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revert-3-Video6
| Author | SHA1 | Date | |
|---|---|---|---|
 Håkan Båstedt
|
1d8adf2147 | ||
|
Håkan Båstedt
|
4c4aa7aab1 |
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@@ -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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+1
-10
@@ -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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+1
-2
@@ -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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+124
-392
@@ -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>
|
||||
<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>Vendor ID</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>Product Code</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>3</SubIdx>
|
||||
<Name>Revision Number</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>144</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>4</SubIdx>
|
||||
<Name>Serial Number</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>208</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1600</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>EncPosScale</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1601</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>IndexLatchEnable</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1602</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
@@ -138,9 +36,9 @@
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||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Name>Vendor ID</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -148,18 +46,86 @@
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Name>Product Code</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>48</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>3</SubIdx>
|
||||
<Name>Revision Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>4</SubIdx>
|
||||
<Name>Serial Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>112</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<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>
|
||||
<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>
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -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
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -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",
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -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;
|
||||
|
||||
File renamed without changes.
Executable
+270
@@ -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 */
|
||||
File renamed without changes.
@@ -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;
|
||||
}
|
||||
}
|
||||
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Loaded 100 of 218 files, more files were not shown because too many files have changed in this diff.
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Block a user