mirror of
https://github.com/OpenEtherCATsociety/SOES.git
synced 2024-08-28 04:56:59 +02:00
477 lines
16 KiB
Plaintext
477 lines
16 KiB
Plaintext
/** \file
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\section general General
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The SOES is a library that provides the Micro Controller user application with
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the means to access the EtherCAT fieldbus communication environment:
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- EtherCAT State Machine
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- Mailbox Interfaces
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- Protocols
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- CoE
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- FoE + bootstrap template
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Support for mailbox and protocols are typical examples when you need a slave
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stack to control the Application Layer of EtherCAT. The PDI used for such
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applications is either SPI or some Micro Controller Interface
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The following sections show some basic examples on how to get the SOES up
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and running, as well as a lightweight example on howto design your slave.
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Since all code is local to the application or global variables, it is possible
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to tweak and optimize when possible.
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Our target Application:
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- Inputs 40bit
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- One button 8bit
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- One encoder value 32bit
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- Outputs 8bit
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- LED 8bit
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- Parameters
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- Encoder settings
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- Slave commands
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- Reset counter
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Now to translate and implement on top of SOES.
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First look on the start up code. This example shows how to add a
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main function that will be called by startup code. In this example
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main's only purpose is to spawn two new tasks. One that executes
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SOES and one that control the ERROR LED. Some ESCs provided a pin
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for the RUN LED, some even for the ERROR LED, if it don't you can
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control them from the slave Micro Controller. We'll focus on the "soes" task.
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\code
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int main (void)
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{
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rprintp ("SOES (Simple Open EtherCAT Slave)\nsoes test\n");
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/* task_spawn ("led_run", led_error, 15, 512, NULL); /
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task_spawn ("led_error", led_error, 15, 512, NULL);
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task_spawn ("soes", soes, 9, 1024, NULL);
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return (0);
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}
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\endcode
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\section configuration Configuration
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The function soes is our EtherCAT slave device and can be split in 3 parts.
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Hardware Init, Software Init and Application loop. We will start with the
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Hardware Init.
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- Hardware Init
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- esc_reset, special function used for ESC reset if no Physical
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EEPROM used. This is local to the Application not part of the generic
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ESC handling.
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- ESC_init, initialise SPI communication or similar
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- Wait for ESC is started, waiting for SPI to be up and running,
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we'll query the ESC register DL status if EEPROM loaded OK and PDI
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operational, eg. SPI OK.
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\code
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void soes (void *arg)
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{
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TXPDOsize = SM3_sml = sizeTXPDO ();
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RXPDOsize = SM2_sml = sizeRXPDO ();
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esc_reset ();
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ESC_init ((void *)spi_name);
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task_delay (tick_from_ms (200));
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// wait until ESC is started up
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while ((ESCvar.DLstatus & 0x0001) == 0)
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{
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ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
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sizeof (ESCvar.DLstatus));
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ESCvar.DLstatus = etohs (ESCvar.DLstatus);
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}
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// reset ESC to init state
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ESC_ALstatus (ESCinit);
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...
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}
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\endcode
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- Software Init
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- Reset the slave into Init state by writing AL Status register.
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- Clear Errors by writing AL Status Code register.
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- Stop the Application Layer, basically we disable the SyncManagers
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that implicitly block the data exchange.
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\code
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void soes (void *arg)
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{
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...
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while ((ESCvar.DLstatus & 0x0001) == 0)
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{
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ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
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sizeof (ESCvar.DLstatus));
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ESCvar.DLstatus = etohs (ESCvar.DLstatus);
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}
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// reset ESC to init state
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ESC_ALstatus (ESCinit);
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ESC_ALerror (ALERR_NONE);
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ESC_stopmbx ();
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ESC_stopinput ();
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ESC_stopoutput ();
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// application run loop
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while (1)
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...
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}
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\endcode
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- Application loop
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- ALevent handling, ALevent hold information on changes in ALControl or
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SyncManagers. ALControl for state changes and SyncManagers for changes written
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by EtherCAT in local memory mapped to active SyncManagers
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- ESC_state for state handling, such as state step up or down with correct
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error and acknowledge response.
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- Mailbox handler, generic support of mailboxes used by all Application Layer
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protocols.
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- On mailbox actions we'll also check if we need to use a specific protocol
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handler to handle the incoming or outgoing Mailbox data.
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Up until the now we're using the SOES protocol stack without any application specific
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calls. Next up we'll look at the application Code, here named DIG_process ().
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\code
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void soes (void *arg)
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{
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...
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// application run loop
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while (1)
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{
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if((ESCvar.ALstatus & 0x0f) == ESCinit)
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{
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txpdomap = DEFAULTTXPDOMAP;
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rxpdomap = DEFAULTRXPDOMAP;
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txpdoitems = DEFAULTTXPDOITEMS;
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rxpdoitems = DEFAULTTXPDOITEMS;
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}
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ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
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ESCvar.Time = etohl (ESCvar.Time);
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ESC_state ();
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if (ESC_mbxprocess ())
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{
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ESC_coeprocess ();
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ESC_foeprocess ();
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ESC_xoeprocess ();
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}
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DIG_process ();
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};
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}
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\endcode
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\section application Application
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The function DIG_process is the User part of the application and could be joined
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by more cyclic User functions for executing other parts of the application.
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The example code can be split in 2 parts
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- Outputs
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- Start by evaluating if we're in a state supporting update of outputs, eg.
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Operational state.
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- If we're in OP we can read the current PDO data in the 3-buffer SyncManager
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mapped to the output SM, the default is SyncManager2, we read the ESC RAM address
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of SM2 and store it at the local address of the local variable Wb.LED.
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We'll read RXPDOsize bytes to trigger a complete SyncManager read.
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- After local variables have been refreshed we basically write the local
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PDO variables to the User application, ex. a GPIO.
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- Basically this is the API of the SOES toward the User Application.
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- This function also include a watchdog mechanism, if triggered it will
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shutdown the outputs and trigger a state changes to safe operational.
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AlError is updated with cause of error to inform the Master.
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\code
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void RXPDO_update (void)
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{
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ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
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}
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void DIG_process (void)
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{
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if (App.state & APPSTATE_OUTPUT)
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{
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if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
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{
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RXPDO_update ();
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reset_wd ();
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gpio_set(GPIO_LED, Wb.LED & BIT(0));
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}
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if (!wd_cnt)
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{
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ESC_stopoutput ();
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// watchdog, invalid outputs
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ESC_ALerror (ALERR_WATCHDOG);
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// goto safe-op with error bit set
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ESC_ALstatus (ESCsafeop | ESCerror);
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wd_trigger = 1;
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}
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}
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else
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{
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reset_wd ();
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}
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...
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}
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\endcode
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- Inputs
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- Is handled a bit simpler than outputs but in reverse order, the slave will
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continue update the inputs in state Safe Operational.
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- Here we first read User application data from ex. GPIO and then write to
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local PDO variables.
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- After the local variables have been refreshed we write those to the current
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PDO data 3-buffer SyncManager mapped to the input SM, the default is SyncManager3.
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This way we update the ESC RAM address with User Application data accessed by
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the EtherCAT master.
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\code
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void TXPDO_update (void)
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{
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ESC_write (SM3_sma, &Rb.button, TXPDOsize);
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}
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void DIG_process (void)
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{
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...
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Rb.button = gpio_get(GPIO_WAKEUP);
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Cb.reset_counter++;
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Rb.encoder = Cb.reset_counter;
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TXPDO_update ();
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}
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\endcode
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\section ApplicationdataProcessdata ApplicationdataProcessdata
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To run application data through EtherCAT processdata we need to describe for
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the fieldbus what data we have and will read/write. For this we have 3 objects,
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the ESI file, SII-EEPROM and CoE Object Dictionary. The first 2 are mandatory
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and the third is a very convenient way of describing complex slaves.
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Our strategy is to keep the ESI file and the SII-EEPROM as thin as possible to
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avoid duplication of data that need to be maintained. Both will hold the bare
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minimum of mandatory + optional data to pass CTT. Optional data will be
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included to tell EtherCAT that detailed information can be retrieved via CoE
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from the OD stored in the slave it self.
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\section SII-EEPROM SII-EEPROM
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Snapshot from SII information matrix from EtherCAT communication slides.
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\image html sii_pdo.png "Our target slave is Fixed PDO and OD"
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\image latex sii_pdo.png "Our target slave is Fixed PDO and OD" width=15cm
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\section ESI-file ESI-file
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Snapshot from ESI tree from EtherCAT communication slides.
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\image html esi_pdo.png "mandatory and optional ESI data"
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\image latex esi_pdo.png "mandatory and optional ESI data" width=15cm
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To briefly give a hint what are describe in the ESI and SII we're listing
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a set of included elements marked M for mandatory and O for optional.
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\code
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- Vendor (M) , Describes the identity.
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- Id (M), Hex, EtherCAT Vendor ID, OD 1018.01
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- Name (M), NameType, Expedient vendor name
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- Descriptions (M), Describes the EtherCAT device(s) using elements.
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- Groups (M), Similar devices can be assigned to one group.
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- Group (M), One group groups similar devices with slightly different features
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- Type (M), A reference handle corresponding to the GroupType value in Description:Devices:Device:Group
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- Name (M), Name for this group show by a configuration tool
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- Devices (M), Element devices may describe one or several devices with their EtherCAT features such as SyncManagers, FMMUs and Dictionaries
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- Device (O), Holds all information about the device like syncmanagers and FMMU, object dictionary, data types and the PDO mapping and assign description
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- Device ATT: Physics (M),string, Physics at individual ports
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- Type (M), Device identity
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- Type ATT:ProductCode="#x98123467"
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- Type ATT:RevisionNo="#x00000001"
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- Name (M), Detailed name of device shown by a configuration tool (not used for identification)
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- GroupType (M), Reference to a group (described in element Groups) to which this device should be assigned to. Name of the handle used in element Groups:Group:Type
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- Fmmu (O), String to describe function, Outputs -> RxPDO, Inputs -> TxPDO , MBoxState -> FMMU is used to poll Input Mailbox
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- Sm (O), Description of SyncManager including start address and direction.
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- MBoxOut Mailbox Data Master -> Slave
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- MBoxIn Mailbox Data Slave -> Master
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- Outputs Process Data Master -> Slave
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- Inputs Process Data Slave -> master
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- Sm ATT:DefaultSize="128" , Size
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- Sm ATT:StartAddress="#x1000" , Start address
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- Sm ATT:ControlByte="#x26" , Settings , Bit [1][0] = 10, Operation mode Mailbox, 00 Buffered 3.
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- Sm ATT:Enable="1", Enabled
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- Mailbox (O), Description of available mailbox protocols
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- Mailbox ATT: DataLinkLayer="true", Support of Mailbox Data Link Layer is mandatory.
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- CoE (O), Device support CoE
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- CoE (O) ATT: SdoInfo="true" , SDO Information Service
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- CoE (O) ATT: CompleteAccess="false" , SDO complete access not supported
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- CoE (O) ATT: PdoUpload="true", PDO description uploaded from the slave's object dictionary and SyncManager length calculated based on the same
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- Dc (O), describes synchronization modes supported by the device.
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- OpMode (O), Definition of supported operation modes
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- Name (M), Internal Handle of operation mode
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- Desc (O(M)), description of operation mode, recommended, Free Run (no sync), SM Synchronous, DC Synchronous
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- AssignActive (M), Value of Latch and Sync Control registers
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- Eeprom (O, use is mandatory)
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- Data (M)
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Or
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- ByteSize (M), Byte Size of connected EEPROM device
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- ConfigData (M), First 7 words of EEPROM, Configuration Areas
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- BootStrap (O), Start address and length of mailboxes for BootStrap
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\endcode
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So to describe the application we use CoE and Object Dictionary. The mapping between
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Object Dictionary and the User Application are done via local variables defined as
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user types. The Object Dictionary itself is stored in a matrix where all
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the indexes are listed. Every index then have a submatrix with its subindex.
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\section ObjectDictionary ObjectDictionary
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The Object Dictionary used as example follow the CANopen DS301 ranges.
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- 0x0000 - 0x0FFF, Data Type Area
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- 0x1000 - 0x1FFF, Communication Area
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- 0x2000 - 0x5FFF, Manufacture specific area
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- 0x6000 - 0x6FFF, Input area
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- 0x7000 - 0x7FFF, Output area
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- 0x8000 - 0x8FFF, Configuration area
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- 0x9000 - 0x9FFF, Information area
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- 0xA000 - 0xAFFF, Diagnosis Area
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- 0xB000 - 0xBFFF, Service Transfer Area
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- 0xC000 - 0xEFFF, Reserved Area
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- 0xF000 - 0xFFFF, Device Area
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RxPDO , 0x1600 - 0x17FF
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TxPDO , 0x1A00 - 0x1BFF
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Example, on how the the OD index are linked.
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Top index, SyncManagers Communication Types. In index 0 the 0x04 indicates we have 4
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SyncManagers defined. Every SyncManager is assigned a type, in index 1-4, we have standard
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settings SM0 = 1, SM1 = 2, SM2 = 3, SM3 = 4 from ETG 1000.6, 5.6.7.4.
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- 0, Unused
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- 1, MailBox Receive, master to slave
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- 2, MailBox Send, slave to master
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- 3, Processdata output, master to slave
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- 4, Processdata input, slave to master
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\code
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objectlist.h
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FLASHSTORE _objectlist SDOobjects[] =
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...
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{0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]},
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FLASHSTORE _objd SDO1C00[] =
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{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_01[0], 0x01, nil},
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{0x02, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_02[0], 0x02, nil},
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{0x03, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_03[0], 0x03, nil},
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{0x04, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_04[0], 0x04, nil}
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\endcode
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SyncManagers channels 0-31 are listed in SDO1C10-SDO1C2F. If we look
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at SyncManager channel 2, we see.
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- Type 3, Processdata output, master to slave
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It got one RxPDO index 0x1600 connected, and the submatrix for 0x1600 link
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one PDO object index 0x7000 subindex 1. The output object 0x70000108 give
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you the index 0x7000, subindex 1 and PDO object length 1(byte).
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\code
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objectlist.h
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FLASHSTORE _objd SDO1C12[] =
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{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
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{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil}
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};
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FLASHSTORE _objd SDO1600[] =
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{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil}
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};
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\endcode
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At PDO level we make the connection between the local application and
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the object dictionary. For all subindex in the PDO the last element
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is the address to the local variable.
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\code
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objectlist.h
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FLASHSTORE _objd SDO7000[] =
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{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
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};
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utypes.h
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typedef struct
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{
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uint8 LED;
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} _Wbuffer;
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\endcode
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Beside SyncManager to PDO mapping we also have mandatory data as
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0x1000 Device Type
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0x1018 Object Identity
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0x10C0 SyncManager Communication Type, as we used as top index when
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figuring out our PDOs in the Object Dictionary.
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For a complete description of the object dictionary you can get guidance
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by the ETG1000.6 EcatAlProtocols
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A useful feature is the Asynchronous use of SDO parameters. In the example
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we have Parameter set holding an encoder scale value, just for show we also
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have a read only mirror value of the encoder scale. Parameters defined as a
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RW SDO parameter and can be written/read by SDO Download or Upload. In
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addition there is a ESC_objecthandler Hook on SDO Download where you can
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add additional logic, ex. we execute the mirror of the encoder scale value
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by assigning the encoder scale value to the mirror.
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\code
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objectlist.h
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FLASHSTORE _objd SDO7100[] =
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{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
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{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName7100_02[0], 0, &(encoder_scale_mirror)}
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};
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soes.c
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void ESC_objecthandler (uint16 index, uint8 subindex)
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{
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switch (index)
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{
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...
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case 0x7100:
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{
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switch (subindex)
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{
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case 0x01:
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{
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encoder_scale_mirror = encoder_scale;
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break;
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}
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}
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break;
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}
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...
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}
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\endcode
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This tutorial is just one way of doing it.
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Enjoy and happy coding!
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Andreas Karlsson, rt-labs AB, www.rt-labs.com
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*/
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