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Author SHA1 Message Date
Håkan Båstedt
1850912aca Merge pull request #5 from MetalMusings/Video8 
Video8
 2024-02-19 22:13:36 +01:00
562 changed files with 130005 additions and 1321520 deletions
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.gitignore vendored
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.vscode/launch.json
.vscode/ipch
Octave
.pioenvs
.piolibdeps
.clang_complete
.gcc-flags.json
.pio
logs
*.bak
*~

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

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

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Cards/EaserCAT-2000/Firmware/.gitignore vendored
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.vscode/settings.json

1
Cards/EaserCAT-2000/Firmware/doc/.gitignore vendored
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.~lock.*

BIN
Cards/EaserCAT-2000/Firmware/doc/Stepgen.odp
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Cards/EaserCAT-2000/Firmware/include/StepGen2.h
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#ifndef STEPGEN
#define STEPGEN
#include <HardwareTimer.h>
class StepGen2
{
public:
volatile double_t actualPosition;
volatile int32_t nSteps;
volatile uint32_t timerFrequency;
volatile int32_t timerPosition = 0;
volatile int32_t timerEndPosition = 0;
public:
volatile float Tstartf; // Starting delay in secs
volatile uint32_t Tstartu; // Starting delay in usecs
volatile float Tpulses; // Time it takes to do pulses. Debug
HardwareTimer *pulseTimer;
uint32_t pulseTimerChan;
HardwareTimer *startTimer; // Use timers 10,11,13,14
uint8_t dirPin;
PinName dirPinName;
PinName stepPin;
uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
uint64_t dbg;
const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
const uint16_t t3 = 5; // Pulse width at least 2.5 usecs
const uint16_t t4 = 5; // Low level width not less than 2.5 usecs
const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
public:
volatile double_t commandedPosition; // End position when this cycle is completed
volatile int32_t commandedStepPosition; // End step position when this cycle is completed
volatile double_t initialPosition; // From previous cycle
volatile int32_t initialStepPosition; // From previous cycle
int16_t stepsPerMM; // This many steps per mm
volatile uint8_t enabled; // Enabled step generator
volatile float frequency;
static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
void startTimerCB();
void pulseTimerCB();
uint32_t updatePos(uint32_t i);
};
#endif

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Cards/EaserCAT-2000/Firmware/include/StepGen3.h
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#ifndef STEPGEN3
#define STEPGEN3
#include <HardwareTimer.h>
#define MAX_CHAN 16
#define MAX_CYCLE 18
#define USER_STEP_TYPE 13
typedef struct
{
/* stuff that is both read and written by makepulses */
volatile unsigned int timer1; /* times out when step pulse should end */
volatile unsigned int timer2; /* times out when safe to change dir */
volatile unsigned int timer3; /* times out when safe to step in new dir */
volatile int hold_dds; /* prevents accumulator from updating */
volatile long addval; /* actual frequency generator add value */
volatile long long accum; /* frequency generator accumulator */
volatile int rawcount; /* param: position feedback in counts */
volatile int curr_dir; /* current direction */
volatile int state; /* current position in state table */
/* stuff that is read but not written by makepulses */
volatile int enable; /* pin for enable stepgen */
volatile int target_addval; /* desired freq generator add value */
volatile long deltalim; /* max allowed change per period */
volatile int step_len; /* parameter: step pulse length */
volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
volatile unsigned int dir_setup; /* param: direction setup time */
volatile int step_type; /* stepping type - see list above */
volatile int cycle_max; /* cycle length for step types 2 and up */
volatile int num_phases; /* number of phases for types 2 and up */
volatile int phase[5]; /* pins for output signals */
volatile const unsigned char *lut; /* pointer to state lookup table */
/* stuff that is not accessed by makepulses */
int pos_mode; /* 1 = position mode, 0 = velocity mode */
unsigned int step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
int count; /* pin: captured feedback in counts */
#define double float
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
unsigned int old_step_space;
unsigned int old_dir_hold_dly;
unsigned int old_dir_setup;
int printed_error; /* flag to avoid repeated printing */
} stepgen_t;
#define MAX_STEP_TYPE 15
#define STEP_PIN 0 /* output phase used for STEP signal */
#define DIR_PIN 1 /* output phase used for DIR signal */
#define UP_PIN 0 /* output phase used for UP signal */
#define DOWN_PIN 1 /* output phase used for DOWN signal */
#define PICKOFF 28 /* bit location in DDS accum */
typedef enum CONTROL
{
POSITION,
VELOCITY,
INVALID
} CONTROL;
class StepGen3
{
public:
int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
uint32_t stepPin[MAX_CHAN] = {0};
uint32_t dirPin[MAX_CHAN] = {0};
stepgen_t *stepgen_array = 0;
int num_chan = 0; // number of step generators configured */
long periodns; // makepulses function period in nanosec */
long old_periodns; // used to detect changes in periodns */
double periodfp; // makepulses function period in seconds */
double freqscale; // conv. factor from Hz to addval counts */
double accelscale; // conv. Hz/sec to addval cnts/period */
long old_dtns; // update_freq funct period in nsec */
double dt; // update_freq period in seconds */
double recip_dt; // recprocal of period, avoids divides */
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2, uint32_t servoPeriod);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
void update_freq(void *arg, long period);
void update_pos(void *arg, long period);
int setup_user_step_type(void);
CONTROL parse_ctrl_type(const char *ctrl);
unsigned long ulceil(unsigned long value, unsigned long increment);
private:
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
{1, 2, 4, 8, 0, 0, 0, 0, 0, 0}, /* 5: Unipolar Full Step 1 */
{3, 6, 12, 9, 0, 0, 0, 0, 0, 0}, /* 6: Unipoler Full Step 2 */
{1, 7, 14, 8, 0, 0, 0, 0, 0, 0}, /* 7: Bipolar Full Step 1 */
{5, 6, 10, 9, 0, 0, 0, 0, 0, 0}, /* 8: Bipoler Full Step 2 */
{1, 3, 2, 6, 4, 12, 8, 9, 0, 0}, /* 9: Unipolar Half Step */
{1, 5, 7, 6, 14, 10, 8, 9, 0, 0}, /* 10: Bipolar Half Step */
{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
{3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
unsigned char cycle_len_lut[14] =
{4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
unsigned char num_phases_lut[14] =
{
2,
3,
3,
4,
4,
4,
4,
4,
4,
5,
5,
5,
5,
0,
};
};
// For the example
#define BASE_PERIOD 20000
//#define SERVO_PERIOD 2000000
#define JOINT_X_STEPGEN_MAXACCEL 0.0
#define JOINT_Z_STEPGEN_MAXACCEL 0.0
#define JOINT_X_SCALE -200
#define JOINT_Z_SCALE -80
#endif

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Cards/EaserCAT-2000/Firmware/include/extend32to64.h
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#ifndef EXTEND32TO64
#define EXTEND32TO54
#include <Arduino.h>
class extend32to64
{
public:
int64_t previousTimeValue = 0;
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
const uint64_t HALF_PERIOD = 2147483648; // Half of that
int64_t extendTime(uint32_t in);
};
#endif

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Cards/EaserCAT-2000/Firmware/lib/soes/ecat_options.h
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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1600
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 5
#define MAX_MAPPINGS_SM3 11
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

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Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.c
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include <stddef.h>
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "esc_eoe.h"
#include "ecat_slv.h"
#define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)
#define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE, MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_SMmap SMmap2[MAX_MAPPINGS_SM2];
_SMmap SMmap3[MAX_MAPPINGS_SM3];
_ESCvar ESCvar;
/* Private variables */
static volatile int watchdog;
#if MAX_MAPPINGS_SM2 > 0
static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned(8)));
#else
extern uint8_t *rxpdo;
#endif
#if MAX_MAPPINGS_SM3 > 0
static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned(8)));
#else
extern uint8_t *txpdo;
#endif
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_download_pre_objecthandler(uint16_t index,
uint8_t subindex,
void *data,
size_t size,
uint16_t flags)
{
if (IS_RXPDO(index) ||
IS_TXPDO(index) ||
index == RX_PDO_OBJIDX ||
index == TX_PDO_OBJIDX)
{
uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
if (subindex > minSub && COE_maxSub(index) != 0)
{
return ABORT_SUBINDEX0_NOT_ZERO;
}
}
if (ESCvar.pre_object_download_hook)
{
return (ESCvar.pre_object_download_hook)(index,
subindex,
data,
size,
flags);
}
return 0;
}
/** Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO download request to handle
* @param[in] sub-index = sub-index of SDO download request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_download_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
{
if (ESCvar.post_object_download_hook != NULL)
{
return (ESCvar.post_object_download_hook)(index, subindex, flags);
}
return 0;
}
/** Function to pre-qualify the incoming SDO upload.
*
* @param[in] index = index of SDO upload request to handle
* @param[in] sub-index = sub-index of SDO upload request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_upload_pre_objecthandler(uint16_t index,
uint8_t subindex,
void *data,
size_t size,
uint16_t flags)
{
if (ESCvar.pre_object_upload_hook != NULL)
{
return (ESCvar.pre_object_upload_hook)(index,
subindex,
data,
size,
flags);
}
return 0;
}
/** Hook called from the slave stack SDO Upload handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO upload request to handle
* @param[in] sub-index = sub-index of SDO upload request to handle
* @return SDO abort code, or 0 on success
*/
uint32_t ESC_upload_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
{
if (ESCvar.post_object_upload_hook != NULL)
{
return (ESCvar.post_object_upload_hook)(index, subindex, flags);
}
return 0;
}
/** Hook called from the slave stack ESC_stopoutputs to act on state changes
* forcing us to stop outputs. Here we can set them to a safe state.
*/
void APP_safeoutput(void)
{
DPRINT("APP_safeoutput\n");
if (ESCvar.safeoutput_override != NULL)
{
(ESCvar.safeoutput_override)();
}
}
/** Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update(void)
{
if (ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
if (MAX_MAPPINGS_SM3 > 0)
{
COE_pdoPack(txpdo, ESCvar.sm3mappings, SMmap3);
}
ESC_write(ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
}
}
/** Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update(void)
{
if (ESCvar.rxpdo_override != NULL)
{
(ESCvar.rxpdo_override)();
}
else
{
ESC_read(ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
if (MAX_MAPPINGS_SM2 > 0)
{
COE_pdoUnpack(rxpdo, ESCvar.sm2mappings, SMmap2);
}
}
}
/* Set the watchdog count value, don't have any affect when using
* HW watchdog 0x4xx
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog(int watchdogcnt)
{
CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
}
/* Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process(uint16_t ALEvent, uint8_t flags)
{
/* Handle watchdog */
if ((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
}
else if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ALEvent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */
cb_set_outputs();
}
else if (ALEvent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if (CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_inputs();
TXPDO_update();
}
}
}
/*
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
*/
void ecat_slv_worker(uint32_t event_mask)
{
do
{
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
{
ESC_coeprocess();
#if USE_FOE
ESC_foeprocess();
#endif
#if USE_EOE
ESC_eoeprocess();
#endif
ESC_xoeprocess();
}
#if USE_EOE
ESC_eoeprocess_tx();
#endif
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
} while (ESCvar.ALevent & event_mask);
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
}
/*
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_poll(void)
{
/* Read local time from ESC*/
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
ESCvar.Time = etohl(ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
#if USE_FOE
ESC_foeprocess();
#endif
#if USE_EOE
ESC_eoeprocess();
#endif
ESC_xoeprocess();
}
#if USE_EOE
ESC_eoeprocess_tx();
#endif
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
/*
* Poll all events in a free-run application
*/
void ecat_slv(void)
{
ecat_slv_poll();
DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/*
* Initialize the slave stack.
*/
void ecat_slv_init(esc_cfg_t *config)
{
/* Init watchdog */
watchdog = config->watchdog_cnt;
/* Call stack configuration */
ESC_config(config);
/* Call HW init */
ESC_init(config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read(ESCREG_DLSTATUS, (void *)&ESCvar.DLstatus,
sizeof(ESCvar.DLstatus));
ESCvar.DLstatus = etohs(ESCvar.DLstatus);
}
#if USE_FOE
/* Init FoE */
FOE_init();
#endif
#if USE_EOE
/* Init EoE */
EOE_init();
#endif
/* reset ESC to init state */
ESC_ALstatus(ESCinit);
ESC_ALerror(ALERR_NONE);
ESC_stopmbx();
ESC_stopinput();
ESC_stopoutput();
/* Init Object Dictionary default values */
COE_initDefaultValues();
}

69
Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.h
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@@ -1,69 +0,0 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#ifndef __ECAT_SLV_H__
#define __ECAT_SLV_H__
#include "ecat_options.h"
#include "esc.h"
/**
* This function is called when to get input values
*/
void cb_get_inputs();
/**
* This function is called when to set outputs values
*/
void cb_set_outputs();
/** Set the watchdog count value
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog(int watchdogcnt);
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
/** Implements the watch-dog counter to count if we should make a state change
* due to missing incoming SM2 events. Updates local I/O and run the application
* in the following order, call read EtherCAT outputs, execute user provided
* application hook and call write EtherCAT inputs.
*
* @param[in] flags = User input what to execute
*/
void DIG_process(uint16_t ALEvent, uint8_t flags);
/**
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
*
* @param[in] event_mask = Event mask for interrupts to serve and re-activate
* after served
*/
void ecat_slv_worker(uint32_t event_mask);
/**
* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
* application
*/
void ecat_slv_poll(void);
/**
* Poll all events in a free-run application
*/
void ecat_slv(void);
/**
* Initialize the slave stack
*
* @param[in] config = User input how to configure the stack
*/
void ecat_slv_init(esc_cfg_t *config);
#endif /* __ECAT_SLV_H__ */

40
Cards/EaserCAT-2000/Firmware/lib/soes/utypes.h
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@@ -1,40 +0,0 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
float EncPos;
float EncFrequency;
uint16_t DiffT;
uint32_t IndexByte;
uint32_t IndexStatus;
float ActualPosition1;
float ActualPosition2;
int16_t D1;
int16_t D2;
int16_t D3;
int16_t D4;
/* Outputs */
uint32_t IndexLatchEnable;
float CommandedPosition1;
float CommandedPosition2;
int16_t StepsPerMM1;
int16_t StepsPerMM2;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

24
Cards/EaserCAT-2000/Firmware/platformio.ini
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@@ -1,24 +0,0 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:genericSTM32F407VGT6]
framework = arduino
platform = ststm32
board = genericSTM32F407VGT6
upload_protocol = stlink
debug_tool = stlink
debug_build_flags = -O0 -g -ggdb
monitor_port = COM10
monitor_filters = send_on_enter, time, colorize, log2file
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
lib_deps =
SPI
rlogiacco/CircularBuffer

124
Cards/EaserCAT-2000/Firmware/src/StepGen2.cpp
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@@ -1,124 +0,0 @@
#include <Arduino.h>
#include <stdio.h>
#include "StepGen2.h"
#include "extend32to64.h"
extern "C"
{
#include "esc.h"
}
extern extend32to64 longTime;
StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
{
actualPosition = 0;
commandedPosition = 0;
commandedStepPosition = 0;
initialPosition = 0;
initialStepPosition = 0;
stepsPerMM = 0;
enabled = 0;
dirPin = _dirPin;
dirPinName = digitalPinToPinName(dirPin);
stepPin = _stepPin;
pulseTimerChan = _timerChannel;
pulseTimer = new HardwareTimer(Timer);
pulseTimer->attachInterrupt(pulseTimerChan, irq); // Capture/compare innterrupt
pinMode(dirPin, OUTPUT);
startTimer = new HardwareTimer(Timer2);
startTimer->attachInterrupt(irq2);
}
uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
{
frequency = 0;
nSteps = 0;
dbg = 0;
if (!enabled) // Just .... don't
return updatePos(0);
commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
nSteps = commandedStepPosition - initialStepPosition;
if (nSteps == 0) // No movement
{
return updatePos(1);
}
lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
if (abs(nSteps) < 0) // Some small number
{ //
frequency = (abs(nSteps) + 1) / lcncCycleTime; // Distribute steps inside available time
Tpulses = abs(nSteps) / frequency; //
Tstartf = (lcncCycleTime - Tpulses) / 2.0; //
} //
else // Regular step train, up or down
{ //
float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime; // Straight line equation. position = kTRAJ x time + mTRAJ
float mTRAJ = initialPosition; // Operating on incoming positions (not steps)
if (kTRAJ > 0) //
Tstartf = (float(initialStepPosition + 1) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing upwards
else //
Tstartf = (float(initialStepPosition) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing downwards
frequency = fabs(kTRAJ * stepsPerMM); //
Tpulses = abs(nSteps) / frequency;
}
updatePos(5);
uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
dbg = timeSinceISR; //
Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR; // Have already wasted some time since the irq.
if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
return updatePos(1);
timerFrequency = uint32_t(ceil(frequency));
startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
startTimer->refresh();
startTimer->resume();
return 1;
}
void StepGen2::startTimerCB()
{
startTimer->pause(); // Once is enough.
digitalWriteFast(dirPinName, nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
// There will be a short break here for t2 usecs, in the future.
timerEndPosition += nSteps;
pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
// pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
pulseTimer->refresh();
pulseTimer->resume();
}
void StepGen2::pulseTimerCB()
{
int16_t dir = digitalReadFast(dirPinName); //
if (dir == HIGH) // The step just taken
timerPosition--;
else
timerPosition++;
int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
if (diffPosition == 0)
pulseTimer->pause();
else
{
if (diffPosition < 0 && dir == LOW) // Change direction. Should not end up here, but alas
digitalWriteFast(dirPinName, HIGH); // Normal is to be HIGH when decreasing
if (diffPosition > 0 && dir == HIGH) // Change direction. Should not end up here, but alas
digitalWriteFast(dirPinName, LOW); // Normal is to be LOW when increasing
// Normally nothing is needed
}
}
uint32_t StepGen2::updatePos(uint32_t i)
{ //
initialPosition = commandedPosition; // Save the numeric position for next step
initialStepPosition = commandedStepPosition; // also the step we are at}
return i;
}
uint32_t StepGen2::sync0CycleTime = 0;

1195
Cards/EaserCAT-2000/Firmware/src/StepGen3.cpp
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391
Cards/EaserCAT-2000/Firmware/src/Stm32F4_Encoder.cpp
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@@ -1,391 +0,0 @@
#include <Stm32F4_Encoder.h>
/*
Stm32F4_Encoder.cpp
Created on: Nov 20, 2020
Author: GoktugH.
*/
// TIM2, TIM3, TIM4, TIM8
Encoder::Encoder()
{
int unit;
}
// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
void Encoder::SetCount(int64_t Counter)
{
tim_base->CNT = Counter;
}
// uint16_t Encoder::GetCount(enum EncTimer enc)
uint16_t Encoder::GetCount()
{
return tim_base->CNT;
}
void GpioConfigPortA(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortC(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortD(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_12 | GPIO_Pin_13) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)
{
uint16_t tmpsmcr = 0;
uint16_t tmpccmr1 = 0;
uint16_t tmpccer = 0;
/* Get the TIMx SMCR register value */
tmpsmcr = TIMx->SMCR;
/* Get the TIMx CCMR1 register value */
tmpccmr1 = TIMx->CCMR1;
/* Get the TIMx CCER register value */
tmpccer = TIMx->CCER;
/* Set the encoder Mode */
tmpsmcr &= (uint16_t)~TIM_SMCR_SMS;
tmpsmcr |= TIM_EncoderMode;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ((uint16_t)~TIM_CCMR1_CC1S) & ((uint16_t)~TIM_CCMR1_CC2S);
tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
/* Set the TI1 and the TI2 Polarities */
tmpccer &= ((uint16_t)~TIM_CCER_CC1P) & ((uint16_t)~TIM_CCER_CC2P);
tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4));
/* Write to TIMx SMCR */
TIMx->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
TIMx->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
TIMx->CCER = tmpccer;
}
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
/* Set the default configuration */
TIM_TimeBaseInitStruct->TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseInitStruct->TIM_Prescaler = 0x0000;
TIM_TimeBaseInitStruct->TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct->TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct->TIM_RepetitionCounter = 0x0000;
}
void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
uint16_t tmpcr1 = 0;
tmpcr1 = TIMx->CR1;
if ((TIMx == TIM1) || (TIMx == TIM8) ||
(TIMx == TIM2) || (TIMx == TIM3) ||
(TIMx == TIM4) || (TIMx == TIM5))
{
/* Select the Counter Mode */
tmpcr1 &= (uint16_t)(~(TIM_CR1_DIR | TIM_CR1_CMS));
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode;
}
if ((TIMx != TIM6) && (TIMx != TIM7))
{
/* Set the clock division */
tmpcr1 &= (uint16_t)(~TIM_CR1_CKD);
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision;
}
TIMx->CR1 = tmpcr1;
/* Set the Autoreload value */
TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period;
/* Set the Prescaler value */
TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler;
if ((TIMx == TIM1) || (TIMx == TIM8))
{
/* Set the Repetition Counter value */
TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter;
}
/* Generate an update event to reload the Prescaler
and the repetition counter(only for TIM1 and TIM8) value immediatly */
TIMx->EGR = TIM_PSCReloadMode_Immediate;
}
TIM_TimeBaseInitTypeDef TIMER_InitStructure;
TIM_TimeBaseInitTypeDef TIMER_InitStructureE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEEG;
void TIM_Cmd(TIM_TypeDef *TIMx, FunctionalState NewState)
{
if (NewState != DISABLE)
{
/* Enable the TIM Counter */
TIMx->CR1 |= TIM_CR1_CEN;
}
else
{
/* Disable the TIM Counter */
TIMx->CR1 &= (uint16_t)~TIM_CR1_CEN;
}
}
void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
{
uint32_t temp = 0x00;
uint32_t temp_2 = 0x00;
temp = ((uint32_t)(GPIO_AF) << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
GPIOx->AFR[GPIO_PinSource >> 0x03] &= ~((uint32_t)0xF << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
temp_2 = GPIOx->AFR[GPIO_PinSource >> 0x03] | temp;
GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
}
void encoder_config()
{
RCC->AHB1ENR |= 0x1; // GPIOA
RCC->AHB1ENR |= 0x4; // GPIOC
RCC->AHB1ENR |= 0x8; // GPIOD
RCC->AHB1ENR |= 0x10; // GPIOE
RCC->APB1ENR |= 0x20000000; // ENABLE DAC
// RCC->APB2ENR |= 0x00000002; // APB2 TIM8
RCC->APB1ENR |= 0x00000004; // APB1 TIM4
RCC->APB1ENR |= 0x00000001; // APB1 TIM2
// RCC->APB1ENR |= 0x00000002; // APB1 TIM3
GpioConfigPortA(GPIOA);
// GpioConfigPortC(GPIOC);
GpioConfigPortD(GPIOD);
#if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
#endif
GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
#if 0 // Skipping since I use TIM8 as stepper generator
TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructure.TIM_Period = 65535;
TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM8, &TIMER_InitStructure);
TIM_TimeBaseStructInit(&TIMER_InitStructure);
TIM_Cmd(TIM8, ENABLE);
TIM8->CNT = 0;
#endif
TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureE.TIM_Period = 65535;
TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM4, &TIMER_InitStructureE);
TIM_TimeBaseStructInit(&TIMER_InitStructureE);
TIM_Cmd(TIM4, ENABLE);
TIM4->CNT = 0;
TIM_EncoderInterConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEE.TIM_Period = 65535;
TIMER_InitStructureEE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM2, &TIMER_InitStructureEE);
TIM_TimeBaseStructInit(&TIMER_InitStructureEE);
TIM_Cmd(TIM2, ENABLE);
TIM2->CNT = 0;
#if 0
TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEEG.TIM_Period = 65535;
TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM3, &TIMER_InitStructureEEG);
TIM_TimeBaseStructInit(&TIMER_InitStructureEEG);
TIM_Cmd(TIM3, ENABLE);
TIM3->CNT = 0;
#endif
}
void encoder2_config()
{
#if 0
#include "mbed.h"
#include "stm32f4xx.h"
#include "stm32f4xx_hal_tim_ex.h"
TIM_HandleTypeDef timer;
TIM_Encoder_InitTypeDef encoder;
// direction to PA_9 -- step pulse to PA_8
int main()
{
GPIO_InitTypeDef GPIO_InitStruct;
__TIM1_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
timer.Instance = TIM1;
timer.Init.Period = 0xffff;
timer.Init.Prescaler = 0;
timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timer.Init.CounterMode = TIM_COUNTERMODE_UP;
encoder.EncoderMode = TIM_ENCODERMODE_TI12;
encoder.IC1Filter = 0x0f;
encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
encoder.IC1Prescaler = TIM_ICPSC_DIV4;
encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
encoder.IC2Filter = 0x0f;
encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;
encoder.IC2Prescaler = TIM_ICPSC_DIV4;
encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
HAL_TIM_Encoder_Init(&timer, &encoder);
HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);
TIM1->EGR = 1; // Generate an update event
TIM1->CR1 = 1; // Enable the counter
while (1) {
int16_t count1;
count1=TIM1->CNT;
printf("%d\r\n", count1);
wait(1.0);
};
}
#endif
}

18
Cards/EaserCAT-2000/Firmware/src/extend32to64.cpp
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#include "extend32to64.h"
// Extend from 32-bit to 64-bit precision
int64_t extend32to64::extendTime(uint32_t in)
{
int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
if (dif < int64_t(-HALF_PERIOD))
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = previousTimeValue + mod_dif;
previousTimeValue = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}

355
Cards/EaserCAT-2000/Firmware/src/main.cpp
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@@ -1,355 +0,0 @@
#include <Arduino.h>
#include <stdio.h>
extern "C"
{
#include "ecat_slv.h"
#include "utypes.h"
};
_Objects Obj;
HardwareSerial Serial1(PA10, PA9);
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
HardwareTimer *baseTimer; // The base period timer
HardwareTimer *syncTimer; // The timer that syncs "with linuxcnc cycle"
uint32_t sync0CycleTime; // nanosecs, often 1000000 ( 1 ms )
#include "MyEncoder.h"
volatile uint16_t encCnt = 0;
void indexPulseEncoderCB1(void);
MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
void indexPulseEncoderCB1(void)
{
encCnt++;
Encoder1.indexPulse();
}
// #include <RunningAverage.h>
// RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
CircularBuffer<uint16_t, 1000> irqServeDelays;
#include "StepGen3.h"
StepGen3 *Step = 0;
#include "extend32to64.h"
volatile uint64_t irqTime = 0, irqCnt = 0;
extend32to64 longTime;
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
Encoder1.setLatch(Obj.IndexLatchEnable);
Encoder1.setScale(2000);
}
volatile uint16_t basePeriodCnt;
volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
volatile uint16_t deltaMakePulsesCnt;
volatile double posCmd1, posCmd2;
double oldPosCmd1, oldPosCmd2;
double deltaPosCmd1, deltaPosCmd2;
void syncWithLCNC()
{
syncTimer->pause();
baseTimer->pause();
deltaMakePulsesCnt = makePulsesCnt - prevMakePulsesCnt;
prevMakePulsesCnt = makePulsesCnt;
Step->updateStepGen(posCmd1, posCmd2, sync0CycleTime); // Update positions
Step->makeAllPulses(); // Make first step right here
basePeriodCnt = sync0CycleTime / BASE_PERIOD; //
baseTimer->refresh(); //
baseTimer->resume(); // Make the other steps in ISR
}
void basePeriodCB(void)
{
if (--basePeriodCnt > 0) // Stop
Step->makeAllPulses();
else
baseTimer->pause();
}
int32_t delayT;
uint16_t thisCycleTime; // In usecs
int16_t maxIrqServeTime = 0;
uint64_t oldIrqTime = 0;
uint16_t nLoops;
uint16_t failedSM2s = 0;
uint16_t totalFailedSM2s = 0;
uint16_t nLoopsAboveNorm = 0;
void handleStepper(void)
{
if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
{
thisCycleTime = irqTime - oldIrqTime;
nLoops = round(float(thisCycleTime) / float(sync0CycleTime / 1000));
nLoopsAboveNorm += nLoops - 1;
}
oldIrqTime = irqTime;
uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
irqServeDelays.push(diffT);
if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
{
uint16_t maxInBuffer = 0;
using index_t = decltype(irqServeDelays)::index_t;
for (index_t i = 0; i < irqServeDelays.size(); i++)
{
if (maxInBuffer < irqServeDelays[i])
maxInBuffer = irqServeDelays[i];
}
if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
maxIrqServeTime--;
if (maxIrqServeTime < maxInBuffer)
maxIrqServeTime = maxInBuffer;
}
if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{ // The normal case, position update every cycle
posCmd1 = Obj.CommandedPosition1; // The position update
posCmd2 = Obj.CommandedPosition2;
deltaPosCmd1 = posCmd1 - oldPosCmd1; // Needed for extrapolation in the other case
deltaPosCmd2 = posCmd2 - oldPosCmd2;
failedSM2s = 0;
}
else
{ // Not normal, we didn't get a position update. Extrapolate from previous updates
if (failedSM2s++ < 100) // Do max 10 such extrapolations, should be plenty
{ //
posCmd1 += deltaPosCmd1; // Continue with the same speed
posCmd2 += deltaPosCmd2;
}
totalFailedSM2s++;
}
oldPosCmd1 = posCmd1;
oldPosCmd2 = posCmd2;
// Obj.ActualPosition1 = Obj.CommandedPosition1;
// Obj.ActualPosition2 = Obj.CommandedPosition2;
Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
if (delayT > 0 && delayT < 900)
{
syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
syncTimer->refresh();
syncTimer->resume();
}
else
{
syncWithLCNC();
}
}
float_t oldCommandedPosition = 0;
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
Obj.IndexStatus = Encoder1.indexHappened();
Obj.EncPos = Encoder1.currentPos();
Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
Obj.IndexByte = Encoder1.getIndexState();
Obj.DiffT = nLoops;
Obj.D1 = 1000 * deltaPosCmd2; // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
Obj.D2 = totalFailedSM2s; // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX; // Step->stepgen_array[1].freq;
Obj.D3 = 1000 * Obj.CommandedPosition2; // Step->stepgen_array[1].freq;
Obj.D4 = 1000 * posCmd2; // Step->stepgen_array[1].rawcount % UINT16_MAX;
oldCommandedPosition = Obj.CommandedPosition2;
}
void ESC_interrupt_enable(uint32_t mask);
void ESC_interrupt_disable(uint32_t mask);
uint16_t dc_checker(void);
void sync0Handler(void);
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = 150,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = handleStepper,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = dc_checker,
};
void measureCrystalFrequency(void);
volatile byte serveIRQ = 0;
void setup(void)
{
Serial1.begin(115200);
#if 0
measureCrystalFrequency(); // Calibrate crystal frequency
#endif
Step = new StepGen3;
encoder_config(); // Needed by encoder, probably breaks some timers.
ecat_slv_init(&config);
pinMode(PA11, OUTPUT); // Step X
pinMode(PA12, OUTPUT); // Dir X
pinMode(PC9, OUTPUT); // Step Z
pinMode(PC10, OUTPUT); // Dir Z
baseTimer = new HardwareTimer(TIM11); // The base period timer
setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
// baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
baseTimer->attachInterrupt(basePeriodCB);
syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
syncTimer->attachInterrupt(syncWithLCNC);
}
void loop(void)
{
uint64_t dTime;
if (serveIRQ)
{
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
serveIRQ = 0;
ESCvar.PrevTime = ESCvar.Time;
ecat_slv_poll();
}
dTime = longTime.extendTime(micros()) - irqTime;
if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
ecat_slv_poll();
}
void sync0Handler(void)
{
ALEventIRQ = ESC_ALeventread();
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
{
irqTime = longTime.extendTime(micros());
serveIRQ = 1;
}
irqCnt++; // debug output
}
// Enable SM2 interrupts
void ESC_interrupt_enable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
if (mask & user_int_mask)
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
// Set LAN9252 interrupt pin driver as push-pull active high
uint32_t bits = 0x00000111;
ESC_write(0x54, &bits, 4);
// Enable LAN9252 interrupt
bits = 0x00000001;
ESC_write(0x5c, &bits, 4);
}
}
// Disable SM2 interrupts
void ESC_interrupt_disable(uint32_t mask)
{
// Enable interrupt for SYNC0 or SM2 or SM3
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
if (mask & user_int_mask)
{
// Disable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
detachInterrupt(digitalPinToInterrupt(PC3));
// Disable LAN9252 interrupt
uint32_t bits = 0x00000000;
ESC_write(0x5c, &bits, 4);
}
}
extern "C" uint32_t ESC_SYNC0cycletime(void);
// Setup of DC
uint16_t dc_checker(void)
{
// Indicate we run DC
ESCvar.dcsync = 1;
sync0CycleTime = ESC_SYNC0cycletime(); // nanosecs
return 0;
}
//
// Code to calibrate the crystal.
//
#include <HardwareTimer.h>
HardwareTimer *timer;
volatile uint32_t cnt;
void CB(void)
{
if (cnt-- == 0)
{
timer->pause();
}
}
void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
{
const uint16_t calibrated1000 = 1042; // <- This is the factor to adjust to make 1 sec = 1 sec
uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
uint32_t PeriodTicks = period_cyc / Prescalerfactor;
timer->setPrescaleFactor(Prescalerfactor);
timer->setOverflow(PeriodTicks, TICK_FORMAT);
// Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
}
void measureCrystalFrequency(void)
{
timer = new HardwareTimer(TIM1);
Serial1.begin(115200);
delay(3000);
Serial1.printf("Clock freq = %u\n", timer->getTimerClkFreq());
setFrequencyAdjustedMicrosSeconds(timer, 1000);
timer->refresh();
timer->attachInterrupt(CB);
cnt = 10000;
Serial1.printf("\n");
uint32_t startT = micros();
timer->resume();
while (cnt != 0)
;
uint32_t endT = micros();
uint32_t diffT = endT - startT;
Serial1.printf("\n");
Serial1.printf("diff = %u\n", diffT);
Serial1.printf("\n");
delay(10000);
Serial1.printf("\n");
exit(0);
}

47
Cards/EaserCAT-2000/Kicad/.gitignore vendored
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@@ -1,47 +0,0 @@
fp-info-cache
Ethercat-stm32-backup*
*.lck
# For PCBs designed using KiCad: https://www.kicad.org/
# Format documentation: https://kicad.org/help/file-formats/
# Temporary files
*.000
*.bak
*.bck
*.kicad_pcb-bak
*.kicad_sch-bak
*-backups
*.kicad_prl
*.sch-bak
*~
_autosave-*
*.tmp
*-save.pro
*-save.kicad_pcb
fp-info-cache
~*.lck
\#auto_saved_files#
# Netlist files (exported from Eeschema)
*.net
# Autorouter files (exported from Pcbnew)
*.dsn
*.ses
# Exported BOM files
*.xml
*.csv
# Gerber outputs
Gerbers\*
*.zip
# Exported BOM files
*.xml
*.csv
*.step
*.stp
*.stl
.~lock.*

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Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_pcb
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Cards/EaserCAT-2000/Kicad/Ethercat-stm32.kicad_sch
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(kicad_sch
(version 20231120)
(generator "eeschema")
(generator_version "8.0")
(uuid "5597aedc-b607-407f-bbfd-31b3b298ecb1")
(paper "A3")
(lib_symbols)
(text "Huvudsida"
(exclude_from_sim no)
(at 162.56 85.09 0)
(effects
(font
(size 1.27 1.27)
)
(justify left bottom)
)
(uuid "adf2be63-7ec7-44be-837f-901ddbc80717")
)
(sheet
(at 144.78 224.79)
(size 71.12 16.51)
(fields_autoplaced yes)
(stroke
(width 0.1524)
(type solid)
)
(fill
(color 0 0 0 0.0000)
)
(uuid "0a376a6c-0f15-42f8-81f6-3a55619be267")
(property "Sheetname" "Peripherals"
(at 144.78 224.0784 0)
(effects
(font
(size 1.27 1.27)
)
(justify left bottom)
)
)
(property "Sheetfile" "peripherals.kicad_sch"
(at 144.78 241.8846 0)
(effects
(font
(size 1.27 1.27)
)
(justify left top)
)
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
(page "5")
)
)
)
)
(sheet
(at 46.99 224.79)
(size 82.55 17.78)
(fields_autoplaced yes)
(stroke
(width 0.1524)
(type solid)
)
(fill
(color 0 0 0 0.0000)
)
(uuid "650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03")
(property "Sheetname" "LAN9252_diverse"
(at 46.99 224.0784 0)
(effects
(font
(size 1.27 1.27)
)
(justify left bottom)
)
)
(property "Sheetfile" "LAN9252_diverse.kicad_sch"
(at 46.99 243.1546 0)
(effects
(font
(size 1.27 1.27)
)
(justify left top)
)
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
(page "3")
)
)
)
)
(sheet
(at 46.99 200.66)
(size 82.55 17.78)
(fields_autoplaced yes)
(stroke
(width 0.1524)
(type solid)
)
(fill
(color 0 0 0 0.0000)
)
(uuid "a120273a-c1ae-42b3-935d-01f789f654a3")
(property "Sheetname" "LAN9252"
(at 46.99 199.9484 0)
(effects
(font
(size 1.27 1.27)
)
(justify left bottom)
)
)
(property "Sheetfile" "LAN9252.kicad_sch"
(at 46.99 219.0246 0)
(effects
(font
(size 1.27 1.27)
)
(justify left top)
)
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
(page "2")
)
)
)
)
(sheet
(at 142.24 200.66)
(size 74.93 17.78)
(fields_autoplaced yes)
(stroke
(width 0.1524)
(type solid)
)
(fill
(color 0 0 0 0.0000)
)
(uuid "d564400f-40ba-4aca-9c2a-14ec52a8353b")
(property "Sheetname" "STM32F4"
(at 142.24 199.9484 0)
(effects
(font
(size 1.27 1.27)
)
(justify left bottom)
)
)
(property "Sheetfile" "STM32F4.kicad_sch"
(at 142.24 219.0246 0)
(effects
(font
(size 1.27 1.27)
)
(justify left top)
)
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(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1"
(page "4")
)
)
)
)
(sheet_instances
(path "/"
(page "1")
)
)
)

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Cards/EaserCAT-2000/Kicad/LAN9252.kicad_sch
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Cards/EaserCAT-2000/Kicad/LAN9252_diverse.kicad_sch
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Cards/EaserCAT-2000/Kicad/STM32F4.kicad_sch
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Cards/EaserCAT-2000/Kicad/peripherals.kicad_sch
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BIN
Cards/EaserCAT-2000/linuxcnc/Performance.ods
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Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.hal
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# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
# 1/2 of stepper's p/rev 2000 => 1000
setp lcec.0.0.steps-per-mm-1 200
net x-pos-cmd => lcec.0.0.commanded-position-1
net x-pos-fb => lcec.0.0.actual-position-1
#net x-enable => lcec.0.0.enable
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
setp lcec.0.0.steps-per-mm-2 80
# 1/5 of drive's step/rev
net z-pos-cmd => lcec.0.0.commanded-position-2
net z-pos-fb => lcec.0.0.actual-position-2
# net z-enable => lcec.0.0.enable
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#setp lcec.0.0.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.0.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.0.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.0.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.0.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf lcec.write-all servo-thread

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

79
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/Turner.pref
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@@ -1,79 +0,0 @@
[DEFAULT]
dro_digits = 3
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
enable_dro = False
scale_jog_vel = 24.0
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
turtle_jog_factor = 20
hide_turtle_jog_button = False
unlock_code = 123
toggle_readout = True
spindle_start_rpm = 300.0
kbd_height = 250
view = y
blockheight = 0.0
reload_tool = False
open_file =
screen1 = window
hide_titlebar = False
x_pos = 40
y_pos = 30
width = 979
height = 750
use_toolmeasurement = False
gtk_theme = Follow System Theme
icon_theme = classic
audio_enabled = True
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
hide_tooltips = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/debian
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
blockdel = False
show_offsets = False
show_dtg = False
view_tool_path = False
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = False
offset_axis_z = 150.0
diameter offset_axis_x = 0
offset_axis_x = 0.0

BIN
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/__pycache__/lathehandler.cpython-311.pyc
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Binary file not shown.

27
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/autosave.halscope
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@@ -1,27 +0,0 @@
THREAD servo-thread
MAXCHAN 4
HMULT 1
HZOOM 1
HPOS 4,132653e-01
CHAN 1
PIN lcec.0.0.D1
VSCALE 1
VPOS 0,781382
VOFF 0,000000e+00
CHAN 2
PIN lcec.0.0.DiffT
VSCALE 0
VPOS 0,678420
VOFF 0,000000e+00
CHAN 3
PIN lcec.0.0.D3
VSCALE 1
VPOS 0,743300
VOFF 2,000000e+02
CHAN 4
PIN lcec.0.0.D4
VSCALE 5
VPOS 0,364679
VOFF 0,000000e+00
TMODE 1
RMODE 2

31
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/core_sim_lathe.hal
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@@ -1,31 +0,0 @@
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

4
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom.hal
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@@ -1,4 +0,0 @@
# Gamepad
loadusr -W hal_input -KRAL F310
# Resten är i custom_postgui.hal

48
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/custom_vfd.hal
View File

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

59
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/ethercat-conf.xml
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@@ -1,59 +0,0 @@
<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="commanded-position-1" halType="float-ieee"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="7002" subIdx="00" bitLen="32" halPin="commanded-position-2" halType="float-ieee"/>
</pdo>
<pdo idx="1603">
<pdoEntry idx="7003" subIdx="00" bitLen="16" halPin="steps-per-mm-1" halType="s32"/>
</pdo>
<pdo idx="1604">
<pdoEntry idx="7004" subIdx="00" bitLen="16" halPin="steps-per-mm-2" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="enc-position" halType="float-ieee"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="enc-frequency" halType="float-ieee"/>
</pdo>
<pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="16" halPin="DiffT" halType="u32"/>
</pdo>
<pdo idx="1a03">
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
</pdo>
<pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo>
<pdo idx="1a05">
<pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actual-position-1" halType="float-ieee"/>
</pdo>
<pdo idx="1a06">
<pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actual-position-2" halType="float-ieee"/>
</pdo>
<pdo idx="1a07">
<pdoEntry idx="6007" subIdx="00" bitLen="16" halPin="D1" halType="s32"/>
</pdo>
<pdo idx="1a08">
<pdoEntry idx="6008" subIdx="00" bitLen="16" halPin="D2" halType="s32"/>
</pdo>
<pdo idx="1a09">
<pdoEntry idx="6009" subIdx="00" bitLen="16" halPin="D3" halType="s32"/>
</pdo>
<pdo idx="1a0a">
<pdoEntry idx="600a" subIdx="00" bitLen="16" halPin="D4" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

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

83
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/gmoccapy_lathe.pref
View File

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

22
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/halshow.preferences
View File

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

159
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/lathe.ini
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@@ -1,159 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 100
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = 250
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

10
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/nc_files/M111
View File

@@ -1,10 +0,0 @@
%
(1)
#1 = 0
o100 while [#1 LT 10]
G0 X-200 Z-200
G0 X200 Z200
#1 = [#1+1]
o100 endwhile
M2
%

16
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/position.txt
View File

@@ -1,16 +0,0 @@
0.55999995357589616
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000

71
Cards/EaserCAT-2000/linuxcnc/Turner.2ms/savestate.sav
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@@ -1,71 +0,0 @@
# generated by gladevcp.persistence.create_default_ini() on Tue Jul 12 01:49:47 2022
[ini]
signature = a9fe768b61bb9201e86d89ad226616650f20e7ac
version = 1
[vars]
[widgets]
chamfer.fi = False
chamfer.fo = False
turn.rad = 3.0
groove.coolant = True
turn.z = 120.0
turn.x = 15.0
drill.dia = 10.0
radius.x = 0.0
radius.z = 0.0
thread.pitch = 1.0
turn.feed = 0.15
thread.x = 6.0
bore.rad = 0.0
radius.coolant = False
radius.bo = False
thread.z = 0.0
face.coolant = False
drill.peck = 2.0
face.cut = 2.8999999999999977
radius.rad = 1.0
thread.internal = False
face.sf = 0.0
bore.sf = 100.0
turn.tool = 1.0
face.feed = 0.15
chamfer.tool = 1.0
chamfer.bo = True
groove.sf = 100.0
thread.tool = 5.0
groove.feed = 0.03
bore.feed = 0.15
radius.sf = 100.0
chamfer.x = 0.0
chamfer.z = 0.0
thread.external = True
turn.coolant = True
face.z = 0.0
bore.x = 0.0
bore.z = 0.0
groove.x = 0.0
face.tool = 1.0
face.x = 0.0
chamfer.size = 1.0
turn.cut = 1.0
drill.coolant = True
chamfer.sf = 100.0
bore.tool = 1.0
groove.tool = 4.0
face.angle = 0.0
bore.coolant = True
drill.feed = 0.020000000000000004
drill.z = 0.0
turn.sf = 60.0
thread.sf = 60.0
radius.fo = False
turn.angle = 0.0
thread.coolant = False
bore.cut = 1.0
radius.fi = True
drill.tool = 3.0
drill.sf = 100.0
radius.tool = 1.0
bore.angle = 0.0
chamfer.coolant = False
# last update by gladevcp.persistence.save_state() on Wed Mar 20 16:28:06 2024

21
Cards/EaserCAT-2000/linuxcnc/metalmusings_encoder.comp
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@@ -1,21 +0,0 @@
component metalmusings_encoder;
pin io bit index-c-enable;
pin in u32 index-status;
pin out u32 index-latch-enable;
function _;
license "GPL";
;;
//main function
FUNCTION(_) {
index_latch_enable = index_c_enable;
if (index_latch_enable) {
if (index_status) {
index_c_enable = 0;
}
// else wait for index-status
} else {
index_c_enable = index_status;
}
}

3057
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg
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Side by Side

Before

Width:  |  Height:  |  Size: 4.8 MiB

72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/README
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This folder contains a number of simulated lathe configs.
the "lathemacro" config offers a number of simple macros to perform
the most common lathe operations.
The GUI that controls the macros can be viewed by clicking the "Cycles"
tab top left of the graphical preview window.
There are two load-time options to control the tab behaviour:
1) norun will hide the action button, use this if you want to use only
a physical button (connected to gladevcp.cycle-start) to start the macros
(Strongly recommended, especially with Touchy)
2) notouch will allow keyboard editing of the spinboxes. Otherwise the
custom numeric keyboard will be shown.
An example loadrt line, as used here in the Gmoccapy demo is:
[DISPLAY]
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
The window will resize slowly if you grab the corner and move the mouse
inside the window. It's not as bad as it was, but still needs work.
You may need to click the unmaximise button in the toolbar to get a
window border to be able to use the resize handles.
Notes on the keyboard:
As well as the obvious functions and unit conversions, it can be used to
enter fractions. For example if you type 1.1/2 it will automatically
update to display 1.5000 and 16.17/64 will show 16.2656.
This can be used in a limited way to halve the onscreen value eg for
entering radius instead of diameter.
However it only works for whole numbers: 100/2 will become 50 but
3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
Notes on adding your own cycles:
Create a new G-code subroutine in the same format as the existing ones.
In Glade add a new tab to the 'tabs1' notebook and give it a name matching
the new cycle.
Edit the action button (inside an eventbox) to call the new G-code sub.
Rename the action button to match the tab name and append '.action' eg
MyCycle.action
Create new artwork. I used Fusion360, the models are here:
https://a360.co/3uFPZNv
and the drawings are here:
https://a360.co/3uFPZNv
Esport the drawing page as PDF and import into the lathemacro.svg file in
Inkscape. You will need to resize. Add your own arrows and annotations.
Save the new layer in a layer named "layerN" (lower case) where N is the
tab number, starting at zero. You will need to invoke the XML editor for
this (Shift-Cmd-X on Mac)
The entry boxes are positioned relative to a 1500 x 1000 image; the
original size of the SVG. So you can hover your mouse over the image in
Inkscape to determine the coordinates.
In the in the case of on-drawing controls the coordinates are entered as
an XML comment in the Tooltip for the control in x,y format (The surface speed,
tool and coolant do not need this, they are in a fixed table)
An example:
<!--300,711->Peck distance
Make sure the comment has "use markup" selected for the tooltip.
Also ensure that the control has the "show_keyb" function allocated for
the Widget->button_press event. If you copy-paste a tab and copy-paste
extra controls this should be automatic.
_All_ your new spinboxes will need their own new Adjustment, or they will
change value when you alter the original spinbox that they are a copy of.

64
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/boring.ngc
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@@ -1,64 +0,0 @@
;boring
O<boring> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [-#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#23 - #13] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
(debug, Turning finish dia #1 start dia #14 start length #13 finish length #5 coolant #9)
O100 WHILE [#14 LT [#1 - #3]]
g0 X #14
#14=[#14 + #3]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G3 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 - #3]
O101 ELSE
G1 X[#14 + #24 - [#3 * 1.5]]
O101 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G3 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 - #3]
O102 ELSE
G1 X[#1 + #24 - #3]
O102 ENDIF
G0 Z #13
G0 X #1 ; For touch-off
M5 M9
G7
O<boring> endsub
M2

77
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/chamfer.ngc
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@@ -1,77 +0,0 @@
;chamfer
O<chamfer> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D1500 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 + #20]
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 + #8]
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<chamfer> endsub
m2
%

59
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_C.hal
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_CW.hal
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@@ -1,59 +0,0 @@
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

74
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/custom_postgui.hal
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@@ -1,74 +0,0 @@
# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt or2 count=2
loadrt mux4 count=1
loadrt and2 count=4
loadrt oneshot count=1
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf oneshot.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 25
setp mux4.0.in2 50
setp mux4.0.in3 1000
net remote-speed-slow or2.0.in0 <= input.0.btn-x
net remote-speed-medium or2.1.in0 <= input.0.btn-a
net remote-speed-fast or2.0.in1 <= input.0.btn-b
net remote-speed-fast or2.1.in1 <= input.0.btn-b
net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net jog-speed <= mux4.0.out
net jog-x-analog <= input.0.abs-y-position
net jog-z-analog <= input.0.abs-x-position
# Spindle start+manual and stop
net manual-mode-spindle-lock and2.3.in0 halui.mode.manual <= input.0.btn-mode
net spindle-safe-start and2.3.in1 <= input.0.btn-tr
net spindle-manual-cw <= and2.3.out
net spindle-manual-stop <= input.0.btn-tl
# E-stop
net estop halui.estop.activate <= input.0.btn-y
# net manual-mode halui.mode.manual <= input.0.btn-mode
# Start/pause/resume stop
setp oneshot.0.width 0.0011
setp oneshot.0.retriggerable 0
setp oneshot.0.rising 1
setp oneshot.0.falling 0
net program-is-idle halui.program.is-idle => and2.0.in0
net program-is-running halui.program.is-running => and2.1.in0
net program-is-paused halui.program.is-paused => and2.2.in0
net button-edge-trig input.0.btn-start => oneshot.0.in
net button-start oneshot.0.out => and2.0.in1 and2.1.in1 and2.2.in1
net program-start and2.0.out => halui.program.run halui.mode.auto
net program-pause and2.1.out => halui.program.pause
net program-resume and2.2.out => halui.program.resume
net program-stop input.0.btn-select => halui.program.stop
net spindle-at-speed gmoccapy.spindle_at_speed_led
net spindle-vel-fb-rpm => gmoccapy.spindle_feedback_bar
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

49
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/drilling.ngc
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@@ -1,49 +0,0 @@
;drilling
; Use T = 0 for tailstock drilling, then this just sets speed
O<drilling> SUB
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
#10 = [#2 * 1000 / [ #1 * 3.141592]]
(debug, #10)
O90 IF [#7 GT 0.5]
M8
O90 ENDIF
O100 IF [#6 LT 0.5]
G97 M3 S#10
O<drilling> RETURN
O100 ENDIF
M6 T#6 G43
G0 X0
O83 IF [#5 GT 0] ; Pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G83 R#<_z> Q#5 Z#4
M5 M9 G18
O<drilling> RETURN
O83 ENDIF
O82 IF [1]; not pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G82 R#<_z> P0.5 Z#4
M5 M9 G18
O82 ENDIF
O<drilling> ENDSUB
O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
M2

45
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc
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@@ -1,45 +0,0 @@
;Facing
O<facing> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#7 G43
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
O10 IF [#6 NE 0]
(MSG, Angled facing isn't supported yet)
O10 ENDIF
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D2500 S#2 ; Constant Surface Speed Mode
M3
g95 F#4 ; Feed-Per-Rev Mode
g4p1 ; Wait to reach speed
O200 WHILE [#13 GT #5 + #3]
#13=[#13-#3]
G1 Z#13
G1 X#1
G0 Z[#13+#3]
G0 X#14
G0 Z#13
O200 ENDWHILE
G1 Z#5
G1 X#1
G0 Z[#13+#3]
G0 X[#14+#3]
G0 Z#5 ; For touch-off
M5 M9
O<facing> endsub
M2

72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref
View File

@@ -1,72 +0,0 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

23
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal
View File

@@ -1,23 +0,0 @@
###################################################################
# moccapy_postgui.hal file from Norbert Schechner #
###################################################################
loadrt abs names=abs_spindle_feedback
addf abs_spindle_feedback servo-thread
net spindle-speed-limited => abs_spindle_feedback.in
net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar
net spindle-at-speed gmoccapy.spindle_at_speed_led
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

32
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc
View File

@@ -1,32 +0,0 @@
;grooving
O<grooving> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#4 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
G96 D1500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#3 ; Feed-Per-Rev Mode
O90 IF [#5 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
G1 F#3 X#1
G0 X#14
M5 M9
G7
O<grooving> endsub
M2

74
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe.pref
View File

@@ -1,74 +0,0 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
gremlin_view = rbt_view_y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
use_screen2 = False
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
view = p
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

5
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe.tbl
View File

@@ -1,5 +0,0 @@
T1 P1 X-12.0 Y0.0 Z-25.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I26.0 J86.0 Q2.0 ;60 Grad vorn
T2 P2 X-10.356 Y0.0 Z12.123 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I50.0 J85.0 Q2.0 ;35 Grad vorn
T3 P3 X1.123 Y0.0 Z25.456 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I-80.0 J-25.0 Q3.0 ;55 Grad vorn
T4 P4 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I94.0 J154.0 Q1.0 ;60 Grad Rück
T5 P5 X5.737 Y0.0 Z12.2399 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q6.0 ;Einstichstahl

182
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_C.ini
View File

@@ -1,182 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_c
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_C.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZC
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

210
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_CW.ini
View File

@@ -1,210 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_cw
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_CW.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C W
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZCW
JOINTS = 4
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_W]
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
[JOINT_3]
TYPE = LINEAR
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

160
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_backtool.ini
View File

@@ -1,160 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 1
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

73
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_c.pref
View File

@@ -1,73 +0,0 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
reload_tool = True
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
mouse_btn_mode = 4
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rotation of Z
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
unlock_way = no
grid_size = 1.0
view = y2
gremlin_view = rbt_view_y
tool_in_spindle = 0
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
hide_cursor = False
jump_to_dir = /home/emcmesa
blockdel = False
opstop = False
run_from_line = run
show_preview_on_offset = True
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True

72
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_cw.pref
View File

@@ -1,72 +0,0 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 2

160
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.ini
View File

@@ -1,160 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_imperial
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 0.4 inch, 0.04 inch , 0.004 inch, 0.0004 inch
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G20 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.001
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.6
MAX_LINEAR_VELOCITY = 10
POSITION_FILE = position.txt
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos
# Sections for display options ------------------------------------------------

71
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.pref
View File

@@ -1,71 +0,0 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 6.0
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 4
toggle_readout = True
view = y

165
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathe_macros.ini
View File

@@ -1,165 +0,0 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros:./
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

217
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathehandler.py
View File

@@ -1,217 +0,0 @@
#!/usr/bin/env python3
# vim: sts=4 sw=4 et
# This is a component of EMC
# savestate.py copyright 2013 Andy Pugh
# based on code from
# probe.py Copyright 2010 Michael Haberler
#
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
import os,sys
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
import hal
import hal_glib
import glib
import linuxcnc
import cairo
import signal
import re
import gi
gi.require_version('Rsvg', '2.0')
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import Gdk
from gi.repository import GObject
from gi.repository import Pango
from gi.repository import Rsvg
from gi.repository import GdkPixbuf
debug = 0
notouch = 0
norun = 0
class HandlerClass:
active = False
tab_num = 0
def on_expose(self,nb,data=None):
tab_num = nb.get_current_page()
tab = nb.get_nth_page(tab_num)
alloc = tab.get_allocation()
x, y, w, h = (alloc.x, alloc.y, alloc.width, alloc.height)
pixbuf = self.svg.get_pixbuf_sub(f'#layer{tab_num}').scale_simple(w-10, h-10, GdkPixbuf.InterpType.BILINEAR)
im = self.builder.get_object(f'Image{tab_num}')
im.set_from_pixbuf(pixbuf)
for c in im.get_parent().get_children():
if c.get_has_tooltip():
m = re.findall(r'<!--(\d+),(\d+)-->', c.get_tooltip_markup())
if len(m) > 0:
x1 = int(m[0][0]); y1 = int(m[0][1])
c.set_margin_left(max(0, w * x1/1500))
c.set_margin_top(max(0, h * y1/1000))
# decide if our window is active to mask the cycle-start hardware button
# FIXME: This is probably not as reliable as one might wish.
def event(self,w,event):
if w.is_active():
if w.has_toplevel_focus() :
self.active = True
else:
self.active = False
# Capture notify events
def on_map_event(self, widget, data=None):
top = widget.get_toplevel()
top.connect('notify', self.event)
def on_destroy(self,obj,data=None):
self.ini.save_state(self)
def on_restore_defaults(self,button,data=None):
'''
example callback for 'Reset to defaults' button
currently unused
'''
self.ini.create_default_ini()
self.ini.restore_state(self)
def __init__(self, halcomp,builder,useropts):
self.halcomp = halcomp
self.builder = builder
self.ini_filename = 'savestate.sav'
self.defaults = { IniFile.vars: dict(),
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(),
hal_only=False,output_only = True))
}
self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
self.ini.restore_state(self)
# A pin to use a physical switch to start the cycle
self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN))
self.cycle_start.connect('value-changed', self.cycle_pin)
# This catches the signal from Touchy to say that the tab is exposed
t = self.builder.get_object('macrobox')
t.connect('map-event',self.on_map_event)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.cmd = linuxcnc.command()
# This connects the expose event to re-draw and scale the SVG frames
t = self.builder.get_object('tabs1')
t.connect_after("draw", self.on_expose)
t.connect("destroy", Gtk.main_quit)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.svg = Rsvg.Handle().new_from_file('LatheMacro.svg')
self.active = True
# handle Useropts
if norun:
for c in range(0,6):
print(c)
print( f'tab{c}.action')
self.builder.get_object(f'tab{c}.action').set_visible(False)
def show_keyb(self, obj, data=None):
if notouch: return False
self.active_ctrl = obj
self.keyb = self.builder.get_object('keyboard')
self.entry = self.builder.get_object('entry1')
self.entry.modify_font(Pango.FontDescription("courier 42"))
self.entry.set_text("")
resp = self.keyb.run()
return True
def keyb_prev_click(self, obj, data=None):
self.entry.set_text(self.active_ctrl.get_text())
def keyb_number_click(self, obj, data=None):
data = self.entry.get_text()
data = data + obj.get_label()
if any( x in data for x in [ '/2', '/4', '/8', '/16', '/32', '/64', '/128']):
v = [0] + [float(x) for x in data.replace('/','.').split('.')]
data = f'{v[-3] + v[-2]/v[-1]:6.7}'
self.entry.set_text(data)
def keyb_pm_click(self, obj, data=None):
data = self.entry.get_text()
if data[0] == '-':
data = data[1:]
else:
data = '-' + data
self.entry.set_text(data)
def keyb_convert_click(self, obj, data=None):
v = float(self.entry.get_text())
op = obj.get_label()
if op == 'in->mm':
self.entry.set_text(f'{v * 25.4:6.4}')
elif op == 'mm->in':
self.entry.set_text(f'{v / 25.4:6.4}')
elif op == 'tpi->pitch':
self.entry.set_text(f'{25.4 / v:6.4}')
elif op == 'pitch->tpi':
self.entry.set_text(f'{25.4 / v:6.4}')
def keyb_del_click(self, obj, data=None):
data = self.entry.get_text()
data = data[:-1]
self.entry.set_text(data)
def keyb_clear_click(self, obj, data=None):
self.entry.set_text('')
def keyb_cancel_click(self, obj, data=None):
self.keyb.hide()
def keyb_ok_click(self, obj, data=None):
if self.entry.get_text() != '':
self.active_ctrl.set_value(float(self.entry.get_text()))
self.keyb.hide()
def set_alpha(self, obj, data = None):
cr = obj.get_property('window').cairo_create()
cr.set_source_rgba(1.0, 1.0, 1.0, 0.0)
def cycle_pin(self, pin, data = None):
if pin.get() == 0:
return
if self.active:
nb = self.builder.get_object('tabs1')
print('current tab', nb.get_current_page())
c = self.builder.get_object(f"tab{nb.get_current_page()}.action")
if c is not None:
self.cmd.abort()
self.cmd.mode(linuxcnc.MODE_MDI)
self.cmd.wait_complete()
c.emit('clicked')
print(c.get_name(), "clicked")
def testing(self, obj, data = None):
print('event', data)
def get_handlers(halcomp,builder,useropts):
global debug
for cmd in useropts:
print(cmd)
exec(cmd, globals())
set_debug(debug)
return [HandlerClass(halcomp,builder,useropts)]

2937
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/lathemacro.ui
View File

File diff suppressed because it is too large Load Diff

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M101
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=0.1923
MAXRPM=380
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M102
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=0.3189
MAXRPM=630
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M103
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=0.4638
MAXRPM=920
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M104
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=0.8846
MAXRPM=1770
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M105
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=1.4672
MAXRPM=2930
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M106
View File

@@ -1,6 +0,0 @@
#!/bin/bash
R=2.1334
MAXRPM=4260
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

3
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/postgui_call_list.hal
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@@ -1,3 +0,0 @@
# These files are loaded post GUI, in the order they appear
source custom_postgui.hal

76
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/radius.ngc
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@@ -1,76 +0,0 @@
;radius
O<radius> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D2400 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; Front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g3 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g3 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g2 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g2 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g2 x#1 z[#5 + #20] K#20
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g2 x#1 z[#5 + #8] K#8
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<radius> endsub
m2
%

2
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/shutdown.hal
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@@ -1,2 +0,0 @@
# Include your shutdown HAL commands here
# This file will not be overwritten when you run PNCconf again

21
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe.hal
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@@ -1,21 +0,0 @@
loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

21
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe_CW.hal
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@@ -1,21 +0,0 @@
loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

69
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/spindle_sim.hal
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@@ -1,69 +0,0 @@
# counting the spindle encoder in software
loadrt encoder names=encoder_0
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0
loadrt limit2 names=limit_speed
addf limit_speed servo-thread
#######################################################
# Beginning of threading related stuff
#######################################################
# spindle speed control
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
# simulate spindle mass
setp limit_speed.maxv 3000.0 # rpm/second
# spindle encoder
# connect encoder signals to encoder counter
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_0.ppr 12
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_0.scale 60
# scale encoder output to read in revolutions
# (that way thread pitches can be straightforward,
# a 20 tpi thread would multiply the encoder output
# by 1/20, etc)
setp encoder_0.position-scale 48
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
# report our revolution count to the motion controller
net spindle-pos encoder_0.position => spindle.0.revs
# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity
loadrt scale names=scale_to_rpm
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
net spindle-rpm-filtered scale_to_rpm.out
setp scale_to_rpm.gain 60
setp lowpass_velocity.gain .07
addf lowpass_velocity servo-thread
addf scale_to_rpm servo-thread
# for at-speed detection
loadrt near names=near_speed
addf near_speed servo-thread
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-rpm-filtered => near_speed.in2
net spindle-at-speed near_speed.out spindle.0.at-speed
net spindle-fwd <= spindle.0.forward
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf sim-encoder.make-pulses base-thread
addf encoder.update-counters base-thread

59
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/threading.ngc
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@@ -1,59 +0,0 @@
;threading
O<threading> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#3 G43
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D200 S#2 ; Constant Surface Speed Mode
M3
g95 F0.25 ; Feed-Per-Rev Mode
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
;Threading
O51 IF [#6 GT 0.5]
#<OD> = [#1]
#<ID> = [#1 - 1.3 * #4]
;g1X [#<ID> - 1] ;thread truncation
;g0 Z #13
;g1 X #<ID>
;g1 Z #5
G0 X[#<ID> - 1]
g0 Z #13
#3 = [#4 * 1.3]
(debug, INTERNAL Threading thread dia-#1 start-#13 finish-#5 Pitch-#4 Depth-#3)
g1X [#<ID> - 1]
g76 p#4 z#5 i1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ELSE
#<OD> = [#1 - 0.108 * #4]
#<ID> = [#1 - 1.0825 * #4]
(debug, EXTERNAL Threading OD = #<OD> ID = #<ID>)
#3 = [#4 * 1.0825]
g1X [#<OD> + 1] ;final thread truncation
g0 z#13
g1 X #<OD>
g1 Z #5
G0 X[#<OD> +1]
G0 Z #13
g76 p#4 z#5 i-1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ENDIF
G0 Z #13
m5 M9
O<threading> endsub
M2

19
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/tool.tbl
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@@ -1,19 +0,0 @@
T1 P1 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;# rh turning
T2 P2 X-25.3242 Y0.0 Z15.924 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I80.0 J20.0 Q3.0 ;
T3 P3 X-15.4825 Y0.0 Z258.6854 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D3.0 I90.0 J90.0 Q6.0 ;
T4 P4 X-0.5336 Y0.0 Z54.9583 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I87.0 J40.0 Q2.0 ;
T5 P5 X-15.0582 Y0.0 Z117.9963 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I60.0 J200.0 Q5.0 ;
T6 P6 X2.6969 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.5 I120.0 J70.0 Q6.0 ;# threading
T7 P7 X-8.408 Y0.0 Z13.7459 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.8 I107.5 J77.5 Q6.0 ;# vcmt110304
T8 P8 X-11.16 Y0.0 Z-31.05 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I200.0 J300.0 Q8.0 ;
T9 P9 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q9.0 ;
T10 P10 X-0.07 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T11 P11 X-23.0718 Y0.0 Z-3.7292 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T12 P12 X-1.8392 Y0.0 Z-3.8279 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T13 P13 X-10.8533 Y0.0 Z-6.2652 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T14 P14 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I300.0 J200.0 Q4.0 ;
T15 P15 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J200.0 Q5.0 ;
T16 P16 X-15.13 Y0.0 Z14.91 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I100.0 J60.0 Q6.0 ;
T17 P17 X-15.14 Y0.0 Z5.992 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I-30.0 J30.0 Q7.0 ;
T18 P18 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J300.0 Q8.0 ;
T19 P19 X29.7817 Y0.0 Z-21.8231 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;

66
Cards/EaserCAT-2000/linuxcnc/sim.gmoccapy.lathe_configs/turning.ngc
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@@ -1,66 +0,0 @@
;Turning
O<turning> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#13 - #23] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
O100 WHILE [#14 GT [#1 + #3 / 2]]
g0 X #14
#14=[#14-#3 / 2]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G2 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 + #3/2]
O101 ELSE
G1 X[#14 + #24 + [#3 * .6]]
O101 ENDIF
O104 IF [#7 LT 0]
G0 X#14
O104 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G2 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 + #3]
O102 ELSE
G1 X[#1 + #24 + #3]
O102 ENDIF
O106 IF [#7 LT 0]
G0 X#14
O106 ENDIF
M9
G0 Z #13
G0 X #1 ; For touch-off
M5
G7
O<turning> endsub
M2

6
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/.gitignore vendored
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@@ -1,6 +0,0 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
.vscode/settings.json

10
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/.vscode/extensions.json vendored
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@@ -1,10 +0,0 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

1
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/doc/.gitignore vendored
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@@ -1 +0,0 @@
.~lock.*

BIN
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/doc/Stepgen.odp
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Binary file not shown.

38
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/MyEncoder.h
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@@ -1,38 +0,0 @@
#ifndef MYENCODER
#define MYENCODER
#include "Stm32F4_Encoder.h"
#include <CircularBuffer.hpp>
#define RINGBUFFERLEN 11
class MyEncoder
{
public:
MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
int64_t unwrapEncoder(uint16_t in);
void indexPulse(void);
uint8_t indexHappened();
double currentPos();
double frequency(uint64_t time);
uint8_t getIndexState();
void setScale(double scale);
void setLatch(uint8_t latchEnable);
private:
int64_t previousEncoderCounterValue = 0;
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t oldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
Encoder EncoderInit;
uint8_t indexPin;
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
double curPos;
double oldFrequency;
TIM_TypeDef *tim_base;
};
#endif

39
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/README
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@@ -1,39 +0,0 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

152
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/StepGen3.h
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@@ -1,152 +0,0 @@
#ifndef STEPGEN3
#define STEPGEN3
#include <HardwareTimer.h>
#define MAX_CHAN 16
#define MAX_CYCLE 18
#define USER_STEP_TYPE 13
typedef struct
{
/* stuff that is both read and written by makepulses */
volatile unsigned int timer1; /* times out when step pulse should end */
volatile unsigned int timer2; /* times out when safe to change dir */
volatile unsigned int timer3; /* times out when safe to step in new dir */
volatile int hold_dds; /* prevents accumulator from updating */
volatile long addval; /* actual frequency generator add value */
volatile long long accum; /* frequency generator accumulator */
volatile int rawcount; /* param: position feedback in counts */
volatile int curr_dir; /* current direction */
volatile int state; /* current position in state table */
/* stuff that is read but not written by makepulses */
volatile int enable; /* pin for enable stepgen */
volatile int target_addval; /* desired freq generator add value */
volatile long deltalim; /* max allowed change per period */
volatile int step_len; /* parameter: step pulse length */
volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
volatile unsigned int dir_setup; /* param: direction setup time */
volatile int step_type; /* stepping type - see list above */
volatile int cycle_max; /* cycle length for step types 2 and up */
volatile int num_phases; /* number of phases for types 2 and up */
volatile int phase[5]; /* pins for output signals */
volatile const unsigned char *lut; /* pointer to state lookup table */
/* stuff that is not accessed by makepulses */
int pos_mode; /* 1 = position mode, 0 = velocity mode */
unsigned int step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
int count; /* pin: captured feedback in counts */
#define double float
double pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
double vel_cmd; /* pin: velocity command (pos units/sec) */
double pos_cmd; /* pin: position command (position units) */
double pos_fb; /* pin: position feedback (position units) */
double freq; /* param: frequency command */
double maxvel; /* param: max velocity, (pos units/sec) */
double maxaccel; /* param: max accel (pos units/sec^2) */
unsigned int old_step_len; /* used to detect parameter changes */
unsigned int old_step_space;
unsigned int old_dir_hold_dly;
unsigned int old_dir_setup;
int printed_error; /* flag to avoid repeated printing */
} stepgen_t;
#define MAX_STEP_TYPE 15
#define STEP_PIN 0 /* output phase used for STEP signal */
#define DIR_PIN 1 /* output phase used for DIR signal */
#define UP_PIN 0 /* output phase used for UP signal */
#define DOWN_PIN 1 /* output phase used for DOWN signal */
#define PICKOFF 28 /* bit location in DDS accum */
typedef enum CONTROL
{
POSITION,
VELOCITY,
INVALID
} CONTROL;
class StepGen3
{
public:
int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
uint32_t stepPin[MAX_CHAN] = {0};
uint32_t dirPin[MAX_CHAN] = {0};
stepgen_t *stepgen_array = 0;
int num_chan = 0; // number of step generators configured */
long periodns; // makepulses function period in nanosec */
long old_periodns; // used to detect changes in periodns */
double periodfp; // makepulses function period in seconds */
double freqscale; // conv. factor from Hz to addval counts */
double accelscale; // conv. Hz/sec to addval cnts/period */
long old_dtns; // update_freq funct period in nsec */
double dt; // update_freq period in seconds */
double recip_dt; // recprocal of period, avoids divides */
volatile uint64_t cnt = 0; // Debug counter
#undef double
StepGen3(void);
void updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4,
float pos_scale1, float pos_scale2, float pos_scale3, float pos_scale4,
float max_acc1, float max_acc2, float max_acc3, float max_acc4,
uint8_t enable1, uint8_t enable2, uint8_t enable3, uint8_t enable4,
uint32_t servoPeriod);
void makeAllPulses(void);
int rtapi_app_main();
int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
void make_pulses(void *arg, long period);
void update_freq(void *arg, long period);
void update_pos(void *arg, long period);
int setup_user_step_type(void);
CONTROL parse_ctrl_type(const char *ctrl);
unsigned long ulceil(unsigned long value, unsigned long increment);
private:
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
{1, 2, 4, 8, 0, 0, 0, 0, 0, 0}, /* 5: Unipolar Full Step 1 */
{3, 6, 12, 9, 0, 0, 0, 0, 0, 0}, /* 6: Unipoler Full Step 2 */
{1, 7, 14, 8, 0, 0, 0, 0, 0, 0}, /* 7: Bipolar Full Step 1 */
{5, 6, 10, 9, 0, 0, 0, 0, 0, 0}, /* 8: Bipoler Full Step 2 */
{1, 3, 2, 6, 4, 12, 8, 9, 0, 0}, /* 9: Unipolar Half Step */
{1, 5, 7, 6, 14, 10, 8, 9, 0, 0}, /* 10: Bipolar Half Step */
{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
{3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
unsigned char cycle_len_lut[14] =
{4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
unsigned char num_phases_lut[14] =
{2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0};
};
// Initial values. Please update base_period using SDO, the others using PDOs
// For the example 20000 ns => 50 kHz
// It may be ok with over 100 kHz, it depends on the overall load. You just need to test.
#define BASE_PERIOD 20000
// #define SERVO_PERIOD 2000000
#define JOINT_1_STEPGEN_MAXACCEL 100000.0
#define JOINT_2_STEPGEN_MAXACCEL 100000.0
#define JOINT_3_STEPGEN_MAXACCEL 100000.0
#define JOINT_4_STEPGEN_MAXACCEL 100000.0
#define JOINT_1_SCALE 100
#define JOINT_2_SCALE 100
#define JOINT_3_SCALE 100
#define JOINT_4_SCALE 100
#endif

652
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/Stm32F4_Encoder.h
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#ifndef __Stm32F4_Encoder_H__
#define __Stm32F4_Encoder_H__
#include <Arduino.h>
#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
// #define GPIO_MODER_MODER0 ((uint32_t)0x00000003)
#define GPIO_Mode_OUT 0x01
// #define GPIO_OSPEEDER_OSPEEDR0 ((uint32_t)0x00000003)
// #define GPIO_OTYPER_OT_0 ((uint32_t)0x00000001)
// #define GPIO_PUPDR_PUPDR0 ((uint32_t)0x00000003)
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Mode_AF 0x02
#define GPIO_OType_PP 0x00
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Pin_0 ((uint16_t)0x0001) /* Pin 0 selected */
#define GPIO_Pin_1 ((uint16_t)0x0002) /* Pin 1 selected */
#define GPIO_Pin_2 ((uint16_t)0x0004) /* Pin 2 selected */
#define GPIO_Pin_3 ((uint16_t)0x0008) /* Pin 3 selected */
#define GPIO_Pin_4 ((uint16_t)0x0010) /* Pin 4 selected */
#define GPIO_Pin_5 ((uint16_t)0x0020) /* Pin 5 selected */
#define GPIO_Pin_6 ((uint16_t)0x0040) /* Pin 6 selected */
#define GPIO_Pin_7 ((uint16_t)0x0080) /* Pin 7 selected */
#define GPIO_Pin_8 ((uint16_t)0x0100) /* Pin 8 selected */
#define GPIO_Pin_9 ((uint16_t)0x0200) /* Pin 9 selected */
#define GPIO_Pin_10 ((uint16_t)0x0400) /* Pin 10 selected */
#define GPIO_Pin_11 ((uint16_t)0x0800) /* Pin 11 selected */
#define GPIO_Pin_12 ((uint16_t)0x1000) /* Pin 12 selected */
#define GPIO_Pin_13 ((uint16_t)0x2000) /* Pin 13 selected */
#define GPIO_Pin_14 ((uint16_t)0x4000) /* Pin 14 selected */
#define GPIO_Pin_15 ((uint16_t)0x8000) /* Pin 15 selected */
#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
typedef struct TIM_TimeBaseInitTypeDef
{
uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_CounterMode; /*!< Specifies the counter mode.
This parameter can be a value of @ref TIM_Counter_Mode */
uint32_t TIM_Period; /*!< Specifies the period value to be loaded into the active
Auto-Reload Register at the next update event.
This parameter must be a number between 0x0000 and 0xFFFF. */
uint16_t TIM_ClockDivision; /*!< Specifies the clock division.
This parameter can be a value of @ref TIM_Clock_Division_CKD */
uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter
reaches zero, an update event is generated and counting restarts
from the RCR value (N).
This means in PWM mode that (N+1) corresponds to:
- the number of PWM periods in edge-aligned mode
- the number of half PWM period in center-aligned mode
This parameter must be a number between 0x00 and 0xFF.
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_TimeBaseInitTypeDef;
typedef struct
{
uint16_t setcount;
} encoder;
typedef struct
{
uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_State */
uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_N_State
@note This parameter is valid only for TIM1 and TIM8. */
uint32_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_OCPolarity; /*!< Specifies the output polarity.
This parameter can be a value of @ref TIM_Output_Compare_Polarity */
uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity.
This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_OCInitTypeDef;
typedef struct
{
uint16_t TIM_Channel; /*!< Specifies the TIM channel.
This parameter can be a value of @ref TIM_Channel */
uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint16_t TIM_ICSelection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint16_t TIM_ICFilter; /*!< Specifies the input capture filter.
This parameter can be a number between 0x0 and 0xF */
} TIM_ICInitTypeDef;
typedef struct
{
uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode.
This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state.
This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters.
This parameter can be a value of @ref TIM_Lock_level */
uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the
switching-on of the outputs.
This parameter can be a number between 0x00 and 0xFF */
uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not.
This parameter can be a value of @ref TIM_Break_Input_enable_disable */
uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity.
This parameter can be a value of @ref TIM_Break_Polarity */
uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
} TIM_BDTRInitTypeDef;
#define GPIO_PinSource0 ((uint8_t)0x00)
#define GPIO_PinSource1 ((uint8_t)0x01)
#define GPIO_PinSource2 ((uint8_t)0x02)
#define GPIO_PinSource3 ((uint8_t)0x03)
#define GPIO_PinSource4 ((uint8_t)0x04)
#define GPIO_PinSource5 ((uint8_t)0x05)
#define GPIO_PinSource6 ((uint8_t)0x06)
#define GPIO_PinSource7 ((uint8_t)0x07)
#define GPIO_PinSource8 ((uint8_t)0x08)
#define GPIO_PinSource9 ((uint8_t)0x09)
#define GPIO_PinSource10 ((uint8_t)0x0A)
#define GPIO_PinSource11 ((uint8_t)0x0B)
#define GPIO_PinSource12 ((uint8_t)0x0C)
#define GPIO_PinSource13 ((uint8_t)0x0D)
#define GPIO_PinSource14 ((uint8_t)0x0E)
#define GPIO_PinSource15 ((uint8_t)0x0F)
#define GPIO_AF_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
#define GPIO_AF_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
#define GPIO_AF_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
#define GPIO_AF_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
// #define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
// #define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
(((PERIPH) == TIM13) || \
((PERIPH) == TIM14)))
#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
((PERIPH) == TIM13) || \
((PERIPH) == TIM14))
#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM12))
#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST6_PERIPH(TIMx) (((TIMx) == TIM2) || \
((TIMx) == TIM5) || \
((TIMx) == TIM11))
#define TIM_OCMode_Timing ((uint16_t)0x0000)
#define TIM_OCMode_Active ((uint16_t)0x0010)
#define TIM_OCMode_Inactive ((uint16_t)0x0020)
#define TIM_OCMode_Toggle ((uint16_t)0x0030)
#define TIM_OCMode_PWM1 ((uint16_t)0x0060)
#define TIM_OCMode_PWM2 ((uint16_t)0x0070)
//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
// ((MODE) == TIM_OCMode_Active) || \
// ((MODE) == TIM_OCMode_Inactive) || \
// ((MODE) == TIM_OCMode_Toggle)|| \
// ((MODE) == TIM_OCMode_PWM1) || \
// ((MODE) == TIM_OCMode_PWM2))
#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \
((MODE) == TIM_OCMode_Active) || \
((MODE) == TIM_OCMode_Inactive) || \
((MODE) == TIM_OCMode_Toggle) || \
((MODE) == TIM_OCMode_PWM1) || \
((MODE) == TIM_OCMode_PWM2) || \
((MODE) == TIM_ForcedAction_Active) || \
((MODE) == TIM_ForcedAction_InActive))
#define TIM_OPMode_Single ((uint16_t)0x0008)
#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
// ((MODE) == TIM_OPMode_Repetitive))
#define TIM_Channel_1 ((uint16_t)0x0000)
#define TIM_Channel_2 ((uint16_t)0x0004)
#define TIM_Channel_3 ((uint16_t)0x0008)
#define TIM_Channel_4 ((uint16_t)0x000C)
#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3) || \
((CHANNEL) == TIM_Channel_4))
#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2))
#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3))
#define TIM_CKD_DIV1 ((uint16_t)0x0000)
#define TIM_CKD_DIV2 ((uint16_t)0x0100)
#define TIM_CKD_DIV4 ((uint16_t)0x0200)
#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
((DIV) == TIM_CKD_DIV2) || \
((DIV) == TIM_CKD_DIV4))
#define TIM_CounterMode_Up ((uint16_t)0x0000)
#define TIM_CounterMode_Down ((uint16_t)0x0010)
#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040)
#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060)
//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) || \
// ((MODE) == TIM_CounterMode_Down) || \
// ((MODE) == TIM_CounterMode_CenterAligned1) || \
// ((MODE) == TIM_CounterMode_CenterAligned2) || \
// ((MODE) == TIM_CounterMode_CenterAligned3))
#define TIM_OCPolarity_High ((uint16_t)0x0000)
#define TIM_OCPolarity_Low ((uint16_t)0x0002)
//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
// ((POLARITY) == TIM_OCPolarity_Low))
#define TIM_OCNPolarity_High ((uint16_t)0x0000)
#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
// ((POLARITY) == TIM_OCNPolarity_Low))
#define TIM_OutputState_Disable ((uint16_t)0x0000)
#define TIM_OutputState_Enable ((uint16_t)0x0001)
#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
((STATE) == TIM_OutputState_Enable))
#define TIM_OutputNState_Disable ((uint16_t)0x0000)
#define TIM_OutputNState_Enable ((uint16_t)0x0004)
#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
((STATE) == TIM_OutputNState_Enable))
#define TIM_CCx_Enable ((uint16_t)0x0001)
#define TIM_CCx_Disable ((uint16_t)0x0000)
#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
((CCX) == TIM_CCx_Disable))
#define TIM_CCxN_Enable ((uint16_t)0x0004)
#define TIM_CCxN_Disable ((uint16_t)0x0000)
#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
((CCXN) == TIM_CCxN_Disable))
#define TIM_Break_Enable ((uint16_t)0x1000)
#define TIM_Break_Disable ((uint16_t)0x0000)
//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
// ((STATE) == TIM_Break_Disable))
#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
#define TIM_BreakPolarity_High ((uint16_t)0x2000)
//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
// ((POLARITY) == TIM_BreakPolarity_High))
#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
// ((STATE) == TIM_AutomaticOutput_Disable))
#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
#define TIM_LOCKLevel_3 ((uint16_t)0x0300)
//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
// ((LEVEL) == TIM_LOCKLevel_1) || \
// ((LEVEL) == TIM_LOCKLevel_2) || \
// ((LEVEL) == TIM_LOCKLevel_3))
#define TIM_OSSIState_Enable ((uint16_t)0x0400)
#define TIM_OSSIState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
// ((STATE) == TIM_OSSIState_Disable))
#define TIM_OSSRState_Enable ((uint16_t)0x0800)
#define TIM_OSSRState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
// ((STATE) == TIM_OSSRState_Disable))
#define TIM_OCIdleState_Set ((uint16_t)0x0100)
#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
// ((STATE) == TIM_OCIdleState_Reset))
//
#define TIM_OCNIdleState_Set ((uint16_t)0x0200)
#define TIM_OCNIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
// ((STATE) == TIM_OCNIdleState_Reset))
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
// ((POLARITY) == TIM_ICPolarity_Falling)|| \
// ((POLARITY) == TIM_ICPolarity_BothEdge))
#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC1, IC2, IC3 or IC4, respectively */
#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
connected to IC2, IC1, IC4 or IC3, respectively. */
#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
// ((SELECTION) == TIM_ICSelection_IndirectTI) || \
// ((SELECTION) == TIM_ICSelection_TRC))
// #define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
// #define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
// #define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
// #define TIM_ICPSC_DIV8 ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
// #define IS_TIM_IC_PRESCALER(PRESCALER) ( ((PRESCALER) == TIM_ICPSC_DIV1) || \
// ((PRESCALER) == TIM_ICPSC_DIV2) || \
// ((PRESCALER) == TIM_ICPSC_DIV4) || \
// ((PRESCALER) == TIM_ICPSC_DIV8))
#define TIM_IT_Update ((uint16_t)0x0001)
// #define TIM_IT_CC1 ((uint16_t)0x0002)
// #define TIM_IT_CC2 ((uint16_t)0x0004)
// #define TIM_IT_CC3 ((uint16_t)0x0008)
// #define TIM_IT_CC4 ((uint16_t)0x0010)
// #define TIM_IT_COM ((uint16_t)0x0020)
#define TIM_IT_Trigger ((uint16_t)0x0040)
#define TIM_IT_Break ((uint16_t)0x0080)
#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \
((IT) == TIM_IT_CC1) || \
((IT) == TIM_IT_CC2) || \
((IT) == TIM_IT_CC3) || \
((IT) == TIM_IT_CC4) || \
((IT) == TIM_IT_COM) || \
((IT) == TIM_IT_Trigger) || \
((IT) == TIM_IT_Break))
// #define TIM_DMABase_CR1 ((uint16_t)0x0000)
// #define TIM_DMABase_CR2 ((uint16_t)0x0001)
// #define TIM_DMABase_SMCR ((uint16_t)0x0002)
// #define TIM_DMABase_DIER ((uint16_t)0x0003)
// #define TIM_DMABase_SR ((uint16_t)0x0004)
// #define TIM_DMABase_EGR ((uint16_t)0x0005)
// #define TIM_DMABase_CCMR1 ((uint16_t)0x0006)
// #define TIM_DMABase_CCMR2 ((uint16_t)0x0007)
// #define TIM_DMABase_CCER ((uint16_t)0x0008)
// #define TIM_DMABase_CNT ((uint16_t)0x0009)
// #define TIM_DMABase_PSC ((uint16_t)0x000A)
// #define TIM_DMABase_ARR ((uint16_t)0x000B)
// #define TIM_DMABase_RCR ((uint16_t)0x000C)
// #define TIM_DMABase_CCR1 ((uint16_t)0x000D)
// #define TIM_DMABase_CCR2 ((uint16_t)0x000E)
// #define TIM_DMABase_CCR3 ((uint16_t)0x000F)
// #define TIM_DMABase_CCR4 ((uint16_t)0x0010)
// #define TIM_DMABase_BDTR ((uint16_t)0x0011)
// #define TIM_DMABase_DCR ((uint16_t)0x0012)
// #define TIM_DMABase_OR ((uint16_t)0x0013)
// #define IS_TIM_DMA_BASE(BASE) ( ((BASE) == TIM_DMABase_CR1) || \
// ((BASE) == TIM_DMABase_CR2) || \
// ((BASE) == TIM_DMABase_SMCR) || \
// ((BASE) == TIM_DMABase_DIER) || \
// ((BASE) == TIM_DMABase_SR) || \
// ((BASE) == TIM_DMABase_EGR) || \
// ((BASE) == TIM_DMABase_CCMR1) || \
// ((BASE) == TIM_DMABase_CCMR2) || \
// ((BASE) == TIM_DMABase_CCER) || \
// ((BASE) == TIM_DMABase_CNT) || \
// ((BASE) == TIM_DMABase_PSC) || \
// ((BASE) == TIM_DMABase_ARR) || \
// ((BASE) == TIM_DMABase_RCR) || \
// ((BASE) == TIM_DMABase_CCR1) || \
// ((BASE) == TIM_DMABase_CCR2) || \
// ((BASE) == TIM_DMABase_CCR3) || \
// ((BASE) == TIM_DMABase_CCR4) || \
// ((BASE) == TIM_DMABase_BDTR) || \
// ((BASE) == TIM_DMABase_DCR) || \
// ((BASE) == TIM_DMABase_OR))
// #define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000)
// #define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100)
// #define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200)
// #define TIM_DMABurstLength_4Transfers ((uint16_t)0x0300)
// #define TIM_DMABurstLength_5Transfers ((uint16_t)0x0400)
// #define TIM_DMABurstLength_6Transfers ((uint16_t)0x0500)
// #define TIM_DMABurstLength_7Transfers ((uint16_t)0x0600)
// #define TIM_DMABurstLength_8Transfers ((uint16_t)0x0700)
// #define TIM_DMABurstLength_9Transfers ((uint16_t)0x0800)
// #define TIM_DMABurstLength_10Transfers ((uint16_t)0x0900)
// #define TIM_DMABurstLength_11Transfers ((uint16_t)0x0A00)
// #define TIM_DMABurstLength_12Transfers ((uint16_t)0x0B00)
// #define TIM_DMABurstLength_13Transfers ((uint16_t)0x0C00)
// #define TIM_DMABurstLength_14Transfers ((uint16_t)0x0D00)
// #define TIM_DMABurstLength_15Transfers ((uint16_t)0x0E00)
// #define TIM_DMABurstLength_16Transfers ((uint16_t)0x0F00)
// #define TIM_DMABurstLength_17Transfers ((uint16_t)0x1000)
// #define TIM_DMABurstLength_18Transfers ((uint16_t)0x1100)
// #define IS_TIM_DMA_LENGTH(LENGTH) ( ((LENGTH) == TIM_DMABurstLength_1Transfer) || \
// ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_18Transfers))
// #define TIM_DMA_Update ((uint16_t)0x0100)
// #define TIM_DMA_CC1 ((uint16_t)0x0200)
// #define TIM_DMA_CC2 ((uint16_t)0x0400)
// #define TIM_DMA_CC3 ((uint16_t)0x0800)
// #define TIM_DMA_CC4 ((uint16_t)0x1000)
// #define TIM_DMA_COM ((uint16_t)0x2000)
// #define TIM_DMA_Trigger ((uint16_t)0x4000)
// #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000)
#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV8))
// #define TIM_TS_ITR0 ((uint16_t)0x0000)
// #define TIM_TS_ITR1 ((uint16_t)0x0010)
// #define TIM_TS_ITR2 ((uint16_t)0x0020)
// #define TIM_TS_ITR3 ((uint16_t)0x0030)
// #define TIM_TS_TI1F_ED ((uint16_t)0x0040)
// #define TIM_TS_TI1FP1 ((uint16_t)0x0050)
// #define TIM_TS_TI2FP2 ((uint16_t)0x0060)
// #define TIM_TS_ETRF ((uint16_t)0x0070)
// #def ine IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
// ((SELECTION) == TIM_TS_ITR1) || \
// ((SELECTION) == TIM_TS_ITR2) || \
// ((SELECTION) == TIM_TS_ITR3) || \
// ((SELECTION) == TIM_TS_TI1F_ED) || \
// ((SELECTION) == TIM_TS_TI1FP1) || \
// ((SELECTION) == TIM_TS_TI2FP2) || \
// ((SELECTION) == TIM_TS_ETRF))
#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
((SELECTION) == TIM_TS_ITR1) || \
((SELECTION) == TIM_TS_ITR2) || \
((SELECTION) == TIM_TS_ITR3))
#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
((RELOAD) == TIM_PSCReloadMode_Immediate))
#define TIM_ForcedAction_Active ((uint16_t)0x0050)
#define TIM_ForcedAction_InActive ((uint16_t)0x0040)
#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
((ACTION) == TIM_ForcedAction_InActive))
#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
// ((MODE) == TIM_EncoderMode_TI2) || \
// ((MODE) == TIM_EncoderMode_TI12))
// #define TIM_EventSource_Update ((uint16_t)0x0001)
// #define TIM_EventSource_CC1 ((uint16_t)0x0002)
// #define TIM_EventSource_CC2 ((uint16_t)0x0004)
// #define TIM_EventSource_CC3 ((uint16_t)0x0008)
// #define TIM_EventSource_CC4 ((uint16_t)0x0010)
// #define TIM_EventSource_COM ((uint16_t)0x0020)
// #define TIM_EventSource_Trigger ((uint16_t)0x0040)
// #define TIM_EventSource_Break ((uint16_t)0x0080)
// #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow \
or the setting of UG bit, or an update generation \
through the slave mode controller. */
#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
((SOURCE) == TIM_UpdateSource_Regular))
#define TIM_OCPreload_Enable ((uint16_t)0x0008)
#define TIM_OCPreload_Disable ((uint16_t)0x0000)
#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
((STATE) == TIM_OCPreload_Disable))
#define TIM_OCFast_Enable ((uint16_t)0x0004)
#define TIM_OCFast_Disable ((uint16_t)0x0000)
#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
((STATE) == TIM_OCFast_Disable))
#define TIM_OCClear_Enable ((uint16_t)0x0080)
#define TIM_OCClear_Disable ((uint16_t)0x0000)
#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
((STATE) == TIM_OCClear_Disable))
#define TIM_TRGOSource_Reset ((uint16_t)0x0000)
#define TIM_TRGOSource_Enable ((uint16_t)0x0010)
#define TIM_TRGOSource_Update ((uint16_t)0x0020)
#define TIM_TRGOSource_OC1 ((uint16_t)0x0030)
#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040)
#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050)
#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060)
#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070)
//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
// ((SOURCE) == TIM_TRGOSource_Enable) || \
// ((SOURCE) == TIM_TRGOSource_Update) || \
// ((SOURCE) == TIM_TRGOSource_OC1) || \
// ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC4Ref))
#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
#define TIM_SlaveMode_External1 ((uint16_t)0x0007)
//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
// ((MODE) == TIM_SlaveMode_Gated) || \
// ((MODE) == TIM_SlaveMode_Trigger) || \
// ((MODE) == TIM_SlaveMode_External1))
#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080)
#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000)
//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
// ((STATE) == TIM_MasterSlaveMode_Disable))
#define TIM2_TIM8_TRGO ((uint16_t)0x0000)
#define TIM2_ETH_PTP ((uint16_t)0x0400)
#define TIM2_USBFS_SOF ((uint16_t)0x0800)
#define TIM2_USBHS_SOF ((uint16_t)0x0C00)
#define TIM5_GPIO ((uint16_t)0x0000)
#define TIM5_LSI ((uint16_t)0x0040)
#define TIM5_LSE ((uint16_t)0x0080)
#define TIM5_RTC ((uint16_t)0x00C0)
#define TIM11_GPIO ((uint16_t)0x0000)
#define TIM11_HSE ((uint16_t)0x0002)
class Encoder
{
private:
int _pin;
public:
TIM_TypeDef *tim_base;
Encoder();
void SetCount(int64_t Counter);
uint16_t GetCount();
};
void encoder_config();
void encoder2_config(); // Experimental
void GpioConfigPortA(GPIO_TypeDef *GPIOx);
void GpioConfigPortC(GPIO_TypeDef *GPIOx);
void GpioConfigPortD(GPIO_TypeDef *GPIOx);
void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
#endif

14
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/include/extend32to64.h
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@@ -1,14 +0,0 @@
#ifndef EXTEND32TO64
#define EXTEND32TO54
#include <Arduino.h>
class extend32to64
{
public:
int64_t previousTimeValue = 0;
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
const uint64_t HALF_PERIOD = 2147483648; // Half of that
int64_t extendTime(uint32_t in);
};
#endif

2098
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml
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42
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h
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@@ -1,42 +0,0 @@
#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1600
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 12
#define MAX_MAPPINGS_SM3 10
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

BIN
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin
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Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex
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@@ -1,65 +0,0 @@
:20000000050603446400000000001A0000004E00D0D1BED000300000020000000100000060
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423
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
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@@ -1,423 +0,0 @@
{
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xd0bed1d0",
"ProductCode": "0x3000",
"ProfileNo": "5002",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
"EEPROMsize": "2048",
"RxMailboxOffset": "0x1000",
"TxMailboxOffset": "0x1200",
"MailboxSize": "512",
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "CNC control",
"ImageName": "IMGCBY",
"TextDeviceType": "CNC control",
"TextDeviceName": "MetalMusings EaserCAT 3000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
"Port3Physical": " ",
"ESC": "AX58100",
"SPImode": "3",
"CoeDetailsEnableSDO": "EnableSDO",
"CoeDetailsEnableSDOInfo": "EnableSDOInfo",
"CoeDetailsEnablePDOAssign": "EnablePDOAssign",
"CoeDetailsEnablePDOConfiguration": "EnablePDOConfiguration",
"CoeDetailsEnableUploadAtStartup": "EnableUploadAtStartup",
"CoeDetailsEnableSDOCompleteAccess": "EnableSDOCompleteAccess"
},
"od": {
"sdo": {
"2000": {
"otype": "VAR",
"name": "BasePeriod",
"access": "RW",
"dtype": "UNSIGNED32",
"value": "10000",
"isSDOitem": true,
"data": "&Obj.BasePeriod"
},
"2001": {
"otype": "VAR",
"name": "StepsPerMM1",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM1"
},
"2002": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM2"
},
"2003": {
"otype": "VAR",
"name": "StepsPerMM3",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM3"
},
"2004": {
"otype": "VAR",
"name": "StepsPerMM4",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM4"
},
"2005": {
"otype": "VAR",
"name": "MaxAcceleration1",
"access": "RW",
"dtype": "REAL32",
"value": "1000000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration1"
},
"2006": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RW",
"dtype": "REAL32",
"value": "1000000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration2"
},
"2007": {
"otype": "VAR",
"name": "MaxAcceleration3",
"access": "RW",
"dtype": "REAL32",
"value": "1000000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration3"
},
"2008": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RW",
"dtype": "REAL32",
"value": "1000000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration4"
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New record subitem",
"dtype": "UNSIGNED8"
}
]
}
},
"txpdo": {
"600": {
"otype": "VAR",
"name": "EncFrequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.EncFrequency"
},
"6000": {
"otype": "VAR",
"name": "FrequencyCounterFrequency",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.FrequencyCounterFrequency"
},
"6001": {
"otype": "RECORD",
"name": "EncoderIn",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IndexStatus",
"dtype": "UNSIGNED8",
"data": "&Obj.EncoderIn.IndexStatus",
"value": "0",
"access": "RO"
},
{
"name": "IndexByte",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.IndexByte"
},
{
"name": "Position",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Position"
},
{
"name": "Velocity",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Velocity"
}
],
"pdo_mappings": [
"txpdo"
]
},
"6002": {
"otype": "VAR",
"name": "Input8",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Input8"
},
"6003": {
"otype": "VAR",
"name": "ActualPosition1",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition1"
},
"6004": {
"otype": "VAR",
"name": "ActualPosition2",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition2"
},
"6005": {
"otype": "VAR",
"name": "ActualPosition3",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition3"
},
"6006": {
"otype": "VAR",
"name": "ActualPosition4",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition4"
}
},
"rxpdo": {
"7000": {
"otype": "RECORD",
"name": "EncoderOut",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IndexLatchEnable",
"dtype": "UNSIGNED8",
"data": "&Obj.EncoderOut.IndexLatchEnable",
"value": "0",
"access": "RO"
},
{
"name": "Scale",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderOut.Scale"
}
],
"pdo_mappings": [
"rxpdo"
]
},
"7001": {
"otype": "VAR",
"name": "Output4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Output4"
},
"7002": {
"otype": "VAR",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable1"
},
"7003": {
"otype": "VAR",
"name": "Enable2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable2"
},
"7004": {
"otype": "VAR",
"name": "Enable3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable3"
},
"7005": {
"otype": "VAR",
"name": "Enable4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable4"
},
"7006": {
"otype": "VAR",
"name": "CommandedPosition1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition1"
},
"7007": {
"otype": "VAR",
"name": "CommandedPosition2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition2"
},
"7008": {
"otype": "VAR",
"name": "CommandedPosition3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition3"
},
"7009": {
"otype": "VAR",
"name": "CommandedPosition4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition4"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0"
},
"700A": {
"otype": "VAR",
"name": "Voltage",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Voltage"
}
}
},
"dc": [
{
"Name": "SM-Synchron",
"Description": "SM-Synchron",
"AssignActivate": "#x000",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
},
{
"Name": "DC",
"Description": "DC-Synchron",
"AssignActivate": "#x300",
"Sync0cycleTime": "0",
"Sync0shiftTime": "0",
"Sync1cycleTime": "0",
"Sync1shiftTime": "0"
}
]
}

461
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c
View File

@@ -1,461 +0,0 @@
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
static const char acName1000[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Max SubIndex";
static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName1600[] = "EncoderOut";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "IndexLatchEnable";
static const char acName1600_02[] = "Scale";
static const char acName1601[] = "Output4";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "Output4";
static const char acName1602[] = "Enable1";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "Enable1";
static const char acName1603[] = "Enable2";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "Enable2";
static const char acName1604[] = "Enable3";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "Enable3";
static const char acName1605[] = "Enable4";
static const char acName1605_00[] = "Max SubIndex";
static const char acName1605_01[] = "Enable4";
static const char acName1606[] = "CommandedPosition1";
static const char acName1606_00[] = "Max SubIndex";
static const char acName1606_01[] = "CommandedPosition1";
static const char acName1607[] = "CommandedPosition2";
static const char acName1607_00[] = "Max SubIndex";
static const char acName1607_01[] = "CommandedPosition2";
static const char acName1608[] = "CommandedPosition3";
static const char acName1608_00[] = "Max SubIndex";
static const char acName1608_01[] = "CommandedPosition3";
static const char acName1609[] = "CommandedPosition4";
static const char acName1609_00[] = "Max SubIndex";
static const char acName1609_01[] = "CommandedPosition4";
static const char acName160A[] = "Voltage";
static const char acName160A_00[] = "Max SubIndex";
static const char acName160A_01[] = "Voltage";
static const char acName1A00[] = "FrequencyCounterFrequency";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "FrequencyCounterFrequency";
static const char acName1A01[] = "EncoderIn";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "IndexStatus";
static const char acName1A01_02[] = "IndexByte";
static const char acName1A01_03[] = "Position";
static const char acName1A01_04[] = "Velocity";
static const char acName1A02[] = "Input8";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Input8";
static const char acName1A03[] = "ActualPosition1";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "ActualPosition1";
static const char acName1A04[] = "ActualPosition2";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "ActualPosition2";
static const char acName1A05[] = "ActualPosition3";
static const char acName1A05_00[] = "Max SubIndex";
static const char acName1A05_01[] = "ActualPosition3";
static const char acName1A06[] = "ActualPosition4";
static const char acName1A06_00[] = "Max SubIndex";
static const char acName1A06_01[] = "ActualPosition4";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
static const char acName1C00_02[] = "Communications Type SM1";
static const char acName1C00_03[] = "Communications Type SM2";
static const char acName1C00_04[] = "Communications Type SM3";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C12_05[] = "PDO Mapping";
static const char acName1C12_06[] = "PDO Mapping";
static const char acName1C12_07[] = "PDO Mapping";
static const char acName1C12_08[] = "PDO Mapping";
static const char acName1C12_09[] = "PDO Mapping";
static const char acName1C12_0a[] = "PDO Mapping";
static const char acName1C12_0b[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping";
static const char acName1C13_07[] = "PDO Mapping";
static const char acName2000[] = "BasePeriod";
static const char acName2001[] = "StepsPerMM1";
static const char acName2002[] = "StepsPerMM2";
static const char acName2003[] = "StepsPerMM3";
static const char acName2004[] = "StepsPerMM4";
static const char acName2005[] = "MaxAcceleration1";
static const char acName2006[] = "MaxAcceleration2";
static const char acName2007[] = "MaxAcceleration3";
static const char acName2008[] = "MaxAcceleration4";
static const char acName6000[] = "FrequencyCounterFrequency";
static const char acName6001[] = "EncoderIn";
static const char acName6001_00[] = "Max SubIndex";
static const char acName6001_01[] = "IndexStatus";
static const char acName6001_02[] = "IndexByte";
static const char acName6001_03[] = "Position";
static const char acName6001_04[] = "Velocity";
static const char acName6002[] = "Input8";
static const char acName6003[] = "ActualPosition1";
static const char acName6004[] = "ActualPosition2";
static const char acName6005[] = "ActualPosition3";
static const char acName6006[] = "ActualPosition4";
static const char acName7000[] = "EncoderOut";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "IndexLatchEnable";
static const char acName7000_02[] = "Scale";
static const char acName7001[] = "Output4";
static const char acName7002[] = "Enable1";
static const char acName7003[] = "Enable2";
static const char acName7004[] = "Enable3";
static const char acName7005[] = "Enable4";
static const char acName7006[] = "CommandedPosition1";
static const char acName7007[] = "CommandedPosition2";
static const char acName7008[] = "CommandedPosition3";
static const char acName7009[] = "CommandedPosition4";
static const char acName700A[] = "Voltage";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 3000"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName100A, 0, "0.0.1"},
};
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 3502166480, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12288, 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, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000220, NULL},
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010008, NULL},
};
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020008, NULL},
};
const _objd SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030008, NULL},
};
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040008, NULL},
};
const _objd SDO1605[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1605_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_01, 0x70050008, NULL},
};
const _objd SDO1606[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1606_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1606_01, 0x70060020, NULL},
};
const _objd SDO1607[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1607_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1607_01, 0x70070020, NULL},
};
const _objd SDO1608[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1608_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1608_01, 0x70080020, NULL},
};
const _objd SDO1609[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1609_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1609_01, 0x70090020, NULL},
};
const _objd SDO160A[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0020, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x60010208, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_03, 0x60010320, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_04, 0x60010420, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020008, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
};
const _objd SDO1A04[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
};
const _objd SDO1A05[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
};
const _objd SDO1A06[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
};
const _objd SDO1C12[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 11, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_06, 0x1605, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_07, 0x1606, NULL},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_08, 0x1607, NULL},
{0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_09, 0x1608, NULL},
{0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0a, 0x1609, NULL},
{0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_0b, 0x160A, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, 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},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
};
const _objd SDO2000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName2000, 10000, &Obj.BasePeriod},
};
const _objd SDO2001[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2001, 0x43480000, &Obj.StepsPerMM1},
};
const _objd SDO2002[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2002, 0x43480000, &Obj.StepsPerMM2},
};
const _objd SDO2003[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2003, 0x43480000, &Obj.StepsPerMM3},
};
const _objd SDO2004[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2004, 0x43480000, &Obj.StepsPerMM4},
};
const _objd SDO2005[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2005, 0x4e6e6b28, &Obj.MaxAcceleration1},
};
const _objd SDO2006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2006, 0x4e6e6b28, &Obj.MaxAcceleration2},
};
const _objd SDO2007[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2007, 0x4e6e6b28, &Obj.MaxAcceleration3},
};
const _objd SDO2008[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RW, acName2008, 0x4e6e6b28, &Obj.MaxAcceleration4},
};
const _objd SDO6000[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.FrequencyCounterFrequency},
};
const _objd SDO6001[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_01, 0, &Obj.EncoderIn.IndexStatus},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_02, 0, &Obj.EncoderIn.IndexByte},
{0x03, DTYPE_REAL32, 32, ATYPE_RO, acName6001_03, 0x00000000, &Obj.EncoderIn.Position},
{0x04, DTYPE_REAL32, 32, ATYPE_RO, acName6001_04, 0x00000000, &Obj.EncoderIn.Velocity},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.Input8},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6003, 0x00000000, &Obj.ActualPosition1},
};
const _objd SDO6004[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0x00000000, &Obj.ActualPosition2},
};
const _objd SDO6005[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition3},
};
const _objd SDO6006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition4},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.EncoderOut.IndexLatchEnable},
{0x02, DTYPE_REAL32, 32, ATYPE_RO, acName7000_02, 0x00000000, &Obj.EncoderOut.Scale},
};
const _objd SDO7001[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.Output4},
};
const _objd SDO7002[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7002, 0, &Obj.Enable1},
};
const _objd SDO7003[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.Enable2},
};
const _objd SDO7004[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.Enable3},
};
const _objd SDO7005[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7005, 0, &Obj.Enable4},
};
const _objd SDO7006[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7006, 0x00000000, &Obj.CommandedPosition1},
};
const _objd SDO7007[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7007, 0x00000000, &Obj.CommandedPosition2},
};
const _objd SDO7008[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7008, 0x00000000, &Obj.CommandedPosition3},
};
const _objd SDO7009[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7009, 0x00000000, &Obj.CommandedPosition4},
};
const _objd SDO700A[] =
{
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x00000000, &Obj.Voltage},
};
const _objectlist SDOobjects[] =
{
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x1600, OTYPE_RECORD, 2, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
{0x1605, OTYPE_RECORD, 1, 0, acName1605, SDO1605},
{0x1606, OTYPE_RECORD, 1, 0, acName1606, SDO1606},
{0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607},
{0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608},
{0x1609, OTYPE_RECORD, 1, 0, acName1609, SDO1609},
{0x160A, OTYPE_RECORD, 1, 0, acName160A, SDO160A},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 4, 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},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 11, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
{0x2002, OTYPE_VAR, 0, 0, acName2002, SDO2002},
{0x2003, OTYPE_VAR, 0, 0, acName2003, SDO2003},
{0x2004, OTYPE_VAR, 0, 0, acName2004, SDO2004},
{0x2005, OTYPE_VAR, 0, 0, acName2005, SDO2005},
{0x2006, OTYPE_VAR, 0, 0, acName2006, SDO2006},
{0x2007, OTYPE_VAR, 0, 0, acName2007, SDO2007},
{0x2008, OTYPE_VAR, 0, 0, acName2008, SDO2008},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_RECORD, 4, 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_VAR, 0, 0, acName6005, SDO6005},
{0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
{0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
{0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
{0x7005, OTYPE_VAR, 0, 0, acName7005, SDO7005},
{0x7006, OTYPE_VAR, 0, 0, acName7006, SDO7006},
{0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007},
{0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008},
{0x7009, OTYPE_VAR, 0, 0, acName7009, SDO7009},
{0x700A, OTYPE_VAR, 0, 0, acName700A, SDO700A},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

63
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h
View File

@@ -1,63 +0,0 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
float FrequencyCounterFrequency;
struct
{
uint8_t IndexStatus;
uint8_t IndexByte;
float Position;
float Velocity;
} EncoderIn;
uint8_t Input8;
float ActualPosition1;
float ActualPosition2;
float ActualPosition3;
float ActualPosition4;
/* Outputs */
struct
{
uint8_t IndexLatchEnable;
float Scale;
} EncoderOut;
uint8_t Output4;
uint8_t Enable1;
uint8_t Enable2;
uint8_t Enable3;
uint8_t Enable4;
float CommandedPosition1;
float CommandedPosition2;
float CommandedPosition3;
float CommandedPosition4;
float Voltage;
/* Parameters */
uint32_t BasePeriod;
float StepsPerMM1;
float StepsPerMM2;
float StepsPerMM3;
float StepsPerMM4;
float MaxAcceleration1;
float MaxAcceleration2;
float MaxAcceleration3;
float MaxAcceleration4;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

29
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes/CMakeLists.txt
View File

@@ -1,29 +0,0 @@
# NOTE: add headers to make them show up in an IDE
add_library (soes
esc.c
esc.h
esc_coe.c
esc_coe.h
esc_foe.c
esc_foe.h
esc_eoe.c
esc_eoe.h
esc_eep.c
esc_eep.h
ecat_slv.c
ecat_slv.h
options.h
${HAL_SOURCES}
)
include_directories(${HAL_INCLUDES})
install (TARGETS soes DESTINATION bin)
install (FILES
esc.h
esc_coe.h
esc_foe.h
esc_eoe.h
esc_eep.h
DESTINATION include)

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