Moved SetupTime and pulseLength to sdos.

instead of ground in the plasma, which obviously
isn't the´real thing.

.gitignore

@@ -4,3 +4,13 @@
 .vscode/launch.json
 .vscode/ipch
 Octave
+
+.pioenvs
+.piolibdeps
+.clang_complete
+.gcc-flags.json
+.pio
+
+logs
+*.bak
+*~

Build.md

@@ -0,0 +1,70 @@
+# Building an EaserCAT board
+
+## Parts
+
+Most parts are generic and can be found in many places. SMD resistors and capacitors are standard, nothing special.
+
+Crystals are standard type hc49/s.
+
+In case of smd crystal then it's a "passive smd crystal 3225"
+
+For ferrite beads marked BLM18EG221SN1D - you can use any generic "ferrite bead 220 Ohm 0603 1ln". Not sure if 1ln is important nor what it means. In the schematics some are called BLM18EG221SN1D, others are called BLM18EG221S. It is the same, just a mistake in the naming. 
+
+RJ45 connectors must include "magnetics" and be configured in this way\
+![RJ45 Symbol](Utils/Pictures/RJ45-magnetics.png)\
+I have used PulseJack JN0011D01BNL (and most likely a chinese knockoff) and it works fine, but any jack that meets the diagram above will work.
+
+The EtherCAT ICs are from aliexpress. There are quite a few sellers that has the LAN9252i/PT and the Ax58100 (LAN9252/PT and LAN9252V/PT are also possible, temperature range differs). Afaik, there is only one variant of the Ax58100 - AX58100LT. The LAN9252 is generally available, the Ax58100 is more of a challenge but check aliexpress.
+
+The pcb needs to be ordered. Consider using a solder stencil - but hey it's up to you. I have bought pcbs from some chinese factories and from Aisler, Germany. The Aisler pcb is the nicest and came with excellent solder stencil. At a bit higher cost, nothing dramatic though. If you are hunting pennies then go to one of the chinese ones, maybe check prices at https://pcbshopper.com.
+
+## EEPROM
+
+You need to fill the EEPROM with valid contents before putting it on the pcb. It  is actually mandatory, the EtherCAT IC will not start with an empty EEPROM, or with a non-valid content. It doesn't have to be for a real EtherCAT slave, because the first thing you will do when the card works is to upload the correct contents using TwinCAT. Any valid EEPROM content.
+
+There is a small Arduino program [Link here](Utils/EEPROM_store_valid/) that helps to fill the empty EEPROM. Follow the link.
+
+## Populating the pcb
+
+Enjoy!
+
+## Soldering
+
+I have put the pcb in the soldering oven. Hand soldering should work, although the pin spacing is only 0.4 m on the Ax58100 IC and can be a challenge. I usually get some solder bridges on the EtherCAT IC or the STM32 chip. A magnifyng device definitely helps.
+
+## Powering up
+
+Need:\
+STLINK/V2\
+Serial port - USB
+
+Connect the STLINK/V2 unit and the serial port. The serial port will provide 5V, you don't need to see the serial output (there isn't any).
+
+Ax58100\
+Red led status - Blinking pattern means succesful read of eeprom
+Gree led status - Blinking pattern indicates EtherCAT state (init, op, etc.)
+
+LAN9252\
+There is no indication.
+
+## Hookup to TwinCAT
+
+Install TwinCAT/XAE\
+Ethernet cable\
+Network interface assignment\
+scan\
+free-run\
+download EEPROM contents
+
+## Build and download firmware
+
+vscode\
+platformio\
+open folder\
+Build and upload\
+
+## Twincat verification
+
+## Linuxcnc
+
+## Modifying the firmware

Cards/.gitignore

@@ -0,0 +1,30 @@
+TEST*
+Gerbers*
+*.zip
+ For PCBs designed using KiCad: https://www.kicad.org/
+# Format documentation: https://kicad.org/help/file-formats/
+
+# Temporary files
+*.000
+*.bak
+*.bck
+*.kicad_pcb-bak
+*.kicad_sch-bak
+*-backups
+*.kicad_prl
+*.sch-bak
+*~
+_autosave-*
+*.tmp
+*-save.pro
+*-save.kicad_pcb
+fp-info-cache
+~*.lck
+\#auto_saved_files#
+
+# Netlist files (exported from Eeschema)
+*.net
+
+# Autorouter files (exported from Pcbnew)
+*.dsn
+*.ses

Cards/EaserCAT-2000/Firmware/.gitignore

@@ -0,0 +1,6 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+.vscode/settings.json

Cards/EaserCAT-2000/Firmware/doc/.gitignore

@@ -0,0 +1 @@
+.~lock.*

Cards/EaserCAT-2000/Firmware/include/MyEncoder.h

@@ -1,8 +1,8 @@
 #ifndef MYENCODER
 #define MYENCODER
 #include "Stm32F4_Encoder.h"
-#include <CircularBuffer.h>
-#define RINGBUFFERLEN 101
+#include <CircularBuffer.hpp>
+#define RINGBUFFERLEN 11
 
 class MyEncoder
 {
@@ -30,6 +30,7 @@ private:
     CircularBuffer<double_t, RINGBUFFERLEN> Pos;
     CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
     double curPos;
+    double oldFrequency;
 
     TIM_TypeDef *tim_base;
 };

Cards/EaserCAT-2000/Firmware/include/StepGen.h

@@ -16,6 +16,7 @@ private:
     volatile double_t requestedPosition;
     volatile uint8_t enabled;
     HardwareTimer *MyTim;
+    HardwareTimer *MyTim2;
     uint16_t stepsPerMM;
     uint8_t dirPin;
     PinName stepPin;

Cards/EaserCAT-2000/Firmware/include/StepGen2.h

@@ -0,0 +1,53 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen2
+{
+public:
+    volatile double_t actualPosition;
+    volatile int32_t nSteps;
+    volatile uint32_t timerFrequency;
+    volatile int32_t timerPosition = 0;
+    volatile int32_t timerEndPosition = 0;
+
+public:
+    volatile float Tstartf;    // Starting delay in secs
+    volatile uint32_t Tstartu; // Starting delay in usecs
+    volatile float Tpulses;    // Time it takes to do pulses. Debug
+
+    HardwareTimer *pulseTimer;
+    uint32_t pulseTimerChan;
+    HardwareTimer *startTimer; // Use timers 10,11,13,14
+    uint8_t dirPin;
+    PinName dirPinName;
+    PinName stepPin;
+    uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
+    uint64_t dbg;
+    const uint16_t t2 = 5;                                            // DIR is ahead of PUL with at least 5 usecs
+    const uint16_t t3 = 5;                                            // Pulse width at least 2.5 usecs
+    const uint16_t t4 = 5;                                            // Low level width not less than 2.5 usecs
+    const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
+
+public:
+    volatile double_t commandedPosition;    // End position when this cycle is completed
+    volatile int32_t commandedStepPosition; // End step position when this cycle is completed
+    volatile double_t initialPosition;      // From previous cycle
+    volatile int32_t initialStepPosition;   // From previous cycle
+    int16_t stepsPerMM;                     // This many steps per mm
+    volatile uint8_t enabled;               // Enabled step generator
+    volatile float frequency;
+
+    static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
+    volatile float lcncCycleTime;   // Linuxcnc nominal cycle time in sec (1 ms often)
+
+    StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
+
+    uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
+    void startTimerCB();
+    void pulseTimerCB();
+    uint32_t updatePos(uint32_t i);
+};
+
+#endif

Cards/EaserCAT-2000/Firmware/include/StepGen3.h

@@ -0,0 +1,156 @@
+
+#ifndef STEPGEN3
+#define STEPGEN3
+#include <HardwareTimer.h>
+
+#define MAX_CHAN 16
+#define MAX_CYCLE 18
+#define USER_STEP_TYPE 13
+
+typedef struct
+{
+    /* stuff that is both read and written by makepulses */
+    volatile unsigned int timer1; /* times out when step pulse should end */
+    volatile unsigned int timer2; /* times out when safe to change dir */
+    volatile unsigned int timer3; /* times out when safe to step in new dir */
+    volatile int hold_dds;        /* prevents accumulator from updating */
+    volatile long addval;         /* actual frequency generator add value */
+    volatile long long accum;     /* frequency generator accumulator */
+    volatile int rawcount;        /* param: position feedback in counts */
+    volatile int curr_dir;        /* current direction */
+    volatile int state;           /* current position in state table */
+    /* stuff that is read but not written by makepulses */
+    volatile int enable;                /* pin for enable stepgen */
+    volatile int target_addval;         /* desired freq generator add value */
+    volatile long deltalim;             /* max allowed change per period */
+    volatile int step_len;              /* parameter: step pulse length */
+    volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
+    volatile unsigned int dir_setup;    /* param: direction setup time */
+    volatile int step_type;             /* stepping type - see list above */
+    volatile int cycle_max;             /* cycle length for step types 2 and up */
+    volatile int num_phases;            /* number of phases for types 2 and up */
+    volatile int phase[5];              /* pins for output signals */
+    volatile const unsigned char *lut;  /* pointer to state lookup table */
+                                        /* stuff that is not accessed by makepulses */
+    int pos_mode;                       /* 1 = position mode, 0 = velocity mode */
+    unsigned int step_space;            /* parameter: min step pulse spacing */
+    double old_pos_cmd;                 /* previous position command (counts) */
+    int count;                          /* pin: captured feedback in counts */
+#define double float
+    double pos_scale;          /* param: steps per position unit */
+    double old_scale;          /* stored scale value */
+    double scale_recip;        /* reciprocal value used for scaling */
+    double vel_cmd;            /* pin: velocity command (pos units/sec) */
+    double pos_cmd;            /* pin: position command (position units) */
+    double pos_fb;             /* pin: position feedback (position units) */
+    double freq;               /* param: frequency command */
+    double maxvel;             /* param: max velocity, (pos units/sec) */
+    double maxaccel;           /* param: max accel (pos units/sec^2) */
+    unsigned int old_step_len; /* used to detect parameter changes */
+    unsigned int old_step_space;
+    unsigned int old_dir_hold_dly;
+    unsigned int old_dir_setup;
+    int printed_error; /* flag to avoid repeated printing */
+} stepgen_t;
+
+#define MAX_STEP_TYPE 15
+
+#define STEP_PIN 0 /* output phase used for STEP signal */
+#define DIR_PIN 1  /* output phase used for DIR signal */
+#define UP_PIN 0   /* output phase used for UP signal */
+#define DOWN_PIN 1 /* output phase used for DOWN signal */
+
+#define PICKOFF 28 /* bit location in DDS accum */
+
+typedef enum CONTROL
+{
+    POSITION,
+    VELOCITY,
+    INVALID
+} CONTROL;
+
+class StepGen3
+{
+public:
+    int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};               // stepping types for up to 16 channels
+    char *ctrl_type[MAX_CHAN] = {0};                                                                          // control type ("p"pos or "v"vel) for up to 16 channels
+    int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
+    uint32_t stepPin[MAX_CHAN] = {0};
+    uint32_t dirPin[MAX_CHAN] = {0};
+
+    stepgen_t *stepgen_array = 0;
+
+    int num_chan = 0;          // number of step generators configured */
+    long periodns;             // makepulses function period in nanosec */
+    long old_periodns;         // used to detect changes in periodns */
+    double periodfp;           // makepulses function period in seconds */
+    double freqscale;          // conv. factor from Hz to addval counts */
+    double accelscale;         // conv. Hz/sec to addval cnts/period */
+    long old_dtns;             // update_freq funct period in nsec */
+    double dt;                 // update_freq period in seconds */
+    double recip_dt;           // recprocal of period, avoids divides */
+    volatile uint64_t cnt = 0; // Debug counter
+#undef double
+    StepGen3(void);
+    void updateStepGen(double pos_cmd1, double pos_cmd2, uint32_t servoPeriod);
+    void makeAllPulses(void);
+    int rtapi_app_main();
+    int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
+    void make_pulses(void *arg, long period);
+    void update_freq(void *arg, long period);
+    void update_pos(void *arg, long period);
+    int setup_user_step_type(void);
+    CONTROL parse_ctrl_type(const char *ctrl);
+    unsigned long ulceil(unsigned long value, unsigned long increment);
+
+private:
+    /* lookup tables for stepping types 2 and higher - phase A is the LSB */
+
+    unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
+        {1, 3, 2, 0, 0, 0, 0, 0, 0, 0},        /* type 2: Quadrature */
+        {1, 2, 4, 0, 0, 0, 0, 0, 0, 0},        /* type 3: Three Wire */
+        {1, 3, 2, 6, 4, 5, 0, 0, 0, 0},        /* type 4: Three Wire Half Step */
+        {1, 2, 4, 8, 0, 0, 0, 0, 0, 0},        /* 5: Unipolar Full Step 1 */
+        {3, 6, 12, 9, 0, 0, 0, 0, 0, 0},       /* 6: Unipoler Full Step 2 */
+        {1, 7, 14, 8, 0, 0, 0, 0, 0, 0},       /* 7: Bipolar Full Step 1 */
+        {5, 6, 10, 9, 0, 0, 0, 0, 0, 0},       /* 8: Bipoler Full Step 2 */
+        {1, 3, 2, 6, 4, 12, 8, 9, 0, 0},       /* 9: Unipolar Half Step */
+        {1, 5, 7, 6, 14, 10, 8, 9, 0, 0},      /* 10: Bipolar Half Step */
+        {1, 2, 4, 8, 16, 0, 0, 0, 0, 0},       /* 11: Five Wire Unipolar */
+        {3, 6, 12, 24, 17, 0, 0, 0, 0, 0},     /* 12: Five Wire Wave */
+        {1, 3, 2, 6, 4, 12, 8, 24, 16, 17},    /* 13: Five Wire Uni Half */
+        {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
+        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}         /* 15: User-defined */
+    };
+
+    unsigned char cycle_len_lut[14] =
+        {4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
+
+    unsigned char num_phases_lut[14] =
+        {
+            2,
+            3,
+            3,
+            4,
+            4,
+            4,
+            4,
+            4,
+            4,
+            5,
+            5,
+            5,
+            5,
+            0,
+    };
+};
+
+// For the example
+#define BASE_PERIOD 20000 
+//#define SERVO_PERIOD 2000000
+#define JOINT_X_STEPGEN_MAXACCEL 0.0
+#define JOINT_Z_STEPGEN_MAXACCEL 0.0
+#define JOINT_X_SCALE -200
+#define JOINT_Z_SCALE -80
+
+#endif

Cards/EaserCAT-2000/Firmware/include/Stm32F4_Encoder.h

@@ -641,7 +641,8 @@ public:
   uint16_t GetCount();
 };
 
-void rcc_config();
+void encoder_config();
+void encoder2_config(); // Experimental
 void GpioConfigPortA(GPIO_TypeDef *GPIOx);
 void GpioConfigPortC(GPIO_TypeDef *GPIOx);
 void GpioConfigPortD(GPIO_TypeDef *GPIOx);

Cards/EaserCAT-2000/Firmware/include/extend32to64.h

@@ -0,0 +1,14 @@
+#ifndef EXTEND32TO64
+#define EXTEND32TO54
+
+#include <Arduino.h>
+
+class extend32to64
+{
+public:
+    int64_t previousTimeValue = 0;
+    const uint64_t ONE_PERIOD = 4294967296;  // almost UINT32_MAX;
+    const uint64_t HALF_PERIOD = 2147483648; // Half of that
+    int64_t extendTime(uint32_t in);
+};
+#endif

Cards/EaserCAT-2000/Firmware/lib/soes/ecat_options.h

@@ -0,0 +1,42 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#define USE_FOE          0
+#define USE_EOE          0
+
+#define MBXSIZE          512
+#define MBXSIZEBOOT      512
+#define MBXBUFFERS       3
+
+#define MBX0_sma         0x1000
+#define MBX0_sml         MBXSIZE
+#define MBX0_sme         MBX0_sma+MBX0_sml-1
+#define MBX0_smc         0x26
+#define MBX1_sma         MBX0_sma+MBX0_sml
+#define MBX1_sml         MBXSIZE
+#define MBX1_sme         MBX1_sma+MBX1_sml-1
+#define MBX1_smc         0x22
+
+#define MBX0_sma_b       0x1000
+#define MBX0_sml_b       MBXSIZEBOOT
+#define MBX0_sme_b       MBX0_sma_b+MBX0_sml_b-1
+#define MBX0_smc_b       0x26
+#define MBX1_sma_b       MBX0_sma_b+MBX0_sml_b
+#define MBX1_sml_b       MBXSIZEBOOT
+#define MBX1_sme_b       MBX1_sma_b+MBX1_sml_b-1
+#define MBX1_smc_b       0x22
+
+#define SM2_sma          0x1600
+#define SM2_smc          0x24
+#define SM2_act          1
+#define SM3_sma          0x1A00
+#define SM3_smc          0x20
+#define SM3_act          1
+
+#define MAX_MAPPINGS_SM2 5
+#define MAX_MAPPINGS_SM3 11
+
+#define MAX_RXPDO_SIZE   512
+#define MAX_TXPDO_SIZE   512
+
+#endif /* __ECAT_OPTIONS_H__ */

Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.c

@@ -0,0 +1,386 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+#include <stddef.h>
+#include "esc.h"
+#include "esc_coe.h"
+#include "esc_foe.h"
+#include "esc_eoe.h"
+#include "ecat_slv.h"
+
+#define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)
+#define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
+
+/* Global variables used by the stack */
+uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE, MBXSIZEBOOT)];
+_MBXcontrol MBXcontrol[MBXBUFFERS];
+_SMmap SMmap2[MAX_MAPPINGS_SM2];
+_SMmap SMmap3[MAX_MAPPINGS_SM3];
+_ESCvar ESCvar;
+
+/* Private variables */
+static volatile int watchdog;
+
+#if MAX_MAPPINGS_SM2 > 0
+static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned(8)));
+#else
+extern uint8_t *rxpdo;
+#endif
+
+#if MAX_MAPPINGS_SM3 > 0
+static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned(8)));
+#else
+extern uint8_t *txpdo;
+#endif
+
+/** Function to pre-qualify the incoming SDO download.
+ *
+ * @param[in] index      = index of SDO download request to check
+ * @param[in] sub-index  = sub-index of SDO download request to check
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_download_pre_objecthandler(uint16_t index,
+                                        uint8_t subindex,
+                                        void *data,
+                                        size_t size,
+                                        uint16_t flags)
+{
+   if (IS_RXPDO(index) ||
+       IS_TXPDO(index) ||
+       index == RX_PDO_OBJIDX ||
+       index == TX_PDO_OBJIDX)
+   {
+      uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
+      if (subindex > minSub && COE_maxSub(index) != 0)
+      {
+         return ABORT_SUBINDEX0_NOT_ZERO;
+      }
+   }
+
+   if (ESCvar.pre_object_download_hook)
+   {
+      return (ESCvar.pre_object_download_hook)(index,
+                                               subindex,
+                                               data,
+                                               size,
+                                               flags);
+   }
+
+   return 0;
+}
+
+/** Hook called from the slave stack SDO Download handler to act on
+ * user specified Index and Sub-index.
+ *
+ * @param[in] index      = index of SDO download request to handle
+ * @param[in] sub-index  = sub-index of SDO download request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_download_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
+{
+   if (ESCvar.post_object_download_hook != NULL)
+   {
+      return (ESCvar.post_object_download_hook)(index, subindex, flags);
+   }
+
+   return 0;
+}
+
+/** Function to pre-qualify the incoming SDO upload.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_pre_objecthandler(uint16_t index,
+                                      uint8_t subindex,
+                                      void *data,
+                                      size_t size,
+                                      uint16_t flags)
+{
+   if (ESCvar.pre_object_upload_hook != NULL)
+   {
+      return (ESCvar.pre_object_upload_hook)(index,
+                                             subindex,
+                                             data,
+                                             size,
+                                             flags);
+   }
+
+   return 0;
+}
+
+/** Hook called from the slave stack SDO Upload handler to act on
+ * user specified Index and Sub-index.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
+{
+   if (ESCvar.post_object_upload_hook != NULL)
+   {
+      return (ESCvar.post_object_upload_hook)(index, subindex, flags);
+   }
+
+   return 0;
+}
+
+/** Hook called from the slave stack ESC_stopoutputs to act on state changes
+ * forcing us to stop outputs. Here we can set them to a safe state.
+ */
+void APP_safeoutput(void)
+{
+   DPRINT("APP_safeoutput\n");
+
+   if (ESCvar.safeoutput_override != NULL)
+   {
+      (ESCvar.safeoutput_override)();
+   }
+}
+
+/** Write local process data to Sync Manager 3, Master Inputs.
+ */
+void TXPDO_update(void)
+{
+   if (ESCvar.txpdo_override != NULL)
+   {
+      (ESCvar.txpdo_override)();
+   }
+   else
+   {
+      if (MAX_MAPPINGS_SM3 > 0)
+      {
+         COE_pdoPack(txpdo, ESCvar.sm3mappings, SMmap3);
+      }
+      ESC_write(ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
+   }
+}
+
+/** Read Sync Manager 2 to local process data, Master Outputs.
+ */
+void RXPDO_update(void)
+{
+   if (ESCvar.rxpdo_override != NULL)
+   {
+      (ESCvar.rxpdo_override)();
+   }
+   else
+   {
+      ESC_read(ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
+      if (MAX_MAPPINGS_SM2 > 0)
+      {
+         COE_pdoUnpack(rxpdo, ESCvar.sm2mappings, SMmap2);
+      }
+   }
+}
+
+/* Set the watchdog count value, don't have any affect when using
+ * HW watchdog 0x4xx
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
+ */
+void APP_setwatchdog(int watchdogcnt)
+{
+   CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
+}
+
+/* Function to update local I/O, call read ethercat outputs, call
+ * write ethercat inputs. Implement watch-dog counter to count-out if we have
+ * made state change affecting the App.state.
+ */
+
+void DIG_process(uint16_t ALEvent, uint8_t flags)
+{
+   /* Handle watchdog */
+   if ((flags & DIG_PROCESS_WD_FLAG) > 0)
+   {
+      if (CC_ATOMIC_GET(watchdog) > 0)
+      {
+         CC_ATOMIC_SUB(watchdog, 1);
+      }
+
+      if ((CC_ATOMIC_GET(watchdog) <= 0) &&
+          ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
+      {
+         DPRINT("DIG_process watchdog expired\n");
+         ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
+      }
+      else if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
+      {
+         CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
+      }
+   }
+
+   /* Handle Outputs */
+   if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
+   {
+      if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
+          (ALEvent & ESCREG_ALEVENT_SM2))
+      {
+         RXPDO_update();
+         CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
+         /* Set outputs */
+         cb_set_outputs();
+      }
+      else if (ALEvent & ESCREG_ALEVENT_SM2)
+      {
+         RXPDO_update();
+      }
+   }
+
+   /* Call application */
+   if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
+   {
+      /* Call application callback if set */
+      if (ESCvar.application_hook != NULL)
+      {
+         (ESCvar.application_hook)();
+      }
+   }
+
+   /* Handle Inputs */
+   if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
+   {
+      if (CC_ATOMIC_GET(ESCvar.App.state) > 0)
+      {
+         /* Update inputs */
+         cb_get_inputs();
+         TXPDO_update();
+      }
+   }
+}
+
+/*
+ * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
+ * control what interrupts that should be served and re-activated with
+ * event mask argument
+ */
+void ecat_slv_worker(uint32_t event_mask)
+{
+   do
+   {
+      /* Check the state machine */
+      ESC_state();
+      /* Check the SM activation event */
+      ESC_sm_act_event();
+
+      /* Check mailboxes */
+      while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
+      {
+         ESC_coeprocess();
+#if USE_FOE
+         ESC_foeprocess();
+#endif
+#if USE_EOE
+         ESC_eoeprocess();
+#endif
+         ESC_xoeprocess();
+      }
+#if USE_EOE
+      ESC_eoeprocess_tx();
+#endif
+      /* Call emulated eeprom handler if set */
+      if (ESCvar.esc_hw_eep_handler != NULL)
+      {
+         (ESCvar.esc_hw_eep_handler)();
+      }
+
+      CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
+
+   } while (ESCvar.ALevent & event_mask);
+
+   ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
+}
+
+/*
+ * Polling function. It should be called periodically for an application
+ * when only SM2/DC interrupt is active.
+ * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
+ */
+void ecat_slv_poll(void)
+{
+   /* Read local time from ESC*/
+   ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
+   ESCvar.Time = etohl(ESCvar.Time);
+
+   /* Check the state machine */
+   ESC_state();
+   /* Check the SM activation event */
+   ESC_sm_act_event();
+
+   /* Check mailboxes */
+   if (ESC_mbxprocess())
+   {
+      ESC_coeprocess();
+#if USE_FOE
+      ESC_foeprocess();
+#endif
+#if USE_EOE
+      ESC_eoeprocess();
+#endif
+      ESC_xoeprocess();
+   }
+#if USE_EOE
+   ESC_eoeprocess_tx();
+#endif
+
+   /* Call emulated eeprom handler if set */
+   if (ESCvar.esc_hw_eep_handler != NULL)
+   {
+      (ESCvar.esc_hw_eep_handler)();
+   }
+}
+
+/*
+ * Poll all events in a free-run application
+ */
+void ecat_slv(void)
+{
+   ecat_slv_poll();
+   DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                                      DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+}
+
+/*
+ * Initialize the slave stack.
+ */
+void ecat_slv_init(esc_cfg_t *config)
+{
+   /* Init watchdog */
+   watchdog = config->watchdog_cnt;
+
+   /* Call stack configuration */
+   ESC_config(config);
+   /* Call HW init */
+   ESC_init(config);
+
+   /*  wait until ESC is started up */
+   while ((ESCvar.DLstatus & 0x0001) == 0)
+   {
+      ESC_read(ESCREG_DLSTATUS, (void *)&ESCvar.DLstatus,
+               sizeof(ESCvar.DLstatus));
+      ESCvar.DLstatus = etohs(ESCvar.DLstatus);
+   }
+
+#if USE_FOE
+   /* Init FoE */
+   FOE_init();
+#endif
+
+#if USE_EOE
+   /* Init EoE */
+   EOE_init();
+#endif
+
+   /* reset ESC to init state */
+   ESC_ALstatus(ESCinit);
+   ESC_ALerror(ALERR_NONE);
+   ESC_stopmbx();
+   ESC_stopinput();
+   ESC_stopoutput();
+   /* Init Object Dictionary default values */
+   COE_initDefaultValues();
+}

Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.h

@@ -0,0 +1,69 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef __ECAT_SLV_H__
+#define __ECAT_SLV_H__
+
+#include "ecat_options.h"
+#include "esc.h"
+
+/**
+ * This function is called when to get input values
+ */
+void cb_get_inputs();
+
+/**
+ * This function is called when to set outputs values
+ */
+void cb_set_outputs();
+
+/** Set the watchdog count value
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
+ */
+void APP_setwatchdog(int watchdogcnt);
+
+#define DIG_PROCESS_INPUTS_FLAG 0x01
+#define DIG_PROCESS_OUTPUTS_FLAG 0x02
+#define DIG_PROCESS_WD_FLAG 0x04
+#define DIG_PROCESS_APP_HOOK_FLAG 0x08
+/** Implements the watch-dog counter to count if we should make a state change
+ * due to missing incoming SM2 events. Updates local I/O and run the application
+ * in the following order, call read EtherCAT outputs, execute user provided
+ * application hook and call write EtherCAT inputs.
+ *
+ * @param[in]   flags     = User input what to execute
+ */
+void DIG_process(uint16_t ALEvent, uint8_t flags);
+
+/**
+ * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
+ * control what interrupts that should be served and re-activated with
+ * event mask argument
+ *
+ * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
+ *                           after served
+ */
+void ecat_slv_worker(uint32_t event_mask);
+
+/**
+ * Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
+ * application
+ */
+void ecat_slv_poll(void);
+
+/**
+ * Poll all events in a free-run application
+ */
+void ecat_slv(void);
+
+/**
+ * Initialize the slave stack
+ *
+ * @param[in]   config     = User input how to configure the stack
+ */
+void ecat_slv_init(esc_cfg_t *config);
+
+#endif /* __ECAT_SLV_H__ */

Cards/EaserCAT-2000/Firmware/lib/soes/esi.json

@@ -57,7 +57,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncPos"
       },
@@ -68,7 +68,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncFrequency"
       },
@@ -79,7 +79,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "UNSIGNED32",
+        "dtype": "UNSIGNED16",
         "value": "0",
         "data": "&Obj.DiffT"
       },
@@ -106,59 +106,74 @@
         "data": "&Obj.IndexStatus"
       },
       "6005": {
-        "otype": "RECORD",
-        "name": "StepGenOut1",
+        "otype": "VAR",
+        "name": "ActualPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut1.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
         "pdo_mappings": [
           "txpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition1"
       },
       "6006": {
-        "otype": "RECORD",
-        "name": "StepGenOut2",
+        "otype": "VAR",
+        "name": "ActualPosition2",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut2.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
         "pdo_mappings": [
           "txpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition2"
+      },
+      "6007": {
+        "otype": "VAR",
+        "name": "D1",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D1"
+      },
+      "6008": {
+        "otype": "VAR",
+        "name": "D2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D2"
+      },
+      "6009": {
+        "otype": "VAR",
+        "name": "D3",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D3"
+      },
+      "600A": {
+        "otype": "VAR",
+        "name": "D4",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D4"
       }
     },
     "rxpdo": {
       "7000": {
-        "otype": "VAR",
-        "name": "EncPosScale",
-        "access": "RO",
-        "pdo_mappings": [
-          "rxpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.EncPosScale"
-      },
-      "7001": {
         "otype": "VAR",
         "name": "IndexLatchEnable",
         "access": "RO",
@@ -169,70 +184,49 @@
         "value": "0",
         "data": "&Obj.IndexLatchEnable"
       },
-      "7002": {
-        "otype": "RECORD",
-        "name": "StepGenIn1",
+      "7001": {
+        "otype": "VAR",
+        "name": "CommandedPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn1.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "StepsPerMM",
-            "dtype": "INTEGER16",
-            "value": "0",
-            "access": "RO",
-            "data": "&Obj.StepGenIn1.StepsPerMM"
-          }
-        ],
         "pdo_mappings": [
           "rxpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition1"
+      },
+      "7002": {
+        "otype": "VAR",
+        "name": "CommandedPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition2"
       },
       "7003": {
-        "otype": "RECORD",
-        "name": "StepGenIn2",
+        "otype": "VAR",
+        "name": "StepsPerMM1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn2.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "StepsPerMM",
-            "dtype": "INTEGER16",
-            "value": "0",
-            "access": "RO",
-            "data": "&Obj.StepGenIn2.StepsPerMM"
-          }
-        ],
         "pdo_mappings": [
           "rxpdo"
-        ]
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM1"
       },
       "7004": {
         "otype": "VAR",
-        "name": "Enable1",
+        "name": "StepsPerMM2",
         "access": "RO",
         "pdo_mappings": [
           "rxpdo"
         ],
-        "dtype": "BOOLEAN",
+        "dtype": "INTEGER16",
         "value": "0",
-        "data": "&Obj.Enable1"
+        "data": "&Obj.StepsPerMM2"
       },
       "60664": {
         "otype": "VAR",

Cards/EaserCAT-2000/Firmware/lib/soes/objectlist.c

@@ -13,24 +13,21 @@ 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[] = "IndexLatchEnable";
 static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "EncPosScale";
-static const char acName1601[] = "IndexLatchEnable";
+static const char acName1600_01[] = "IndexLatchEnable";
+static const char acName1601[] = "CommandedPosition1";
 static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "IndexLatchEnable";
-static const char acName1602[] = "StepGenIn1";
+static const char acName1601_01[] = "CommandedPosition1";
+static const char acName1602[] = "CommandedPosition2";
 static const char acName1602_00[] = "Max SubIndex";
-static const char acName1602_01[] = "CommandedPosition";
-static const char acName1602_02[] = "StepsPerMM";
-static const char acName1603[] = "StepGenIn2";
+static const char acName1602_01[] = "CommandedPosition2";
+static const char acName1603[] = "StepsPerMM1";
 static const char acName1603_00[] = "Max SubIndex";
-static const char acName1603_01[] = "CommandedPosition";
-static const char acName1603_02[] = "StepsPerMM";
-static const char acName1604[] = "Enable1";
+static const char acName1603_01[] = "StepsPerMM1";
+static const char acName1604[] = "StepsPerMM2";
 static const char acName1604_00[] = "Max SubIndex";
-static const char acName1604_01[] = "Enable1";
-static const char acName1604_02[] = "Padding 1";
+static const char acName1604_01[] = "StepsPerMM2";
 static const char acName1A00[] = "EncPos";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "EncPos";
@@ -46,12 +43,24 @@ 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[] = "ActualPosition1";
 static const char acName1A05_00[] = "Max SubIndex";
-static const char acName1A05_01[] = "ActualPosition";
-static const char acName1A06[] = "StepGenOut2";
+static const char acName1A05_01[] = "ActualPosition1";
+static const char acName1A06[] = "ActualPosition2";
 static const char acName1A06_00[] = "Max SubIndex";
-static const char acName1A06_01[] = "ActualPosition";
+static const char acName1A06_01[] = "ActualPosition2";
+static const char acName1A07[] = "D1";
+static const char acName1A07_00[] = "Max SubIndex";
+static const char acName1A07_01[] = "D1";
+static const char acName1A08[] = "D2";
+static const char acName1A08_00[] = "Max SubIndex";
+static const char acName1A08_01[] = "D2";
+static const char acName1A09[] = "D3";
+static const char acName1A09_00[] = "Max SubIndex";
+static const char acName1A09_01[] = "D3";
+static const char acName1A0A[] = "D4";
+static const char acName1A0A_00[] = "Max SubIndex";
+static const char acName1A0A_01[] = "D4";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -74,32 +83,30 @@ static const char acName1C13_04[] = "PDO Mapping";
 static const char acName1C13_05[] = "PDO Mapping";
 static const char acName1C13_06[] = "PDO Mapping";
 static const char acName1C13_07[] = "PDO Mapping";
+static const char acName1C13_08[] = "PDO Mapping";
+static const char acName1C13_09[] = "PDO Mapping";
+static const char acName1C13_10[] = "PDO Mapping";
+static const char acName1C13_11[] = "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 acName6006[] = "StepGenOut2";
-static const char acName6006_00[] = "Max SubIndex";
-static const char acName6006_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[] = "StepsPerMM";
-static const char acName7003[] = "StepGenIn2";
-static const char acName7003_00[] = "Max SubIndex";
-static const char acName7003_01[] = "CommandedPosition";
-static const char acName7003_02[] = "StepsPerMM";
-static const char acName7004[] = "Enable1";
+static const char acName6005[] = "ActualPosition1";
+static const char acName6006[] = "ActualPosition2";
+static const char acName6007[] = "D1";
+static const char acName6008[] = "D2";
+static const char acName6009[] = "D3";
+static const char acName600A[] = "D4";
+static const char acName7000[] = "IndexLatchEnable";
+static const char acName7001[] = "CommandedPosition1";
+static const char acName7002[] = "CommandedPosition2";
+static const char acName7003[] = "StepsPerMM1";
+static const char acName7004[] = "StepsPerMM2";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -116,73 +123,90 @@ const _objd SDO100A[] =
 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},
+  {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_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, 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_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, 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, 0x70020210, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
 };
 const _objd SDO1603[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
 };
 const _objd SDO1604[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_01, 0x70040001, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_02, 0x00000007, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, 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_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, 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_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020010, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, 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_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, 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},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
 };
 const _objd SDO1A06[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A06_01, 0x60060140, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
+};
+const _objd SDO1A07[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
+};
+const _objd SDO1A08[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
+};
+const _objd SDO1A09[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
+};
+const _objd SDO1A0A[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
 };
 const _objd SDO1C00[] =
 {
@@ -203,7 +227,7 @@ const _objd SDO1C12[] =
 };
 const _objd SDO1C13[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 11, 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},
@@ -211,18 +235,22 @@ const _objd SDO1C13[] =
   {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
   {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
   {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
+  {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
+  {0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
+  {0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
 };
 const _objd SDO6000[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
 };
 const _objd SDO6002[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
+  {0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
 };
 const _objd SDO6003[] =
 {
@@ -234,37 +262,47 @@ const _objd SDO6004[] =
 };
 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},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
 };
 const _objd SDO6006[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6006_01, 0, &Obj.StepGenOut2.ActualPosition},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
+};
+const _objd SDO6007[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
+};
+const _objd SDO6008[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
+};
+const _objd SDO6009[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
+};
+const _objd SDO600A[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
 };
 const _objd SDO7000[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
 };
 const _objd SDO7001[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
 };
 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_INTEGER16, 16, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.StepsPerMM},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
 };
 const _objd SDO7003[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 2, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
-  {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
 };
 const _objd SDO7004[] =
 {
-  {0x0, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.Enable1},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
 };
 
 const _objectlist SDOobjects[] =
@@ -276,9 +314,9 @@ 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, 2, 0, acName1602, SDO1602},
-  {0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
-  {0x1604, OTYPE_RECORD, 2, 0, acName1604, SDO1604},
+  {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
+  {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
+  {0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
   {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
   {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
   {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -286,20 +324,28 @@ const _objectlist SDOobjects[] =
   {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
   {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
   {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
+  {0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07},
+  {0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08},
+  {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
+  {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
   {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
+  {0x1C13, OTYPE_ARRAY, 11, 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},
-  {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
+  {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
+  {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
+  {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
+  {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
+  {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
-  {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
-  {0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
+  {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
   {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

Cards/EaserCAT-2000/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 */
+
+   float EncPos;
+   float EncFrequency;
+   uint16_t DiffT;
+   uint32_t IndexByte;
+   uint32_t IndexStatus;
+   float ActualPosition1;
+   float ActualPosition2;
+   int16_t D1;
+   int16_t D2;
+   int16_t D3;
+   int16_t D4;
+
+   /* Outputs */
+
+   uint32_t IndexLatchEnable;
+   float CommandedPosition1;
+   float CommandedPosition2;
+   int16_t StepsPerMM1;
+   int16_t StepsPerMM2;
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

Cards/EaserCAT-2000/Firmware/platformio.ini

@@ -0,0 +1,24 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:genericSTM32F407VGT6]
+framework = arduino
+platform = ststm32
+board = genericSTM32F407VGT6
+upload_protocol = stlink
+debug_tool = stlink
+debug_build_flags = -O0 -g -ggdb
+monitor_port = COM10
+monitor_filters = send_on_enter, time, colorize, log2file
+monitor_speed = 115200
+build_flags = -Wl,--no-warn-rwx-segment
+lib_deps = 
+	SPI
+	rlogiacco/CircularBuffer

Cards/EaserCAT-2000/Firmware/src/MyEncoder.cpp

@@ -61,14 +61,19 @@ double MyEncoder::frequency(uint64_t time)
 
     double diffT = 0;
     double diffPos = 0;
+    double frequency;
     TDelta.push(time); // Running average over the length of the circular buffer
     Pos.push(curPos);
-    if (Pos.size() >= 2)
+    if (Pos.size() == RINGBUFFERLEN)
     {
-        diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
+        diffT = 1.0e-6 * (TDelta.last() - TDelta.first()); // Time is in microseconds
         diffPos = fabs(Pos.last() - Pos.first());
+        frequency = diffPos / diffT;
+        oldFrequency = frequency;
+        return frequency; // Revolutions per second
     }
-    return diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
+    else
+        return oldFrequency;
 }
 uint8_t MyEncoder::getIndexState()
 {

Cards/EaserCAT-2000/Firmware/src/StepGen2.cpp

@@ -0,0 +1,124 @@
+#include <Arduino.h>
+#include <stdio.h>
+#include "StepGen2.h"
+#include "extend32to64.h"
+
+extern "C"
+{
+#include "esc.h"
+}
+extern extend32to64 longTime;
+
+StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
+{
+    actualPosition = 0;
+    commandedPosition = 0;
+    commandedStepPosition = 0;
+    initialPosition = 0;
+    initialStepPosition = 0;
+    stepsPerMM = 0;
+    enabled = 0;
+
+    dirPin = _dirPin;
+    dirPinName = digitalPinToPinName(dirPin);
+    stepPin = _stepPin;
+    pulseTimerChan = _timerChannel;
+    pulseTimer = new HardwareTimer(Timer);
+    pulseTimer->attachInterrupt(pulseTimerChan, irq); // Capture/compare innterrupt
+    pinMode(dirPin, OUTPUT);
+    startTimer = new HardwareTimer(Timer2);
+    startTimer->attachInterrupt(irq2);
+}
+
+uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
+{
+    frequency = 0;
+    nSteps = 0;
+    dbg = 0;
+    if (!enabled) // Just .... don't
+        return updatePos(0);
+
+    commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
+    nSteps = commandedStepPosition - initialStepPosition;
+    if (nSteps == 0) // No movement
+    {
+        return updatePos(1);
+    }
+    lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
+
+    if (abs(nSteps) < 0)                                                                    // Some small number
+    {                                                                                       //
+        frequency = (abs(nSteps) + 1) / lcncCycleTime;                                      // Distribute steps inside available time
+        Tpulses = abs(nSteps) / frequency;                                                  //
+        Tstartf = (lcncCycleTime - Tpulses) / 2.0;                                          //
+    }                                                                                       //
+    else                                                                                    // Regular step train, up or down
+    {                                                                                       //
+        float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime;                // Straight line equation.  position = kTRAJ x time + mTRAJ
+        float mTRAJ = initialPosition;                                                      // Operating on incoming positions (not steps)
+        if (kTRAJ > 0)                                                                      //
+            Tstartf = (float(initialStepPosition + 1) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing upwards
+        else                                                                                //
+            Tstartf = (float(initialStepPosition) / float(stepsPerMM) - mTRAJ) / kTRAJ;     // Crossing downwards
+        frequency = fabs(kTRAJ * stepsPerMM);                                               //
+        Tpulses = abs(nSteps) / frequency;
+    }
+    updatePos(5);
+
+    uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
+    dbg = timeSinceISR;                                                //
+    Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR;        // Have already wasted some time since the irq.
+
+    if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
+        return updatePos(1);
+
+    timerFrequency = uint32_t(ceil(frequency));
+    startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
+    startTimer->refresh();
+    startTimer->resume();
+    return 1;
+}
+
+void StepGen2::startTimerCB()
+{
+    startTimer->pause();                                   // Once is enough.
+    digitalWriteFast(dirPinName, nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
+                                                           // There will be a short break here for t2 usecs, in the future.
+
+    timerEndPosition += nSteps;
+    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+    pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
+    // pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
+    pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
+    pulseTimer->refresh();
+    pulseTimer->resume();
+}
+
+void StepGen2::pulseTimerCB()
+{
+    int16_t dir = digitalReadFast(dirPinName); //
+    if (dir == HIGH)                           // The step just taken
+        timerPosition--;
+    else
+        timerPosition++;
+    int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
+    if (diffPosition == 0)
+        pulseTimer->pause();
+    else
+    {
+        if (diffPosition < 0 && dir == LOW)     // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, HIGH); // Normal is to be HIGH when decreasing
+        if (diffPosition > 0 && dir == HIGH)    // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, LOW);  // Normal is to be LOW when increasing
+                                                // Normally nothing is needed
+    }
+}
+
+uint32_t StepGen2::updatePos(uint32_t i)
+{                                                //
+    initialPosition = commandedPosition;         // Save the numeric position for next step
+    initialStepPosition = commandedStepPosition; // also the step we are at}
+    return i;
+}
+
+uint32_t StepGen2::sync0CycleTime = 0;

Cards/EaserCAT-2000/Firmware/src/Stm32F4_Encoder.cpp

@@ -263,7 +263,7 @@ void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
     GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
 }
 
-void rcc_config()
+void encoder_config()
 {
     RCC->AHB1ENR |= 0x1;  // GPIOA
     RCC->AHB1ENR |= 0x4;  // GPIOC
@@ -271,13 +271,13 @@ void rcc_config()
     RCC->AHB1ENR |= 0x10; // GPIOE
 
     RCC->APB1ENR |= 0x20000000; // ENABLE DAC
-  //  RCC->APB2ENR |= 0x00000002; // APB2 TIM8
+                                //  RCC->APB2ENR |= 0x00000002; // APB2 TIM8
     RCC->APB1ENR |= 0x00000004; // APB1 TIM4
     RCC->APB1ENR |= 0x00000001; // APB1 TIM2
- //   RCC->APB1ENR |= 0x00000002; // APB1 TIM3
+                                //   RCC->APB1ENR |= 0x00000002; // APB1 TIM3
 
     GpioConfigPortA(GPIOA);
- //   GpioConfigPortC(GPIOC);
+    //   GpioConfigPortC(GPIOC);
     GpioConfigPortD(GPIOD);
 #if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
     GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
@@ -326,4 +326,66 @@ void rcc_config()
 
     TIM3->CNT = 0;
 #endif
+}
+
+void encoder2_config()
+{
+#if 0
+#include "mbed.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal_tim_ex.h"
+
+    TIM_HandleTypeDef timer;
+    TIM_Encoder_InitTypeDef encoder;
+
+    // direction to PA_9 -- step pulse to PA_8
+
+    int main()
+    {
+
+     GPIO_InitTypeDef GPIO_InitStruct;
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    timer.Instance = TIM1;
+    timer.Init.Period = 0xffff;
+    timer.Init.Prescaler = 0;
+    timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+    encoder.EncoderMode = TIM_ENCODERMODE_TI12; 
+    encoder.IC1Filter = 0x0f;
+    encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; 
+    encoder.IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder.IC2Filter = 0x0f;
+    encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;    
+    encoder.IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+    HAL_TIM_Encoder_Init(&timer, &encoder);
+    HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);   
+
+
+    TIM1->EGR = 1;           // Generate an update event
+    TIM1->CR1 = 1;           // Enable the counter
+
+
+ while (1) {
+        int16_t count1; 
+        count1=TIM1->CNT; 
+
+        printf("%d\r\n", count1);
+        wait(1.0);
+
+ };
+}
+#endif
 }

Cards/EaserCAT-2000/Firmware/src/extend32to64.cpp

@@ -0,0 +1,18 @@
+#include "extend32to64.h"
+
+// Extend from 32-bit to 64-bit precision
+int64_t extend32to64::extendTime(uint32_t in)
+{
+    int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
+    int64_t dif = (c64 - previousTimeValue); // 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 < int64_t(-HALF_PERIOD))
+        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+    int64_t unwrapped = previousTimeValue + mod_dif;
+    previousTimeValue = unwrapped; // load previous value
+
+    return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
+}

Cards/EaserCAT-2000/Firmware/src/main.cpp

@@ -0,0 +1,355 @@
+#include <Arduino.h>
+#include <stdio.h>
+extern "C"
+{
+#include "ecat_slv.h"
+#include "utypes.h"
+};
+_Objects Obj;
+
+HardwareSerial Serial1(PA10, PA9);
+
+volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
+HardwareTimer *baseTimer;     // The base period timer
+HardwareTimer *syncTimer;     // The timer that syncs "with linuxcnc cycle"
+uint32_t sync0CycleTime;      // nanosecs, often 1000000 ( 1 ms )
+
+#include "MyEncoder.h"
+volatile uint16_t encCnt = 0;
+void indexPulseEncoderCB1(void);
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
+void indexPulseEncoderCB1(void)
+{
+   encCnt++;
+   Encoder1.indexPulse();
+}
+// #include <RunningAverage.h>
+// RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
+CircularBuffer<uint16_t, 1000> irqServeDelays;
+
+#include "StepGen3.h"
+StepGen3 *Step = 0;
+
+#include "extend32to64.h"
+
+volatile uint64_t irqTime = 0, irqCnt = 0;
+extend32to64 longTime;
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
+
+void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
+{
+   Encoder1.setLatch(Obj.IndexLatchEnable);
+   Encoder1.setScale(2000);
+}
+
+volatile uint16_t basePeriodCnt;
+volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
+volatile uint16_t deltaMakePulsesCnt;
+
+volatile double posCmd1, posCmd2;
+double oldPosCmd1, oldPosCmd2;
+double deltaPosCmd1, deltaPosCmd2;
+
+void syncWithLCNC()
+{
+   syncTimer->pause();
+   baseTimer->pause();
+   deltaMakePulsesCnt = makePulsesCnt - prevMakePulsesCnt;
+   prevMakePulsesCnt = makePulsesCnt;
+   Step->updateStepGen(posCmd1, posCmd2, sync0CycleTime); // Update positions
+   Step->makeAllPulses();                                 // Make first step right here
+   basePeriodCnt = sync0CycleTime / BASE_PERIOD;          //
+   baseTimer->refresh();                                  //
+   baseTimer->resume();                                   // Make the other steps in ISR
+}
+
+void basePeriodCB(void)
+{
+   if (--basePeriodCnt > 0) // Stop
+      Step->makeAllPulses();
+   else
+      baseTimer->pause();
+}
+
+int32_t delayT;
+uint16_t thisCycleTime; // In usecs
+int16_t maxIrqServeTime = 0;
+uint64_t oldIrqTime = 0;
+uint16_t nLoops;
+uint16_t failedSM2s = 0;
+uint16_t totalFailedSM2s = 0;
+uint16_t nLoopsAboveNorm = 0;
+
+void handleStepper(void)
+{
+   if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
+   {
+      thisCycleTime = irqTime - oldIrqTime;
+      nLoops = round(float(thisCycleTime) / float(sync0CycleTime / 1000));
+      nLoopsAboveNorm += nLoops - 1;
+   }
+   oldIrqTime = irqTime;
+
+   uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
+   irqServeDelays.push(diffT);
+   if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
+   {
+      uint16_t maxInBuffer = 0;
+      using index_t = decltype(irqServeDelays)::index_t;
+      for (index_t i = 0; i < irqServeDelays.size(); i++)
+      {
+         if (maxInBuffer < irqServeDelays[i])
+            maxInBuffer = irqServeDelays[i];
+      }
+      if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
+         maxIrqServeTime--;
+      if (maxIrqServeTime < maxInBuffer)
+         maxIrqServeTime = maxInBuffer;
+   }
+   if (ALEventIRQ & ESCREG_ALEVENT_SM2)
+   {                                    // The normal case, position update every cycle
+      posCmd1 = Obj.CommandedPosition1; // The position update
+      posCmd2 = Obj.CommandedPosition2;
+      deltaPosCmd1 = posCmd1 - oldPosCmd1; // Needed for extrapolation in the other case
+      deltaPosCmd2 = posCmd2 - oldPosCmd2;
+      failedSM2s = 0;
+   }
+   else
+   {                              // Not normal, we didn't get a position update. Extrapolate from previous updates
+      if (failedSM2s++ < 100)      // Do max 10 such extrapolations, should be plenty
+      {                           //
+         posCmd1 += deltaPosCmd1; // Continue with the same speed
+         posCmd2 += deltaPosCmd2;
+      }
+      totalFailedSM2s++;
+   }
+   oldPosCmd1 = posCmd1;
+   oldPosCmd2 = posCmd2;
+
+   // Obj.ActualPosition1 = Obj.CommandedPosition1;
+   // Obj.ActualPosition2 = Obj.CommandedPosition2;
+
+   Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
+   Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
+
+   Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
+   Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
+
+   delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
+   if (delayT > 0 && delayT < 900)
+   {
+      syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
+      syncTimer->refresh();
+      syncTimer->resume();
+   }
+   else
+   {
+      syncWithLCNC();
+   }
+}
+
+float_t oldCommandedPosition = 0;
+void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
+{
+   Obj.IndexStatus = Encoder1.indexHappened();
+   Obj.EncPos = Encoder1.currentPos();
+   Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
+   Obj.IndexByte = Encoder1.getIndexState();
+
+   Obj.DiffT = nLoops;
+   Obj.D1 = 1000 * deltaPosCmd2;           // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
+   Obj.D2 = totalFailedSM2s;               // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX;                          // Step->stepgen_array[1].freq;
+   Obj.D3 = 1000 * Obj.CommandedPosition2; // Step->stepgen_array[1].freq;
+   Obj.D4 = 1000 * posCmd2;                // Step->stepgen_array[1].rawcount % UINT16_MAX;
+   oldCommandedPosition = Obj.CommandedPosition2;
+}
+
+void ESC_interrupt_enable(uint32_t mask);
+void ESC_interrupt_disable(uint32_t mask);
+uint16_t dc_checker(void);
+void sync0Handler(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,
+        .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 measureCrystalFrequency(void);
+
+volatile byte serveIRQ = 0;
+
+void setup(void)
+{
+   Serial1.begin(115200);
+#if 0
+   measureCrystalFrequency(); // Calibrate crystal frequency
+#endif
+   Step = new StepGen3;
+
+   encoder_config(); // Needed by encoder, probably breaks some timers.
+   ecat_slv_init(&config);
+
+   pinMode(PA11, OUTPUT); // Step X
+   pinMode(PA12, OUTPUT); // Dir X
+   pinMode(PC9, OUTPUT);  // Step Z
+   pinMode(PC10, OUTPUT); // Dir Z
+
+   baseTimer = new HardwareTimer(TIM11); // The base period timer
+   setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
+   // baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
+   baseTimer->attachInterrupt(basePeriodCB);
+
+   syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
+   syncTimer->attachInterrupt(syncWithLCNC);
+}
+
+void loop(void)
+{
+   uint64_t dTime;
+   if (serveIRQ)
+   {
+      DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+      serveIRQ = 0;
+      ESCvar.PrevTime = ESCvar.Time;
+      ecat_slv_poll();
+   }
+   dTime = longTime.extendTime(micros()) - irqTime;
+   if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
+      ecat_slv_poll();
+}
+
+void sync0Handler(void)
+{
+   ALEventIRQ = ESC_ALeventread();
+   // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
+   {
+      irqTime = longTime.extendTime(micros());
+      serveIRQ = 1;
+   }
+   irqCnt++; // debug output
+}
+
+// Enable SM2 interrupts
+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;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
+   if (mask & user_int_mask)
+   {
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
+      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);
+   }
+}
+
+// Disable SM2 interrupts
+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;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
+
+   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 = 1;
+   sync0CycleTime = ESC_SYNC0cycletime(); // nanosecs
+   return 0;
+}
+
+//
+// Code to calibrate the crystal.
+//
+
+#include <HardwareTimer.h>
+HardwareTimer *timer;
+volatile uint32_t cnt;
+
+void CB(void)
+{
+   if (cnt-- == 0)
+   {
+      timer->pause();
+   }
+}
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
+{
+   const uint16_t calibrated1000 = 1042;                                               // <- This is the factor to adjust to make 1 sec = 1 sec
+   uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
+   uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
+   uint32_t PeriodTicks = period_cyc / Prescalerfactor;
+   timer->setPrescaleFactor(Prescalerfactor);
+   timer->setOverflow(PeriodTicks, TICK_FORMAT);
+   // Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
+}
+
+void measureCrystalFrequency(void)
+{
+   timer = new HardwareTimer(TIM1);
+   Serial1.begin(115200);
+   delay(3000);
+   Serial1.printf("Clock freq = %u\n", timer->getTimerClkFreq());
+   setFrequencyAdjustedMicrosSeconds(timer, 1000);
+   timer->refresh();
+   timer->attachInterrupt(CB);
+   cnt = 10000;
+
+   Serial1.printf("\n");
+   uint32_t startT = micros();
+   timer->resume();
+
+   while (cnt != 0)
+      ;
+
+   uint32_t endT = micros();
+   uint32_t diffT = endT - startT;
+   Serial1.printf("\n");
+   Serial1.printf("diff = %u\n", diffT);
+
+   Serial1.printf("\n");
+   delay(10000);
+   Serial1.printf("\n");
+
+   exit(0);
+}

Cards/EaserCAT-2000/Kicad/.gitignore

@@ -0,0 +1,47 @@
+fp-info-cache
+Ethercat-stm32-backup*
+*.lck
+# For PCBs designed using KiCad: https://www.kicad.org/
+# Format documentation: https://kicad.org/help/file-formats/
+
+# Temporary files
+*.000
+*.bak
+*.bck
+*.kicad_pcb-bak
+*.kicad_sch-bak
+*-backups
+*.kicad_prl
+*.sch-bak
+*~
+_autosave-*
+*.tmp
+*-save.pro
+*-save.kicad_pcb
+fp-info-cache
+~*.lck
+\#auto_saved_files#
+
+# Netlist files (exported from Eeschema)
+*.net
+
+# Autorouter files (exported from Pcbnew)
+*.dsn
+*.ses
+
+# Exported BOM files
+*.xml
+*.csv
+
+# Gerber outputs
+Gerbers\*
+*.zip
+
+
+# Exported BOM files
+*.xml
+*.csv
+*.step
+*.stp
+*.stl
+.~lock.*

Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_pro

@@ -169,6 +169,13 @@
       "via_dimensions": [],
       "zones_allow_external_fillets": false
     },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
     "layer_presets": [],
     "viewports": []
   },
@@ -427,14 +434,76 @@
       "gencad": "",
       "idf": "",
       "netlist": "C:/Program Files/KiCad/7.0/",
+      "plot": "",
+      "pos_files": "",
       "specctra_dsn": "Ethercat-stm32.dsn",
       "step": "",
+      "svg": "",
       "vrml": ""
     },
     "page_layout_descr_file": ""
   },
   "schematic": {
     "annotate_start_num": 0,
+    "bom_export_filename": "",
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "Grouped By Value",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
     "drawing": {
       "dashed_lines_dash_length_ratio": 12.0,
       "dashed_lines_gap_length_ratio": 3.0,
@@ -448,6 +517,11 @@
       "intersheets_ref_suffix": "",
       "junction_size_choice": 3,
       "label_size_ratio": 0.375,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
       "pin_symbol_size": 25.0,
       "text_offset_ratio": 0.15
     },
@@ -463,6 +537,7 @@
     "spice_external_command": "spice \"%I\"",
     "spice_model_current_sheet_as_root": true,
     "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
     "spice_save_all_voltages": false,
     "subpart_first_id": 65,
     "subpart_id_separator": 0
@@ -470,7 +545,7 @@
   "sheets": [
     [
       "5597aedc-b607-407f-bbfd-31b3b298ecb1",
-      ""
+      "Root"
     ],
     [
       "a120273a-c1ae-42b3-935d-01f789f654a3",

Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_sch

@@ -0,0 +1,176 @@
+(kicad_sch
+	(version 20231120)
+	(generator "eeschema")
+	(generator_version "8.0")
+	(uuid "5597aedc-b607-407f-bbfd-31b3b298ecb1")
+	(paper "A3")
+	(lib_symbols)
+	(text "Huvudsida"
+		(exclude_from_sim no)
+		(at 162.56 85.09 0)
+		(effects
+			(font
+				(size 1.27 1.27)
+			)
+			(justify left bottom)
+		)
+		(uuid "adf2be63-7ec7-44be-837f-901ddbc80717")
+	)
+	(sheet
+		(at 144.78 224.79)
+		(size 71.12 16.51)
+		(fields_autoplaced yes)
+		(stroke
+			(width 0.1524)
+			(type solid)
+		)
+		(fill
+			(color 0 0 0 0.0000)
+		)
+		(uuid "0a376a6c-0f15-42f8-81f6-3a55619be267")
+		(property "Sheetname" "Peripherals"
+			(at 144.78 224.0784 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left bottom)
+			)
+		)
+		(property "Sheetfile" "peripherals.kicad_sch"
+			(at 144.78 241.8846 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left top)
+			)
+		)
+		(instances
+			(project "Ethercat-stm32"
+				(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
+					(page "5")
+				)
+			)
+		)
+	)
+	(sheet
+		(at 46.99 224.79)
+		(size 82.55 17.78)
+		(fields_autoplaced yes)
+		(stroke
+			(width 0.1524)
+			(type solid)
+		)
+		(fill
+			(color 0 0 0 0.0000)
+		)
+		(uuid "650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03")
+		(property "Sheetname" "LAN9252_diverse"
+			(at 46.99 224.0784 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left bottom)
+			)
+		)
+		(property "Sheetfile" "LAN9252_diverse.kicad_sch"
+			(at 46.99 243.1546 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left top)
+			)
+		)
+		(instances
+			(project "Ethercat-stm32"
+				(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
+					(page "3")
+				)
+			)
+		)
+	)
+	(sheet
+		(at 46.99 200.66)
+		(size 82.55 17.78)
+		(fields_autoplaced yes)
+		(stroke
+			(width 0.1524)
+			(type solid)
+		)
+		(fill
+			(color 0 0 0 0.0000)
+		)
+		(uuid "a120273a-c1ae-42b3-935d-01f789f654a3")
+		(property "Sheetname" "LAN9252"
+			(at 46.99 199.9484 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left bottom)
+			)
+		)
+		(property "Sheetfile" "LAN9252.kicad_sch"
+			(at 46.99 219.0246 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left top)
+			)
+		)
+		(instances
+			(project "Ethercat-stm32"
+				(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
+					(page "2")
+				)
+			)
+		)
+	)
+	(sheet
+		(at 142.24 200.66)
+		(size 74.93 17.78)
+		(fields_autoplaced yes)
+		(stroke
+			(width 0.1524)
+			(type solid)
+		)
+		(fill
+			(color 0 0 0 0.0000)
+		)
+		(uuid "d564400f-40ba-4aca-9c2a-14ec52a8353b")
+		(property "Sheetname" "STM32F4"
+			(at 142.24 199.9484 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left bottom)
+			)
+		)
+		(property "Sheetfile" "STM32F4.kicad_sch"
+			(at 142.24 219.0246 0)
+			(effects
+				(font
+					(size 1.27 1.27)
+				)
+				(justify left top)
+			)
+		)
+		(instances
+			(project "Ethercat-stm32"
+				(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
+					(page "4")
+				)
+			)
+		)
+	)
+	(sheet_instances
+		(path "/"
+			(page "1")
+		)
+	)
+)

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.hal

@@ -0,0 +1,159 @@
+# 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 metalmusings_encoder
+
+addf lcec.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
+# 1/2 of stepper's p/rev 2000 => 1000
+setp lcec.0.0.steps-per-mm-1 200
+net x-pos-cmd    => lcec.0.0.commanded-position-1
+net x-pos-fb     => lcec.0.0.actual-position-1
+#net x-enable     => lcec.0.0.enable
+
+#*******************
+#  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
+
+setp lcec.0.0.steps-per-mm-2 80
+# 1/5 of drive's step/rev
+net z-pos-cmd    => lcec.0.0.commanded-position-2
+net z-pos-fb     => lcec.0.0.actual-position-2
+# net z-enable     => lcec.0.0.enable
+
+#*********************
+#   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.0.0.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
+
+#net spindle-revs <= lcec.0.3.enc-pos
+net spindle-revs <= lcec.0.0.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.0.0.enc-frequency
+net  spindle-vel-fb-rpm   mult2.rpm.out
+
+net  to_encoder           metalmusings-encoder.0.index-latch-enable lcec.0.0.enc-index-latch-enable
+net  from_encoder         metalmusings-encoder.0.index-status       lcec.0.0.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 lcec.write-all           servo-thread

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.ini

@@ -0,0 +1,164 @@
+# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
+# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
+
+# Generated by PNCconf at Fri Sep  9 22:31:33 2016
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+MACHINE = Turner
+DEBUG = 0
+
+[DISPLAY]
+LATHE=1
+DISPLAY = gmoccapy
+BACK_TOOL_LATHE = 0
+CYCLE_TIME = 150
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.000000
+MAX_SPINDLE_OVERRIDE = 2.000000
+MIN_SPINDLE_OVERRIDE = 0.500000
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 1
+PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
+INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+LATHE = 1
+POSITION_FEEDBACK = ACTUAL
+DEFAULT_LINEAR_VELOCITY = 6.000000
+MAX_LINEAR_VELOCITY = 25.000000
+MIN_LINEAR_VELOCITY = 0.500000
+DEFAULT_ANGULAR_VELOCITY = 12.000000
+MAX_ANGULAR_VELOCITY = 1800.000000
+MIN_ANGULAR_VELOCITY = 1.666667
+EDITOR = gedit
+
+#EMBED_TAB_NAME = Cycles
+#EMBED_TAB_LOCATION = ntb_preview
+#EMBED_TAB_LOCATION = ntb_user_tabs
+#EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+[RS274NGC]
+PARAMETER_FILE = linuxcnc.var
+SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
+FEATURES=12
+USER_M_PATH = nc_files:.
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT =     1.0
+COMM_WAIT    =   0.010
+BASE_PERIOD  =  100000
+SERVO_PERIOD = 2000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+TWOPASS = true
+HALUI = halui
+HALFILE = Turner.hal
+#HALFILE = custom_vfd.hal
+HALFILE = custom.hal
+#HALFILE = xhc-hb04.tcl
+#HALFILE = monitor_xhc-hb04.tcl
+POSTGUI_HALFILE = postgui_call_list.hal
+SHUTDOWN = shutdown.hal
+
+[TRAJ]
+COORDINATES = X Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+CYCLE_TIME = 0.010
+DEFAULT_LINEAR_VELOCITY = 20.0
+MAX_LINEAR_VELOCITY = 40.00
+DEFAULT_ACCELERATION = 400.0
+MAX_ACCELERATION = 400.0
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 2
+
+#********************
+# Axis X
+#********************
+
+[AXIS_X]
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_0]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 20.0
+MAX_ACCELERATION = 400.0
+MAX_OUTPUT = 0.0
+MIN_LIMIT = -106
+MAX_LIMIT = 106
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+
+#********************
+# Axis Z
+#********************
+[AXIS_Z]
+MIN_LIMIT = -560.0
+MAX_LIMIT = 560.0
+MAX_VELOCITY = 50.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_1]
+
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 1
+MAX_VELOCITY = 75.0
+MAX_ACCELERATION = 400.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[SPINDLE_9]
+P = 0.0
+I = 0.0
+D = 0.0
+FF0 = 1.0
+FF1 = 0.0
+FF2 = 0.0
+BIAS = 0.0
+DEADBAND = 0.0
+MAX_OUTPUT = 2400.0
+OUTPUT_SCALE =5760
+OUTPUT_MIN_LIMIT = 0
+OUTPUT_MAX_LIMIT = 2400
+#ENCODER_SCALE = -4000
+ENCODER_SCALE = 2000
+

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.pref

@@ -0,0 +1,79 @@
+[DEFAULT]
+dro_digits = 3
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+enable_dro = False
+scale_jog_vel = 24.0
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+turtle_jog_factor = 20
+hide_turtle_jog_button = False
+unlock_code = 123
+toggle_readout = True
+spindle_start_rpm = 300.0
+kbd_height = 250
+view = y
+blockheight = 0.0
+reload_tool = False
+open_file = 
+screen1 = window
+hide_titlebar = False
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+use_toolmeasurement = False
+gtk_theme = Follow System Theme
+icon_theme = classic
+audio_enabled = True
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+hide_tooltips = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/debian
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+blockdel = False
+show_offsets = False
+show_dtg = False
+view_tool_path = False
+view_dimension = True
+run_from_line = no_run
+unlock_way = no
+show_preview_on_offset = False
+use_keyboard_shortcuts = False
+offset_axis_z = 150.0
+diameter offset_axis_x = 0
+offset_axis_x = 0.0
+

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/autosave.halscope

@@ -0,0 +1,27 @@
+THREAD servo-thread
+MAXCHAN 4
+HMULT 1
+HZOOM 1
+HPOS 4,132653e-01
+CHAN 1
+PIN lcec.0.0.D1
+VSCALE 1
+VPOS 0,781382
+VOFF 0,000000e+00
+CHAN 2
+PIN lcec.0.0.DiffT
+VSCALE 0
+VPOS 0,678420
+VOFF 0,000000e+00
+CHAN 3
+PIN lcec.0.0.D3
+VSCALE 1
+VPOS 0,743300
+VOFF 2,000000e+02
+CHAN 4
+PIN lcec.0.0.D4
+VSCALE 5
+VPOS 0,364679
+VOFF 0,000000e+00
+TMODE 1
+RMODE 2

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/core_sim_lathe.hal

@@ -0,0 +1,31 @@
+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
+net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+net lube iocontrol.0.lube
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom.hal

@@ -0,0 +1,4 @@
+
+# Gamepad
+loadusr -W hal_input -KRAL F310
+# Resten är i custom_postgui.hal

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom_vfd.hal

@@ -0,0 +1,48 @@
+# Include your custom HAL commands here
+
+# Load the Huanyang VFD user component
+loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
+
+# motion.spindle-speed-in needs rev per second
+loadrt scale names=scale.0,scale.1,scale.2
+# scale.0  gearbox via M101-M106, M101 being lowest gear.
+# scale.1  Inverted gear ratio
+# scale.2  motion.spindle-speed.in in rev/sec
+loadrt limit2 names=spindlemax
+loadrt mult2  names=mult2.1
+addf scale.0  servo-thread
+addf scale.1  servo-thread
+addf scale.2  servo-thread
+addf mult2.1  servo-thread
+addf spindlemax servo-thread
+setp scale.0.gain 0.8846    # Start with fourth gear
+setp scale.1.gain 1.13045          
+setp scale.2.gain 0.0166666667
+setp mult2.1.in1     25.0
+unlinkp spindle.0.forward
+unlinkp spindle.0.reverse
+unlinkp spindle.0.on
+#unlinkp motion.spindle-at-speed
+net spindle-fwd          spindle.0.forward       => spindle-vfd.spindle-forward
+net spindle-reverse      spindle.0.reverse       => spindle-vfd.spindle-reverse
+net spindle-on           spindle.0.on            => spindle-vfd.spindle-on
+net spindle-at-speed     <= spindle-vfd.spindle-at-speed
+#net spindle-enable                                    => spindle-vfd.enable
+setp spindle-vfd.enable 1
+
+# Prepare max limit rpm for spindle
+net spindle-max-freq     spindle-vfd.max-freq	      => mult2.1.in0
+net spindle-max-rpm      mult2.1.out		      => spindlemax.max   # Max limit for motor rpm, like 67*25 = 1675
+
+# Give speed to vfd, limited to max possible
+unlinkp spindle.0.speed-out-abs
+net spindle-speed-scale          spindle.0.speed-out-abs => scale.1.in                 # Spindle rpm => Motor rpm
+net spindle-speed-cmd-unlimited  scale.1.out                  => spindlemax.in              # Limit spindle rpm
+net spindle-speed-cmd-limited    spindlemax.out               => spindle-vfd.speed-command  # Feed to vfd
+
+# Convert actual feed from rpm to rps, consider gear in use.
+unlinkp spindle.0.speed-in
+net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in                 # Motor rpm => Motor rps
+net spindle-speed-gears  scale.2.out                  => scale.0.in                 # Motor rps => spindle rps
+net spindle-speed-in     scale.0.out                  => spindle.0.speed-in    
+

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/ethercat-conf.xml

@@ -0,0 +1,59 @@
+<masters>
+  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
+    <slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
+      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/> 
+      <syncManager idx="2" dir="out">
+        <pdo idx="1600">
+          <pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
+        </pdo>
+        <pdo idx="1601">
+          <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="commanded-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1602">
+          <pdoEntry idx="7002" subIdx="00" bitLen="32" halPin="commanded-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1603">
+          <pdoEntry idx="7003" subIdx="00" bitLen="16" halPin="steps-per-mm-1" halType="s32"/>
+        </pdo>
+        <pdo idx="1604">
+          <pdoEntry idx="7004" subIdx="00" bitLen="16" halPin="steps-per-mm-2" halType="s32"/>
+        </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="16" 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>
+        <pdo idx="1a05">
+          <pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actual-position-1" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a06">
+          <pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actual-position-2" halType="float-ieee"/>
+        </pdo>
+        <pdo idx="1a07">
+          <pdoEntry idx="6007" subIdx="00" bitLen="16" halPin="D1" halType="s32"/>
+        </pdo>
+        <pdo idx="1a08">
+          <pdoEntry idx="6008" subIdx="00" bitLen="16" halPin="D2" halType="s32"/>
+        </pdo>
+        <pdo idx="1a09">
+          <pdoEntry idx="6009" subIdx="00" bitLen="16" halPin="D3" halType="s32"/>
+        </pdo>
+        <pdo idx="1a0a">
+          <pdoEntry idx="600a" subIdx="00" bitLen="16" halPin="D4" halType="s32"/>
+        </pdo>
+      </syncManager>
+    </slave>
+  </master>
+</masters>

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/ethercat-conf.xml.org

@@ -0,0 +1,82 @@
+<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>

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/gmoccapy_lathe.pref

@@ -0,0 +1,83 @@
+[DEFAULT]
+dro_size = 28
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+unlock_code = 123
+view = y
+blockheight = 0.0
+spindle_start_rpm = 300.0
+scale_jog_vel = 140.4
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 20
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Tool
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/emcmesa
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+reload_tool = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+run_from_line = no_run
+unlock_way = no
+show_preview_on_offset = False
+use_keyboard_shortcuts = True
+dro_digits = 3
+toggle_readout = True
+tool_in_spindle = 3
+diameter offset_axis_x = 0
+offset_axis_x = 0.0
+offset_axis_z = 0.0
+offset_axis_r = 50.0
+radius offset_axis_x = 0
+use_toolmeasurement = False
+kbd_height = 250
+icon_theme = None
+hide_tooltips = False
+hide_titlebar = False
+audio_enabled = True
+

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/halshow.preferences

@@ -0,0 +1,22 @@
+# Halshow settings
+# This file is generated automatically.
+wm geometry . 700x475+1121+46
+placeFrames 0.3
+set ::ratio 0.3
+set ::old_w_leftf 160
+set ::watchlist {
+    pin+lcec.0.0.DiffT
+    pin+lcec.0.0.D1
+    pin+lcec.0.0.D2
+    pin+lcec.0.0.D3
+    pin+lcec.0.0.D4
+    pin+lcec.0.0.commanded-position-2
+    pin+lcec.0.0.actual-position-2
+}
+set ::workmode watchhal
+set ::watchInterval 100
+set ::col1_width 100
+set ::ffmts 
+set ::ifmts 
+set ::alwaysOnTop 0
+set ::autoSaveWatchlist 1

Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe.ini

@@ -0,0 +1,159 @@
+# EMC controller parameters for a simulated machine.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy_lathe
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# for details see nc_files/subroutines/maco_instructions.txt
+[DISPLAY]
+DISPLAY = gmoccapy
+LATHE = 1
+BACK_TOOL_LATHE = 0
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim_lathe.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home_lathe.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =      X Z
+LINEAR_UNITS =     mm
+ANGULAR_UNITS =    degree
+DEFAULT_LINEAR_VELOCITY = 50
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE =    position.txt
+#NO_FORCE_HOMING = 1
+
+# First axis
+[EMCIO]
+EMCIO = 		io
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=XZ
+JOINTS = 2
+
+[AXIS_X]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 200.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -50.0
+MAX_LIMIT =                     200.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME =                           100
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Third axis
+[AXIS_Z]
+MIN_LIMIT = -75.0
+MAX_LIMIT = 1000.0
+MAX_VELOCITY = 166
+MAX_ACCELERATION = 1500.0
+
+[JOINT_1]
+TYPE =                          LINEAR
+MAX_VELOCITY =                  166
+MAX_ACCELERATION =              1500.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -75.0
+MAX_LIMIT =                     1000.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME =                           250
+HOME_SEARCH_VEL =                200.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+