Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
|
ed0414b90a | ||
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1d8adf2147 | ||
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4c4aa7aab1 |
|
Before Width: | Height: | Size: 46 KiB After Width: | Height: | Size: 46 KiB |
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Before Width: | Height: | Size: 17 KiB After Width: | Height: | Size: 17 KiB |
@@ -52,12 +52,10 @@
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||||
<option value="INTEGER8">INTEGER8</option>
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||||
<option value="INTEGER16">INTEGER16</option>
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||||
<option value="INTEGER32">INTEGER32</option>
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||||
<option value="INTEGER64">INTEGER64</option>
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||||
<option value="UNSIGNED8">UNSIGNED8</option>
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||||
<option value="UNSIGNED16">UNSIGNED16</option>
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<option value="UNSIGNED32">UNSIGNED64</option>
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<option value="UNSIGNED32">UNSIGNED32</option>
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<option value="REAL32">REAL32</option>
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||||
<option value="REAL64">REAL64</option>
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<option value="VISIBLE_STRING">VISIBLE STRING</option>
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</select></td>
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</tr>
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@@ -414,4 +412,4 @@
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<input id="restoreFileInput" type='file' accept=".json" style="visibility:hidden;" onchange="readFile(event)" />
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</form>
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</div>
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</body>
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</body>
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Before Width: | Height: | Size: 1.5 KiB After Width: | Height: | Size: 1.5 KiB |
@@ -28,13 +28,10 @@ const DTYPE = {
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INTEGER8 : 'INTEGER8',
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INTEGER16 : 'INTEGER16',
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INTEGER32 : 'INTEGER32',
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INTEGER32 : 'INTEGER64',
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UNSIGNED8 : 'UNSIGNED8',
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UNSIGNED16 : 'UNSIGNED16',
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UNSIGNED32 : 'UNSIGNED32',
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UNSIGNED32 : 'UNSIGNED64',
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REAL32 : 'REAL32',
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REAL64 : 'REAL64',
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VISIBLE_STRING : 'VISIBLE_STRING',
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/* TODO implement missing less common types */
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// OCTET_STRING : 'OCTET_STRING',
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@@ -52,13 +49,10 @@ const dtype_bitsize = {
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'INTEGER8' : 8,
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'INTEGER16' : 16,
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'INTEGER32' : 32,
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'INTEGER64' : 64,
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'UNSIGNED8' : 8,
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'UNSIGNED16' : 16,
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'UNSIGNED32' : 32,
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'UNSIGNED64' : 64,
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'REAL32' : 32,
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'REAL64' : 64,
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'VISIBLE_STRING' : 8,
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};
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const booleanPaddingBitsize = 7;
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@@ -68,13 +62,10 @@ const ESI_DT = {
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'INTEGER8': { name: 'SINT', bitsize: 8, ctype: 'int8_t' },
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'INTEGER16': { name: 'INT', bitsize: 16, ctype: 'int16_t' },
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'INTEGER32': { name: 'DINT', bitsize: 32, ctype: 'int32_t' },
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'INTEGER64': { name: 'LINT', bitsize: 64, ctype: 'int64_t' },
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'UNSIGNED8': { name: 'USINT', bitsize: 8, ctype: 'uint8_t' },
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'UNSIGNED16': { name: 'UINT', bitsize: 16, ctype: 'uint16_t' },
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'UNSIGNED32': { name: 'UDINT', bitsize: 32, ctype: 'uint32_t' },
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'UNSIGNED64': { name: 'ULINT', bitsize: 64, ctype: 'uint64_t' },
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'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' },
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'REAL64': { name: 'LREAL', bitsize: 64, ctype: 'double' },
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'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, // TODO check C type name
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'VISIBLE_STRING': { name: 'STRING', bitsize: 8, ctype: 'char *' }, // TODO check C type name
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};
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@@ -9,6 +9,5 @@
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"unordered_map": "cpp",
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"vector": "cpp",
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"system_error": "cpp"
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},
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"C_Cpp.errorSquiggles": "disabled"
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}
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}
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@@ -23,108 +23,6 @@
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<DataTypes>
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<DataType>
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<Name>DT1018</Name>
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<BitSize>272</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>1</SubIdx>
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<Name>Vendor ID</Name>
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<Type>ULINT</Type>
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<BitSize>64</BitSize>
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<BitOffs>16</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>2</SubIdx>
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<Name>Product Code</Name>
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<Type>ULINT</Type>
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||||
<BitSize>64</BitSize>
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||||
<BitOffs>80</BitOffs>
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||||
<Flags>
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||||
<Access>ro</Access>
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</Flags>
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||||
</SubItem>
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||||
<SubItem>
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||||
<SubIdx>3</SubIdx>
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<Name>Revision Number</Name>
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||||
<Type>ULINT</Type>
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||||
<BitSize>64</BitSize>
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||||
<BitOffs>144</BitOffs>
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||||
<Flags>
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||||
<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>4</SubIdx>
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<Name>Serial Number</Name>
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<Type>ULINT</Type>
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<BitSize>64</BitSize>
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<BitOffs>208</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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</DataType>
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<DataType>
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||||
<Name>DT1600</Name>
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||||
<BitSize>80</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>1</SubIdx>
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<Name>EncPosScale</Name>
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<Type>ULINT</Type>
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<BitSize>64</BitSize>
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||||
<BitOffs>16</BitOffs>
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||||
<Flags>
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<Access>ro</Access>
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</Flags>
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||||
</SubItem>
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||||
</DataType>
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||||
<DataType>
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||||
<Name>DT1601</Name>
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||||
<BitSize>80</BitSize>
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||||
<SubItem>
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<SubIdx>0</SubIdx>
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||||
<Name>Max SubIndex</Name>
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||||
<Type>USINT</Type>
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||||
<BitSize>8</BitSize>
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||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
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||||
</Flags>
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||||
</SubItem>
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||||
<SubItem>
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<SubIdx>1</SubIdx>
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<Name>IndexLatchEnable</Name>
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||||
<Type>ULINT</Type>
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||||
<BitSize>64</BitSize>
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||||
<BitOffs>16</BitOffs>
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||||
<Flags>
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||||
<Access>ro</Access>
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</Flags>
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</SubItem>
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||||
</DataType>
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<DataType>
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||||
<Name>DT1602</Name>
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||||
<BitSize>144</BitSize>
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||||
<SubItem>
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||||
<SubIdx>0</SubIdx>
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@@ -138,9 +36,9 @@
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</SubItem>
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<SubItem>
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<SubIdx>1</SubIdx>
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<Name>CommandedPosition</Name>
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||||
<Type>ULINT</Type>
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||||
<BitSize>64</BitSize>
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<Name>Vendor ID</Name>
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||||
<Type>UDINT</Type>
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||||
<BitSize>32</BitSize>
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||||
<BitOffs>16</BitOffs>
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<Flags>
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||||
<Access>ro</Access>
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||||
@@ -148,18 +46,86 @@
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</SubItem>
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<SubItem>
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<SubIdx>2</SubIdx>
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<Name>CommandedVelocity</Name>
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||||
<Type>ULINT</Type>
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||||
<BitSize>64</BitSize>
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||||
<Name>Product Code</Name>
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||||
<Type>UDINT</Type>
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||||
<BitSize>32</BitSize>
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||||
<BitOffs>48</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
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||||
</Flags>
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||||
</SubItem>
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||||
<SubItem>
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||||
<SubIdx>3</SubIdx>
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||||
<Name>Revision Number</Name>
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||||
<Type>UDINT</Type>
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||||
<BitSize>32</BitSize>
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||||
<BitOffs>80</BitOffs>
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||||
<Flags>
|
||||
<Access>ro</Access>
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||||
</Flags>
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||||
</SubItem>
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||||
<SubItem>
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||||
<SubIdx>4</SubIdx>
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||||
<Name>Serial Number</Name>
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||||
<Type>UDINT</Type>
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||||
<BitSize>32</BitSize>
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||||
<BitOffs>112</BitOffs>
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||||
<Flags>
|
||||
<Access>ro</Access>
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||||
</Flags>
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||||
</SubItem>
|
||||
</DataType>
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||||
<DataType>
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||||
<Name>DT1600</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncPosScale</Name>
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||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1601</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexLatchEnable</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A00</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -173,8 +139,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncPos</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -183,7 +149,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A01</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -197,8 +163,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -207,7 +173,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A02</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -221,8 +187,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>DiffT</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -231,7 +197,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A03</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -245,8 +211,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexByte</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -255,7 +221,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A04</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -269,32 +235,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexStatus</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A05</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>ActualPosition</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -336,15 +278,15 @@
|
||||
<DataType>
|
||||
<Name>DT1C12ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>32</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>3</Elements>
|
||||
<Elements>2</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -358,7 +300,7 @@
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C12ARR</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -368,15 +310,15 @@
|
||||
<DataType>
|
||||
<Name>DT1C13ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>96</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>6</Elements>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13</Name>
|
||||
<BitSize>112</BitSize>
|
||||
<BitSize>96</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -390,7 +332,7 @@
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C13ARR</Type>
|
||||
<BitSize>96</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -398,69 +340,8 @@
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT6005</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>ActualPosition</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>T</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT7002</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>ULINT</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<Name>UDINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(26)</Name>
|
||||
@@ -479,11 +360,7 @@
|
||||
<BitSize>16</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>LREAL</Name>
|
||||
<BitSize>64</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UDINT</Name>
|
||||
<Name>REAL</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
@@ -495,8 +372,8 @@
|
||||
<Object>
|
||||
<Index>#x1000</Index>
|
||||
<Name>Device Type</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>5001</DefaultValue>
|
||||
</Info>
|
||||
@@ -546,7 +423,7 @@
|
||||
<Index>#x1018</Index>
|
||||
<Name>Identity Object</Name>
|
||||
<Type>DT1018</Type>
|
||||
<BitSize>272</BitSize>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -587,7 +464,7 @@
|
||||
<Index>#x1600</Index>
|
||||
<Name>EncPosScale</Name>
|
||||
<Type>DT1600</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -610,7 +487,7 @@
|
||||
<Index>#x1601</Index>
|
||||
<Name>IndexLatchEnable</Name>
|
||||
<Type>DT1601</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -629,40 +506,11 @@
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1602</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Type>DT1602</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70020140</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70020240</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1A00</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Type>DT1A00</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -673,7 +521,7 @@
|
||||
<SubItem>
|
||||
<Name>EncPos</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60000040</DefaultValue>
|
||||
<DefaultValue>#x60000020</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
@@ -685,7 +533,7 @@
|
||||
<Index>#x1A01</Index>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>DT1A01</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -696,7 +544,7 @@
|
||||
<SubItem>
|
||||
<Name>EncFrequency</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60010040</DefaultValue>
|
||||
<DefaultValue>#x60010020</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
@@ -708,7 +556,7 @@
|
||||
<Index>#x1A02</Index>
|
||||
<Name>DiffT</Name>
|
||||
<Type>DT1A02</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -731,7 +579,7 @@
|
||||
<Index>#x1A03</Index>
|
||||
<Name>IndexByte</Name>
|
||||
<Type>DT1A03</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -754,7 +602,7 @@
|
||||
<Index>#x1A04</Index>
|
||||
<Name>IndexStatus</Name>
|
||||
<Type>DT1A04</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -773,29 +621,6 @@
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1A05</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Type>DT1A05</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>ActualPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60050140</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1C00</Index>
|
||||
<Name>Sync Manager Communication Type</Name>
|
||||
@@ -841,12 +666,12 @@
|
||||
<Index>#x1C12</Index>
|
||||
<Name>Sync Manager 2 PDO Assignment</Name>
|
||||
<Type>DT1C12</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>3</DefaultValue>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
@@ -861,12 +686,6 @@
|
||||
<DefaultValue>#x1601</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1602</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -876,12 +695,12 @@
|
||||
<Index>#x1C13</Index>
|
||||
<Name>Sync Manager 3 PDO Assignment</Name>
|
||||
<Type>DT1C13</Type>
|
||||
<BitSize>112</BitSize>
|
||||
<BitSize>96</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>6</DefaultValue>
|
||||
<DefaultValue>5</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
@@ -914,12 +733,6 @@
|
||||
<DefaultValue>#x1A04</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1A05</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -928,8 +741,8 @@
|
||||
<Object>
|
||||
<Index>#x6000</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>REAL</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
@@ -941,8 +754,8 @@
|
||||
<Object>
|
||||
<Index>#x6001</Index>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Type>REAL</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
@@ -990,29 +803,6 @@
|
||||
<PdoMapping>T</PdoMapping>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x6005</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Type>DT6005</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>ActualPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x7000</Index>
|
||||
<Name>EncPosScale</Name>
|
||||
@@ -1039,35 +829,6 @@
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x7002</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Type>DT7002</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
</Objects>
|
||||
</Dictionary>
|
||||
</Profile>
|
||||
@@ -1100,33 +861,15 @@
|
||||
<DataType>UDINT</DataType>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
||||
<Index>#x1602</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Entry>
|
||||
<Index>#x7002</Index>
|
||||
<SubIndex>#x1</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>CommandedPosition</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Index>#x7002</Index>
|
||||
<SubIndex>#x2</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A00</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Entry>
|
||||
<Index>#x6000</Index>
|
||||
<SubIndex>#x0</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<BitLen>32</BitLen>
|
||||
<Name>EncPos</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
<DataType>REAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
@@ -1135,9 +878,9 @@
|
||||
<Entry>
|
||||
<Index>#x6001</Index>
|
||||
<SubIndex>#x0</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<BitLen>32</BitLen>
|
||||
<Name>EncFrequency</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
<DataType>REAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
@@ -1173,17 +916,6 @@
|
||||
<DataType>UDINT</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A05</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Entry>
|
||||
<Index>#x6005</Index>
|
||||
<SubIndex>#x1</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>ActualPosition</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<Mailbox DataLinkLayer="true">
|
||||
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
|
||||
</Mailbox>
|
||||
|
Before Width: | Height: | Size: 48 KiB After Width: | Height: | Size: 48 KiB |
|
Before Width: | Height: | Size: 58 KiB After Width: | Height: | Size: 58 KiB |
@@ -33,8 +33,8 @@
|
||||
#define SM3_smc 0x20
|
||||
#define SM3_act 1
|
||||
|
||||
#define MAX_MAPPINGS_SM2 4
|
||||
#define MAX_MAPPINGS_SM3 6
|
||||
#define MAX_MAPPINGS_SM2 2
|
||||
#define MAX_MAPPINGS_SM3 5
|
||||
|
||||
#define MAX_RXPDO_SIZE 512
|
||||
#define MAX_TXPDO_SIZE 512
|
||||
@@ -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"
|
||||
},
|
||||
@@ -104,26 +104,6 @@
|
||||
"dtype": "UNSIGNED32",
|
||||
"value": "0",
|
||||
"data": "&Obj.IndexStatus"
|
||||
},
|
||||
"6005": {
|
||||
"otype": "RECORD",
|
||||
"name": "StepGenOut1",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "ActualPosition",
|
||||
"dtype": "REAL64",
|
||||
"data": "&Obj.StepGenOut1.ActualPosition",
|
||||
"value": "0",
|
||||
"access": "RO"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
]
|
||||
}
|
||||
},
|
||||
"rxpdo": {
|
||||
@@ -149,33 +129,6 @@
|
||||
"value": "0",
|
||||
"data": "&Obj.IndexLatchEnable"
|
||||
},
|
||||
"7002": {
|
||||
"otype": "RECORD",
|
||||
"name": "StepGenIn1",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "CommandedPosition",
|
||||
"dtype": "REAL64",
|
||||
"data": "&Obj.StepGenIn1.CommandedPosition",
|
||||
"value": "0",
|
||||
"access": "RO"
|
||||
},
|
||||
{
|
||||
"name": "CommandedVelocity",
|
||||
"dtype": "REAL64",
|
||||
"value": "0",
|
||||
"access": "RO",
|
||||
"data": "&Obj.StepGenIn1.CommandedVelocity"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
]
|
||||
},
|
||||
"60664": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition",
|
||||
@@ -19,10 +19,6 @@ static const char acName1600_01[] = "EncPosScale";
|
||||
static const char acName1601[] = "IndexLatchEnable";
|
||||
static const char acName1601_00[] = "Max SubIndex";
|
||||
static const char acName1601_01[] = "IndexLatchEnable";
|
||||
static const char acName1602[] = "StepGenIn1";
|
||||
static const char acName1602_00[] = "Max SubIndex";
|
||||
static const char acName1602_01[] = "CommandedPosition";
|
||||
static const char acName1602_02[] = "CommandedVelocity";
|
||||
static const char acName1A00[] = "EncPos";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "EncPos";
|
||||
@@ -38,9 +34,6 @@ static const char acName1A03_01[] = "IndexByte";
|
||||
static const char acName1A04[] = "IndexStatus";
|
||||
static const char acName1A04_00[] = "Max SubIndex";
|
||||
static const char acName1A04_01[] = "IndexStatus";
|
||||
static const char acName1A05[] = "StepGenOut1";
|
||||
static const char acName1A05_00[] = "Max SubIndex";
|
||||
static const char acName1A05_01[] = "ActualPosition";
|
||||
static const char acName1C00[] = "Sync Manager Communication Type";
|
||||
static const char acName1C00_00[] = "Max SubIndex";
|
||||
static const char acName1C00_01[] = "Communications Type SM0";
|
||||
@@ -51,7 +44,6 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
||||
static const char acName1C12_00[] = "Max SubIndex";
|
||||
static const char acName1C12_01[] = "PDO Mapping";
|
||||
static const char acName1C12_02[] = "PDO Mapping";
|
||||
static const char acName1C12_03[] = "PDO Mapping";
|
||||
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
||||
static const char acName1C13_00[] = "Max SubIndex";
|
||||
static const char acName1C13_01[] = "PDO Mapping";
|
||||
@@ -59,25 +51,17 @@ static const char acName1C13_02[] = "PDO Mapping";
|
||||
static const char acName1C13_03[] = "PDO Mapping";
|
||||
static const char acName1C13_04[] = "PDO Mapping";
|
||||
static const char acName1C13_05[] = "PDO Mapping";
|
||||
static const char acName1C13_06[] = "PDO Mapping";
|
||||
static const char acName6000[] = "EncPos";
|
||||
static const char acName6001[] = "EncFrequency";
|
||||
static const char acName6002[] = "DiffT";
|
||||
static const char acName6003[] = "IndexByte";
|
||||
static const char acName6004[] = "IndexStatus";
|
||||
static const char acName6005[] = "StepGenOut1";
|
||||
static const char acName6005_00[] = "Max SubIndex";
|
||||
static const char acName6005_01[] = "ActualPosition";
|
||||
static const char acName7000[] = "EncPosScale";
|
||||
static const char acName7001[] = "IndexLatchEnable";
|
||||
static const char acName7002[] = "StepGenIn1";
|
||||
static const char acName7002_00[] = "Max SubIndex";
|
||||
static const char acName7002_01[] = "CommandedPosition";
|
||||
static const char acName7002_02[] = "CommandedVelocity";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
@@ -94,56 +78,45 @@ 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},
|
||||
};
|
||||
const _objd SDO1602[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
|
||||
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, 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, 0x60020020, NULL},
|
||||
};
|
||||
const _objd SDO1A03[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
|
||||
{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},
|
||||
};
|
||||
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, acName1A04_01, 0x60040020, NULL},
|
||||
};
|
||||
const _objd SDO1C00[] =
|
||||
{
|
||||
@@ -155,28 +128,26 @@ const _objd SDO1C00[] =
|
||||
};
|
||||
const _objd SDO1C12[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL},
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
|
||||
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
|
||||
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
|
||||
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
|
||||
{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[] =
|
||||
{
|
||||
@@ -190,11 +161,6 @@ const _objd SDO6004[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
|
||||
};
|
||||
const _objd SDO6005[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
|
||||
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
|
||||
@@ -203,12 +169,6 @@ const _objd SDO7001[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
|
||||
};
|
||||
const _objd SDO7002[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
|
||||
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
|
||||
{0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity},
|
||||
};
|
||||
|
||||
const _objectlist SDOobjects[] =
|
||||
{
|
||||
@@ -219,24 +179,20 @@ const _objectlist SDOobjects[] =
|
||||
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
|
||||
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
|
||||
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
|
||||
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
|
||||
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
|
||||
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
|
||||
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
|
||||
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
|
||||
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
|
||||
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
|
||||
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
|
||||
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
|
||||
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
|
||||
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
|
||||
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
|
||||
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
|
||||
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
|
||||
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
@@ -13,25 +13,16 @@ typedef struct
|
||||
|
||||
/* Inputs */
|
||||
|
||||
double EncPos;
|
||||
double EncFrequency;
|
||||
float EncPos;
|
||||
float EncFrequency;
|
||||
uint32_t DiffT;
|
||||
uint32_t IndexByte;
|
||||
uint32_t IndexStatus;
|
||||
struct
|
||||
{
|
||||
double ActualPosition;
|
||||
} StepGenOut1;
|
||||
|
||||
/* Outputs */
|
||||
|
||||
int32_t EncPosScale;
|
||||
uint32_t IndexLatchEnable;
|
||||
struct
|
||||
{
|
||||
double CommandedPosition;
|
||||
double CommandedVelocity;
|
||||
} StepGenIn1;
|
||||
|
||||
} _Objects;
|
||||
|
||||
270
Pcb-1-lan9252/Firmware/src/Stepper.cpp
Executable file
270
Pcb-1-lan9252/Firmware/src/Stepper.cpp
Executable file
@@ -0,0 +1,270 @@
|
||||
#include <Arduino.h>
|
||||
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2023 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "Stepper.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
|
||||
/* USER CODE END PD */
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PM */
|
||||
|
||||
/* USER CODE END PM */
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
TIM_HandleTypeDef htim1;
|
||||
|
||||
/* USER CODE BEGIN PV */
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
void SystemClock_Config(void);
|
||||
static void MX_GPIO_Init(void);
|
||||
static void MX_TIM1_Init(void);
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
/* USER CODE END PFP */
|
||||
|
||||
/* Private user code ---------------------------------------------------------*/
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if (htim->Instance == TIM1)
|
||||
{
|
||||
//__HAL_RCC_GPIOE_CLK_ENABLE();
|
||||
/**TIM1 GPIO Configuration
|
||||
PE9 ------> TIM1_CH1
|
||||
PA8 ------< TIM1_CH1
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_8; // 9;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
|
||||
// HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief The application entry point.
|
||||
* @retval int
|
||||
*/
|
||||
void StepperSetup(void)
|
||||
{
|
||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||
// HAL_Init();
|
||||
// SystemClock_Config();
|
||||
|
||||
/* Initialize all configured peripherals */
|
||||
// MX_GPIO_Init();
|
||||
MX_TIM1_Init();
|
||||
|
||||
// htim1.Instance->ARR = 1;
|
||||
// htim1.Instance->CCR1 = 1;
|
||||
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
|
||||
TIM_TypeDef *TIMM = TIM1;
|
||||
|
||||
#define CLOCK_FREQ (168000000-2000000)
|
||||
// Best range on timer clock frequency/pulse length/65355 +1 => best resolution in the pulse range
|
||||
TIM1->PSC = CLOCK_FREQ / 1000 / (1 << 16);
|
||||
|
||||
/* Infinite loop */
|
||||
#if 0
|
||||
while (1)
|
||||
{
|
||||
makePulses(1200, 15);
|
||||
HAL_Delay(1000);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses)
|
||||
{
|
||||
uint64_t TickFreq = CLOCK_FREQ / (TIM1->PSC+1); // 56 MHz at PSC=2
|
||||
uint64_t TicksTotal = TickFreq * totalLength / 1000000; // Total number of ticks during this time, ca 56000
|
||||
uint32_t TicksPerPulse = TicksTotal / nPulses;
|
||||
|
||||
TIM1->ARR = TicksPerPulse - 1;
|
||||
TIM1->CCR1 = TicksPerPulse / 2;
|
||||
TIM1->RCR = nPulses - 1;
|
||||
TIM1->EGR = TIM_EGR_UG;
|
||||
TIM1->CR1 |= TIM_CR1_OPM;
|
||||
TIM1->CR1 |= TIM_CR1_CEN;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief System Clock Configuration
|
||||
* @retval None
|
||||
*/
|
||||
void SystemClock_Config(void)
|
||||
{
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||
|
||||
/** Configure the main internal regulator output voltage
|
||||
*/
|
||||
__HAL_RCC_PWR_CLK_ENABLE();
|
||||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
||||
|
||||
/** Initializes the RCC Oscillators according to the specified parameters
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
|
||||
RCC_OscInitStruct.PLL.PLLM = 8;
|
||||
RCC_OscInitStruct.PLL.PLLN = 168;
|
||||
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
|
||||
RCC_OscInitStruct.PLL.PLLQ = 4;
|
||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
/** Initializes the CPU, AHB and APB buses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
|
||||
|
||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief TIM1 Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_TIM1_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN TIM1_Init 0 */
|
||||
|
||||
/* USER CODE END TIM1_Init 0 */
|
||||
|
||||
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
||||
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
||||
TIM_OC_InitTypeDef sConfigOC = {0};
|
||||
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
|
||||
|
||||
/* USER CODE BEGIN TIM1_Init 1 */
|
||||
|
||||
/* USER CODE END TIM1_Init 1 */
|
||||
htim1.Instance = TIM1;
|
||||
htim1.Init.Prescaler = 70;
|
||||
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
|
||||
htim1.Init.Period = 65535;
|
||||
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim1.Init.RepetitionCounter = 10;
|
||||
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
||||
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
||||
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM2;
|
||||
sConfigOC.Pulse = 0;
|
||||
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
||||
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
||||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
|
||||
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
||||
sBreakDeadTimeConfig.DeadTime = 0;
|
||||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM1_Init 2 */
|
||||
|
||||
/* USER CODE END TIM1_Init 2 */
|
||||
HAL_TIM_MspPostInit(&htim1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief GPIO Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_GPIO_Init(void)
|
||||
{
|
||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||
/* USER CODE END MX_GPIO_Init_1 */
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOH_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOE_CLK_ENABLE();
|
||||
|
||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||
/* USER CODE END MX_GPIO_Init_2 */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 4 */
|
||||
|
||||
/* USER CODE END 4 */
|
||||
@@ -1,5 +1,4 @@
|
||||
#include <Arduino.h>
|
||||
#include <HardwareTimer.h>
|
||||
|
||||
#include <stdio.h>
|
||||
extern "C"
|
||||
@@ -12,12 +11,13 @@ extern "C"
|
||||
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
|
||||
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
|
||||
|
||||
#include <Stm32F4_Encoder.h>
|
||||
int64_t PreviousEncoderCounterValue = 0;
|
||||
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
|
||||
#include <Stm32F4_Encoder.h>
|
||||
Encoder EncoderInit;
|
||||
Encoder *encP = &EncoderInit;
|
||||
|
||||
// #include "Stepper.h"
|
||||
#define INDEX_PIN PA2
|
||||
HardwareSerial Serial1(PA10, PA9);
|
||||
_Objects Obj;
|
||||
@@ -29,18 +29,7 @@ uint8_t OldLatchCEnable = 0;
|
||||
volatile uint8_t indexPulseFired = 0;
|
||||
uint32_t nFires = 0;
|
||||
volatile uint8_t pleaseZeroTheCounter = 0;
|
||||
|
||||
#define STEPPER_DIR_PIN PA12
|
||||
#define STEPPER_STEP_PIN PA11
|
||||
HardwareTimer *MyTim;
|
||||
volatile uint32_t stepCount = 0, stepPulses = 0;
|
||||
volatile double_t actualPosition = 0;
|
||||
volatile double_t requestedPosition, requestedVelocity;
|
||||
|
||||
uint32_t sync0CycleTime = 0;
|
||||
|
||||
void handleStepper(void);
|
||||
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
|
||||
uint32_t PrevTime = 0, Prev2Time = 0;
|
||||
|
||||
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
|
||||
{
|
||||
@@ -55,8 +44,6 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
|
||||
CurPosScale = Obj.EncPosScale;
|
||||
PosScaleRes = 1.0 / double(CurPosScale);
|
||||
}
|
||||
requestedPosition = Obj.StepGenIn1.CommandedPosition;
|
||||
requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
|
||||
}
|
||||
|
||||
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
@@ -69,7 +56,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
nFires++;
|
||||
PreviousEncoderCounterValue = 0;
|
||||
}
|
||||
// Obj.DiffT = sync0CycleTime;
|
||||
uint64_t now = micros(); // Exploring the cycle times
|
||||
Obj.DiffT = now - Prev2Time;
|
||||
Prev2Time = PrevTime;
|
||||
PrevTime = now;
|
||||
|
||||
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
|
||||
double CurPos = pos * PosScaleRes;
|
||||
@@ -89,88 +79,47 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
Obj.IndexByte = digitalRead(INDEX_PIN);
|
||||
if (Obj.IndexByte)
|
||||
Serial1.printf("IS 1\n");
|
||||
|
||||
Obj.StepGenOut1.ActualPosition = actualPosition;
|
||||
Obj.DiffT = 10000 * requestedPosition; // deltaT;
|
||||
}
|
||||
|
||||
void ESC_interrupt_enable(uint32_t mask);
|
||||
void ESC_interrupt_disable(uint32_t mask);
|
||||
uint16_t dc_checker(void);
|
||||
|
||||
static esc_cfg_t config =
|
||||
{
|
||||
.user_arg = NULL,
|
||||
.use_interrupt = 1,
|
||||
.use_interrupt = 0,
|
||||
.watchdog_cnt = 150,
|
||||
.set_defaults_hook = NULL,
|
||||
.pre_state_change_hook = NULL,
|
||||
.post_state_change_hook = NULL,
|
||||
.application_hook = handleStepper, // StepGen,
|
||||
.application_hook = NULL, // StepGen,
|
||||
.safeoutput_override = NULL,
|
||||
.pre_object_download_hook = NULL,
|
||||
.post_object_download_hook = NULL,
|
||||
.rxpdo_override = NULL,
|
||||
.txpdo_override = NULL,
|
||||
.esc_hw_interrupt_enable = ESC_interrupt_enable,
|
||||
.esc_hw_interrupt_disable = ESC_interrupt_disable,
|
||||
.esc_hw_interrupt_enable = NULL,
|
||||
.esc_hw_interrupt_disable = NULL,
|
||||
.esc_hw_eep_handler = NULL,
|
||||
.esc_check_dc_handler = dc_checker,
|
||||
.esc_check_dc_handler = NULL,
|
||||
};
|
||||
|
||||
void TimerStep_CB(void)
|
||||
{
|
||||
stepCount++;
|
||||
if (stepCount == stepPulses)
|
||||
{
|
||||
MyTim->pause();
|
||||
}
|
||||
}
|
||||
|
||||
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
|
||||
{
|
||||
byte sgn = pulses > 0 ? HIGH : LOW;
|
||||
digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
|
||||
uint32_t puls = abs(pulses);
|
||||
MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
|
||||
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
|
||||
stepCount = 0;
|
||||
stepPulses = abs(pulses);
|
||||
MyTim->resume();
|
||||
}
|
||||
|
||||
void sync0Handler(void);
|
||||
void setup(void)
|
||||
{
|
||||
Serial1.begin(115200);
|
||||
rcc_config();
|
||||
|
||||
TIM_TypeDef *Instance = TIM1;
|
||||
MyTim = new HardwareTimer(Instance);
|
||||
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
|
||||
MyTim->attachInterrupt(TimerStep_CB);
|
||||
pinMode(STEPPER_DIR_PIN, OUTPUT);
|
||||
|
||||
// Set starting count value
|
||||
EncoderInit.SetCount(Tim2, 0);
|
||||
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
|
||||
// EncoderInit.SetCount(Tim3, 0);
|
||||
// EncoderInit.SetCount(Tim4, 0);
|
||||
// EncoderInit.SetCount(Tim8, 0);
|
||||
|
||||
ecat_slv_init(&config);
|
||||
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
|
||||
}
|
||||
volatile byte serveIRQ = 0;
|
||||
|
||||
void loop(void)
|
||||
{
|
||||
ESCvar.PrevTime = ESCvar.Time;
|
||||
if (serveIRQ)
|
||||
{
|
||||
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
|
||||
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
|
||||
serveIRQ = 0;
|
||||
}
|
||||
ecat_slv_poll();
|
||||
ecat_slv();
|
||||
}
|
||||
|
||||
#define ONE_PERIOD 65536
|
||||
@@ -202,67 +151,4 @@ void indexPulse(void)
|
||||
TDelta.clear();
|
||||
pleaseZeroTheCounter = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void sync0Handler(void)
|
||||
{
|
||||
serveIRQ = 1;
|
||||
}
|
||||
|
||||
void handleStepper(void)
|
||||
{
|
||||
byte forwardDirection = 0; // 1 if going forward
|
||||
int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
|
||||
if (pulsesToGo != 0)
|
||||
makePulses(900, pulsesToGo); // Make the pulses using hardware timer
|
||||
|
||||
actualPosition = requestedPosition;
|
||||
}
|
||||
void ESC_interrupt_enable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
|
||||
ESCREG_ALEVENT_SM2 |
|
||||
ESCREG_ALEVENT_SM3;
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
|
||||
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
|
||||
|
||||
// Set LAN9252 interrupt pin driver as push-pull active high
|
||||
uint32_t bits = 0x00000111;
|
||||
ESC_write(0x54, &bits, 4);
|
||||
|
||||
// Enable LAN9252 interrupt
|
||||
bits = 0x00000001;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
void ESC_interrupt_disable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
|
||||
ESCREG_ALEVENT_SM2 |
|
||||
ESCREG_ALEVENT_SM3;
|
||||
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
// Disable interrupt from SYNC0
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
|
||||
detachInterrupt(digitalPinToInterrupt(PC3));
|
||||
// Disable LAN9252 interrupt
|
||||
uint32_t bits = 0x00000000;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" uint32_t ESC_SYNC0cycletime(void);
|
||||
// Setup of DC
|
||||
uint16_t dc_checker(void)
|
||||
{
|
||||
// Indicate we run DC
|
||||
ESCvar.dcsync = 0;
|
||||
sync0CycleTime = ESC_SYNC0cycletime();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user