Diff: EtherCAT/objectlist.h

Revision:

9:33673e05639f

Parent:

5:6d75f432a41f

Child:

11:166353137b95

--- a/EtherCAT/objectlist.h	Fri Dec 12 00:31:22 2014 +0000
+++ b/EtherCAT/objectlist.h	Fri Dec 12 11:28:20 2014 +0000
@@ -137,6 +137,7 @@
 /*Subindexes for Digital Inputs*/
 _ac acName6000_01[]="Centre of Pressure X";
 _ac acName6000_02[]="Centre of Pressure Y";
+_ac acName6000_03[]="Ground Reaction Force";
 /*End of subindexes for Digital Inputs*/
 _ac acName6001[]="Raw Sensor Inputs";
 /*Subindexes for Analog inputs*/
@@ -189,9 +190,10 @@
   {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x70000108}       //First Object, pointing to object 7001:01
 };
 const _objd SDO1A00[]=                                              //TxPDO mapping (objects from slave to master)
-{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x02},               //Number of TxPDOs
+{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x03},               //Number of TxPDOs
   {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000120},       //First Object, pointing to object  6000:01
   {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000220},       //Second Object, pointing to object 6000:02      //..
+  {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000320},
 };
 const _objd SDO1A10[]=                                              //Second TxPDO module
 {{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x05},
@@ -222,9 +224,10 @@
   {0x02,DTYPE_UNSIGNED16,16,ATYPE_RWpre,&acNameMO[0],0x1A10}             //Send objects in index 0x1A10
 };
 const _objd SDO6000[]=                                                      //TxPDO module
-{{0x00,DTYPE_UNSIGNED8  ,8,ATYPE_R,&acNameNOE[0],0x02},                     //Number of elements
+{{0x00,DTYPE_UNSIGNED8  ,8,ATYPE_R,&acNameNOE[0],0x03},                     //Number of elements
   {0x01,DTYPE_REAL32  ,32,ATYPE_R,&acName6000_01[0],0,&(Rb.CoPx)},      //6000:01 is status
-  {0x02,DTYPE_REAL32  ,32,ATYPE_R,&acName6000_02[0],0,&(Rb.CoPy)}     //6000:02 is counter
+  {0x02,DTYPE_REAL32  ,32,ATYPE_R,&acName6000_02[0],0,&(Rb.CoPy)},     //6000:02 is counter
+  {0x03,DTYPE_REAL32  ,32,ATYPE_R,&acName6000_03[0],0,&(Rb.grf)}
 };
 //TODO: Comments
 const _objd SDO6001[]=                                                      //TxPDO module
@@ -252,14 +255,14 @@
   {0x100A,OTYPE_VAR     , 0,0,&acName100A[0],&SDO100A[0]},      //Software Version
   {0x1018,OTYPE_RECORD  , 4,0,&acName1018[0],&SDO1018[0]},      //Identity
   {0x1600,OTYPE_RECORD  , 0x01,0,&acName1600[0],&SDO1600[0]},   //RxPDO mapping
-  {0x1A00,OTYPE_RECORD  , 0x02,0,&acName1A00[0],&SDO1A00[0]},   //TxPDO mapping
+  {0x1A00,OTYPE_RECORD  , 0x03,0,&acName1A00[0],&SDO1A00[0]},   //TxPDO mapping
   {0x1A10,OTYPE_RECORD  , 0x05,0,&acName1A10[0],&SDO1A10[0]},   //TxPDO mapping
   {0x1C00,OTYPE_ARRAY   , 4,0,&acName1C00[0],&SDO1C00[0]},      //Sync Manager configuration
   {0x1C10,OTYPE_ARRAY   , 0,0,&acName1C10[0],&SDO1C10[0]},      //Sync Manager 0 PDO assignment
   {0x1C11,OTYPE_ARRAY   , 0,0,&acName1C11[0],&SDO1C11[0]},      //Sync Manager 1 PDO assignment
   {0x1C12,OTYPE_ARRAY   , 1,0,&acName1C12[0],&SDO1C12[0]},      //RxPDO objects
   {0x1C13,OTYPE_ARRAY   , 2,0,&acName1C13[0],&SDO1C13[0]},      //TxPDO objects
-  {0x6000,OTYPE_ARRAY   , 0x02,0,&acName6000[0],&SDO6000[0]},   //TxPDO module
+  {0x6000,OTYPE_ARRAY   , 0x03,0,&acName6000[0],&SDO6000[0]},   //TxPDO module
   {0x6001,OTYPE_ARRAY   , 0x05,0,&acName6001[0],&SDO6001[0]},   //TxPDO module
   {0x7000,OTYPE_ARRAY   , 0x01,0,&acName7000[0],&SDO7000[0]},   //RxPDO module
   //{0x8000,OTYPE_ARRAY   , 0x02,0,&acName8000[0],&SDO8000[0]},   //RxPDO module