HC Voort
SOES implementation i.c.w. ET1100 (Beckhoff ASIC)
Dependencies: KL25Z_ClockControl MODSERIAL mbed
Fork of
EtherCAT-XbusMaster
by 
First Last
Diff: EtherCAT/objectlist.h
- Revision:
- 20:ad13d4f5fd98
- Parent:
- 16:bfc7ea6bd1af
- Child:
- 23:2b2cdba08259
--- a/EtherCAT/objectlist.h Fri Mar 06 08:11:15 2015 +0000
+++ b/EtherCAT/objectlist.h Fri Mar 06 08:27:52 2015 +0000
@@ -259,44 +259,44 @@
const _objd SDO6000[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {0x01,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.first.acc[0])},//6000:01 is acc X
- {0x02,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.first.acc[1])},//6000:02 is acc Y
- {0x03,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.first.acc[2])},//6000:03 is acc Z
- {0x04,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.first.gyr[0])},//6000:04 is gyr X
- {0x05,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.first.gyr[1])},//6000:05 is gyr Y
- {0x06,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.first.gyr[2])},//6000:06 is gyr Z
- {0x07,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.first.mag[0])},//6000:07 is mag X
- {0x08,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.first.mag[1])},//6000:08 is mag Y
- {0x09,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.first.mag[2])},//6000:09 is mag Z
- {0x0A,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.first.temp)} //6000:0A is imu temperature
+ {0x01,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.first.acc[0])},//6000:01 is acc X
+ {0x02,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.first.acc[1])},//6000:02 is acc Y
+ {0x03,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.first.acc[2])},//6000:03 is acc Z
+ {0x04,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.first.gyr[0])},//6000:04 is gyr X
+ {0x05,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.first.gyr[1])},//6000:05 is gyr Y
+ {0x06,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.first.gyr[2])},//6000:06 is gyr Z
+ {0x07,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.first.mag[0])},//6000:07 is mag X
+ {0x08,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.first.mag[1])},//6000:08 is mag Y
+ {0x09,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.first.mag[2])},//6000:09 is mag Z
+ {0x0A,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.first.temp)} //6000:0A is imu temperature
};
const _objd SDO6001[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {0x01,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.second.acc[0])},//6001:01 is acc X
- {0x02,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.second.acc[1])},//6001:02 is acc Y
- {0x03,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.second.acc[2])},//6001:03 is acc Z
- {0x04,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.second.gyr[0])},//6001:04 is gyr X
- {0x05,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.second.gyr[1])},//6001:05 is gyr Y
- {0x06,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.second.gyr[2])},//6001:06 is gyr Z
- {0x07,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.second.mag[0])},//6001:07 is mag X
- {0x08,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.second.mag[1])},//6001:08 is mag Y
- {0x09,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.second.mag[2])},//6001:09 is mag Z
- {0x0A,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.second.temp)} //6001:0A is imu temperature
+ {0x01,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.second.acc[0])},//6001:01 is acc X
+ {0x02,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.second.acc[1])},//6001:02 is acc Y
+ {0x03,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.second.acc[2])},//6001:03 is acc Z
+ {0x04,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.second.gyr[0])},//6001:04 is gyr X
+ {0x05,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.second.gyr[1])},//6001:05 is gyr Y
+ {0x06,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.second.gyr[2])},//6001:06 is gyr Z
+ {0x07,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.second.mag[0])},//6001:07 is mag X
+ {0x08,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.second.mag[1])},//6001:08 is mag Y
+ {0x09,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.second.mag[2])},//6001:09 is mag Z
+ {0x0A,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.second.temp)} //6001:0A is imu temperature
};
const _objd SDO6002[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {0x01,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.third.acc[0])},//6002:01 is acc X
- {0x02,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.third.acc[1])},//6002:02 is acc Y
- {0x03,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.third.acc[2])},//6002:03 is acc Z
- {0x04,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.third.gyr[0])},//6002:04 is gyr X
- {0x05,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.third.gyr[1])},//6002:05 is gyr Y
- {0x06,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.third.gyr[2])},//6002:06 is gyr Z
- {0x07,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.third.mag[0])},//6002:07 is mag X
- {0x08,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.third.mag[1])},//6002:08 is mag Y
- {0x09,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.third.mag[2])},//6002:09 is mag Z
- {0x0A,DTYPE_INTEGER16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.third.temp)} //6002:0A is imu temperature
+ {0x01,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_01[0],0,&(Rb.third.acc[0])},//6002:01 is acc X
+ {0x02,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_02[0],0,&(Rb.third.acc[1])},//6002:02 is acc Y
+ {0x03,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_03[0],0,&(Rb.third.acc[2])},//6002:03 is acc Z
+ {0x04,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_04[0],0,&(Rb.third.gyr[0])},//6002:04 is gyr X
+ {0x05,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_05[0],0,&(Rb.third.gyr[1])},//6002:05 is gyr Y
+ {0x06,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_06[0],0,&(Rb.third.gyr[2])},//6002:06 is gyr Z
+ {0x07,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_07[0],0,&(Rb.third.mag[0])},//6002:07 is mag X
+ {0x08,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_08[0],0,&(Rb.third.mag[1])},//6002:08 is mag Y
+ {0x09,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_09[0],0,&(Rb.third.mag[2])},//6002:09 is mag Z
+ {0x0A,DTYPE_UNSIGNED16 ,16,ATYPE_R,&acName6000_0A[0],0,&(Rb.third.temp)} //6002:0A is imu temperature
};