex

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

Firmware/lib/soes/esi.json

@@ -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",
@@ -44,143 +51,125 @@
     },
     "txpdo": {
       "6000": {
+        "otype": "VAR",
+        "name": "EncPos",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "REAL64",
+        "value": "0",
+        "data": "&Obj.EncPos"
+      },
+      "6001": {
+        "otype": "VAR",
+        "name": "EncFrequency",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "REAL64",
+        "value": "0",
+        "data": "&Obj.EncFrequency"
+      },
+      "6002": {
+        "otype": "VAR",
+        "name": "DiffT",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "UNSIGNED32",
+        "value": "0",
+        "data": "&Obj.DiffT"
+      },
+      "6003": {
+        "otype": "VAR",
+        "name": "IndexByte",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "UNSIGNED32",
+        "value": "0",
+        "data": "&Obj.IndexByte"
+      },
+      "6004": {
+        "otype": "VAR",
+        "name": "IndexStatus",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "UNSIGNED32",
+        "value": "0",
+        "data": "&Obj.IndexStatus"
+      },
+      "6005": {
         "otype": "RECORD",
-        "name": "EncoderOut",
+        "name": "StepGenOut1",
         "access": "RO",
         "items": [
           {
             "name": "Max SubIndex"
           },
           {
-            "name": "ECount",
-            "dtype": "INTEGER32",
+            "name": "ActualPosition",
+            "dtype": "REAL64",
+            "data": "&Obj.StepGenOut1.ActualPosition",
             "value": "0",
-            "access": "RO",
-            "data": "&Obj.EncoderOut.ECount"
-          },
-          {
-            "name": "IndexTriggered",
-            "dtype": "UNSIGNED8",
-            "value": "0",
-            "access": "RW",
-            "data": "&Obj.EncoderOut.IndexTriggered"
+            "access": "RO"
           }
         ],
         "pdo_mappings": [
           "txpdo"
         ]
-      },
-      "6040": {
-        "otype": "VAR",
-        "name": "ControlWord",
-        "access": "RO",
-        "pdo_mappings": [
-          "txpdo"
-        ],
-        "dtype": "UNSIGNED16",
-        "value": "0",
-        "data": "&Obj.ControlWord"
-      },
-      "6060": {
-        "otype": "VAR",
-        "name": "OpMode",
-        "access": "RO",
-        "pdo_mappings": [
-          "txpdo"
-        ],
-        "dtype": "UNSIGNED8",
-        "value": "0",
-        "data": "&Obj.OpMode"
-      },
-      "607A": {
-        "otype": "VAR",
-        "name": "TargetPosition",
-        "access": "RO",
-        "pdo_mappings": [
-          "txpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.TargetPosition"
-      },
-      "60FF": {
-        "otype": "VAR",
-        "name": "TargetVelocity",
-        "access": "RO",
-        "pdo_mappings": [
-          "txpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.TargetVelocity"
       }
     },
     "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": "VAR",
+        "name": "EncPosScale",
+        "access": "RO",
+        "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"
+      },
+      "7002": {
         "otype": "RECORD",
-        "name": "EncoderIn",
+        "name": "StepGenIn1",
         "access": "RO",
         "items": [
           {
             "name": "Max SubIndex"
           },
           {
-            "name": "IndexEnable",
-            "dtype": "UNSIGNED8",
+            "name": "CommandedPosition",
+            "dtype": "REAL64",
+            "data": "&Obj.StepGenIn1.CommandedPosition",
             "value": "0",
-            "access": "RO",
-            "data": "&Obj.EncoderIn.IndexEnable"
+            "access": "RO"
           },
           {
-            "name": "Reset",
-            "dtype": "UNSIGNED8",
+            "name": "CommandedVelocity",
+            "dtype": "REAL64",
             "value": "0",
             "access": "RO",
-            "data": "&Obj.EncoderIn.Reset"
+            "data": "&Obj.StepGenIn1.CommandedVelocity"
           }
         ],
         "pdo_mappings": [
@@ -196,17 +185,6 @@
         ],
         "dtype": "INTEGER32",
         "value": "0"
-      },
-      "606C": {
-        "otype": "VAR",
-        "name": "ActualVelocity",
-        "access": "RO",
-        "pdo_mappings": [
-          "rxpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.ActualVelocity"
       }
     }
   },

Firmware/lib/soes/objectlist.c

@@ -0,0 +1,242 @@
+#include "esc_coe.h"
+#include "utypes.h"
+#include <stddef.h>
+
+
+static const char acName1000[] = "Device Type";
+static const char acName1008[] = "Device Name";
+static const char acName1009[] = "Hardware Version";
+static const char acName100A[] = "Software Version";
+static const char acName1018[] = "Identity Object";
+static const char acName1018_00[] = "Max SubIndex";
+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[] = "EncPosScale";
+static const char acName1600_00[] = "Max SubIndex";
+static const char acName1600_01[] = "EncPosScale";
+static const char acName1601[] = "IndexLatchEnable";
+static const char acName1601_00[] = "Max SubIndex";
+static const char acName1601_01[] = "IndexLatchEnable";
+static const char acName1602[] = "StepGenIn1";
+static const char acName1602_00[] = "Max SubIndex";
+static const char acName1602_01[] = "CommandedPosition";
+static const char acName1602_02[] = "CommandedVelocity";
+static const char acName1A00[] = "EncPos";
+static const char acName1A00_00[] = "Max SubIndex";
+static const char acName1A00_01[] = "EncPos";
+static const char acName1A01[] = "EncFrequency";
+static const char acName1A01_00[] = "Max SubIndex";
+static const char acName1A01_01[] = "EncFrequency";
+static const char acName1A02[] = "DiffT";
+static const char acName1A02_00[] = "Max SubIndex";
+static const char acName1A02_01[] = "DiffT";
+static const char acName1A03[] = "IndexByte";
+static const char acName1A03_00[] = "Max SubIndex";
+static const char acName1A03_01[] = "IndexByte";
+static const char acName1A04[] = "IndexStatus";
+static const char acName1A04_00[] = "Max SubIndex";
+static const char acName1A04_01[] = "IndexStatus";
+static const char acName1A05[] = "StepGenOut1";
+static const char acName1A05_00[] = "Max SubIndex";
+static const char acName1A05_01[] = "ActualPosition";
+static const char acName1C00[] = "Sync Manager Communication Type";
+static const char acName1C00_00[] = "Max SubIndex";
+static const char acName1C00_01[] = "Communications Type SM0";
+static const char acName1C00_02[] = "Communications Type SM1";
+static const char acName1C00_03[] = "Communications Type SM2";
+static const char acName1C00_04[] = "Communications Type SM3";
+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 acName1C13[] = "Sync Manager 3 PDO Assignment";
+static const char acName1C13_00[] = "Max SubIndex";
+static const char acName1C13_01[] = "PDO Mapping";
+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 acName1C13_06[] = "PDO Mapping";
+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 acName6005[] = "StepGenOut1";
+static const char acName6005_00[] = "Max SubIndex";
+static const char acName6005_01[] = "ActualPosition";
+static const char acName7000[] = "EncPosScale";
+static const char acName7001[] = "IndexLatchEnable";
+static const char acName7002[] = "StepGenIn1";
+static const char acName7002_00[] = "Max SubIndex";
+static const char acName7002_01[] = "CommandedPosition";
+static const char acName7002_02[] = "CommandedVelocity";
+
+const _objd SDO1000[] =
+{
+  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
+};
+const _objd SDO1008[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 2000"},
+};
+const _objd SDO1009[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
+};
+const _objd SDO100A[] =
+{
+  {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_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
+  {0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
+  {0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
+};
+const _objd SDO1600[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+};
+const _objd SDO1601[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
+};
+const _objd SDO1602[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL},
+};
+const _objd SDO1A00[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
+};
+const _objd SDO1A01[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
+};
+const _objd SDO1A02[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+};
+const _objd SDO1A03[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+};
+const _objd SDO1A04[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
+};
+const _objd SDO1A05[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
+};
+const _objd SDO1C00[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
+  {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
+  {0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
+  {0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
+};
+const _objd SDO1C12[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, 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},
+};
+const _objd SDO1C13[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL},
+  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
+  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
+  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
+  {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
+};
+const _objd SDO6000[] =
+{
+  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
+};
+const _objd SDO6001[] =
+{
+  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
+};
+const _objd SDO6002[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
+};
+const _objd SDO6003[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.IndexByte},
+};
+const _objd SDO6004[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
+};
+const _objd SDO6005[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
+  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
+};
+const _objd SDO7000[] =
+{
+  {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 _objd SDO7002[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
+  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
+  {0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity},
+};
+
+const _objectlist SDOobjects[] =
+{
+  {0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
+  {0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
+  {0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
+  {0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
+  {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
+  {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
+  {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
+  {0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
+  {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},
+  {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
+  {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
+  {0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
+  {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},
+  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
+  {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
+  {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
+  {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
+  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
+};

Firmware/lib/soes/utypes.h

@@ -0,0 +1,40 @@
+#ifndef __UTYPES_H__
+#define __UTYPES_H__
+
+#include "cc.h"
+
+/* Object dictionary storage */
+
+typedef struct
+{
+   /* Identity */
+
+   uint32_t serial;
+
+   /* Inputs */
+
+   double EncPos;
+   double EncFrequency;
+   uint32_t DiffT;
+   uint32_t IndexByte;
+   uint32_t IndexStatus;
+   struct
+   {
+      double ActualPosition;
+   } StepGenOut1;
+
+   /* Outputs */
+
+   int32_t EncPosScale;
+   uint32_t IndexLatchEnable;
+   struct
+   {
+      double CommandedPosition;
+      double CommandedVelocity;
+   } StepGenIn1;
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

Firmware/platformio.ini

@@ -20,3 +20,4 @@ monitor_speed = 115200
 build_flags = -Wl,--no-warn-rwx-segment
 lib_deps = 
 	SPI
+	rlogiacco/CircularBuffer@^1.3.3

Firmware/src/main.cpp

@@ -0,0 +1,268 @@
+#include <Arduino.h>
+#include <HardwareTimer.h>
+
+#include <stdio.h>
+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;
+
+#include <Stm32F4_Encoder.h>
+int64_t PreviousEncoderCounterValue = 0;
+int64_t unwrap_encoder(uint16_t in, int64_t *prev);
+Encoder EncoderInit;
+Encoder *encP = &EncoderInit;
+
+#define INDEX_PIN PA2
+HardwareSerial Serial1(PA10, PA9);
+_Objects Obj;
+
+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;
+
+#define STEPPER_DIR_PIN PA12
+#define STEPPER_STEP_PIN PA11
+HardwareTimer *MyTim;
+volatile uint32_t stepCount = 0, stepPulses = 0;
+volatile double_t actualPosition = 0;
+volatile double_t requestedPosition, requestedVelocity;
+
+uint32_t sync0CycleTime = 0;
+
+void handleStepper(void);
+void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
+
+void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
+{
+   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);
+   }
+   requestedPosition = Obj.StepGenIn1.CommandedPosition;
+   requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
+}
+
+void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
+{
+   Obj.IndexStatus = 0;
+   if (indexPulseFired)
+   {
+      Obj.IndexStatus = 1;
+      indexPulseFired = 0;
+      nFires++;
+      PreviousEncoderCounterValue = 0;
+   }
+   // Obj.DiffT = sync0CycleTime;
+
+   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");
+
+   Obj.StepGenOut1.ActualPosition = actualPosition;
+   Obj.DiffT = 10000 * requestedPosition; // deltaT;
+}
+
+void ESC_interrupt_enable(uint32_t mask);
+void ESC_interrupt_disable(uint32_t mask);
+uint16_t dc_checker(void);
+
+static esc_cfg_t config =
+    {
+        .user_arg = NULL,
+        .use_interrupt = 1,
+        .watchdog_cnt = 150,
+        .set_defaults_hook = NULL,
+        .pre_state_change_hook = NULL,
+        .post_state_change_hook = NULL,
+        .application_hook = handleStepper, // StepGen,
+        .safeoutput_override = NULL,
+        .pre_object_download_hook = NULL,
+        .post_object_download_hook = NULL,
+        .rxpdo_override = NULL,
+        .txpdo_override = NULL,
+        .esc_hw_interrupt_enable = ESC_interrupt_enable,
+        .esc_hw_interrupt_disable = ESC_interrupt_disable,
+        .esc_hw_eep_handler = NULL,
+        .esc_check_dc_handler = dc_checker,
+};
+
+void TimerStep_CB(void)
+{
+   stepCount++;
+   if (stepCount == stepPulses)
+   {
+      MyTim->pause();
+   }
+}
+
+void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
+{
+   byte sgn = pulses > 0 ? HIGH : LOW;
+   digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
+   uint32_t puls = abs(pulses);
+   MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
+   MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
+   stepCount = 0;
+   stepPulses = abs(pulses);
+   MyTim->resume();
+}
+
+void sync0Handler(void);
+void setup(void)
+{
+   Serial1.begin(115200);
+   rcc_config();
+
+   TIM_TypeDef *Instance = TIM1;
+   MyTim = new HardwareTimer(Instance);
+   MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
+   MyTim->attachInterrupt(TimerStep_CB);
+   pinMode(STEPPER_DIR_PIN, OUTPUT);
+
+   // Set starting count value
+   EncoderInit.SetCount(Tim2, 0);
+   attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
+   // EncoderInit.SetCount(Tim3, 0);
+   // EncoderInit.SetCount(Tim4, 0);
+   // EncoderInit.SetCount(Tim8, 0);
+
+   ecat_slv_init(&config);
+}
+volatile byte serveIRQ = 0;
+void loop(void)
+{
+   ESCvar.PrevTime = ESCvar.Time;
+   if (serveIRQ)
+   {
+      DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+      serveIRQ = 0;
+   }
+   ecat_slv_poll();
+}
+
+#define ONE_PERIOD 65536
+#define HALF_PERIOD 32768
+
+int64_t unwrap_encoder(uint16_t in, int64_t *prev)
+{
+   int64_t c64 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
+   int64_t dif = (c64 - *prev);             // core concept: prev + (current - prev) = current
+
+   // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+   int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
+   if (dif < -HALF_PERIOD)
+      mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+   int64_t unwrapped = *prev + mod_dif;
+   *prev = unwrapped; // load previous value
+
+   return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
+}
+
+void indexPulse(void)
+{
+   if (pleaseZeroTheCounter)
+   {
+      TIM2->CNT = 0;
+      indexPulseFired = 1;
+      Pos.clear();
+      TDelta.clear();
+      pleaseZeroTheCounter = 0;
+   }
+}
+
+void sync0Handler(void)
+{
+   serveIRQ = 1;
+}
+
+void handleStepper(void)
+{
+   byte forwardDirection = 0; // 1 if going forward
+   int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
+   if (pulsesToGo != 0)
+      makePulses(900, pulsesToGo); // Make the pulses using hardware timer
+
+   actualPosition = requestedPosition;
+}
+void ESC_interrupt_enable(uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+                            ESCREG_ALEVENT_SM2 |
+                            ESCREG_ALEVENT_SM3;
+   if (mask & user_int_mask)
+   {
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
+      attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
+
+      // Set LAN9252 interrupt pin driver as push-pull active high
+      uint32_t bits = 0x00000111;
+      ESC_write(0x54, &bits, 4);
+
+      // Enable LAN9252 interrupt
+      bits = 0x00000001;
+      ESC_write(0x5c, &bits, 4);
+   }
+}
+
+void ESC_interrupt_disable(uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+                            ESCREG_ALEVENT_SM2 |
+                            ESCREG_ALEVENT_SM3;
+
+   if (mask & user_int_mask)
+   {
+      // Disable interrupt from SYNC0
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
+      detachInterrupt(digitalPinToInterrupt(PC3));
+      // Disable LAN9252 interrupt
+      uint32_t bits = 0x00000000;
+      ESC_write(0x5c, &bits, 4);
+   }
+}
+
+extern "C" uint32_t ESC_SYNC0cycletime(void);
+// Setup of DC
+uint16_t dc_checker(void)
+{
+   // Indicate we run DC
+   ESCvar.dcsync = 0;
+   sync0CycleTime = ESC_SYNC0cycletime();
+   return 0;
+}

Kicad/Ax58100-stm32-ethercat/.gitignore

@@ -0,0 +1,3 @@
+AX58100-stm32-ethercat-backups
+.~lock*
+fp-info-cache

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv

@@ -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%";;;

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_prl

@@ -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": []
+  }
+}

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pro

@@ -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,
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+}

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_sch

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Kicad/Ethercat-stm32/.gitignore

@@ -0,0 +1,3 @@
+fp-info-cache
+Ethercat-stm32-backup*
+*.lck

Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

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       39,
       40
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