EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
Diff: EtherCAT/objectlist.h
- Revision:
- 32:1f6a705cd794
- Parent:
- 31:d0532aa7f631
- Child:
- 35:32659533e0ef
--- a/EtherCAT/objectlist.h Tue Mar 10 11:30:44 2015 +0000 +++ b/EtherCAT/objectlist.h Tue Mar 10 11:45:32 2015 +0000 @@ -197,7 +197,7 @@ {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],0x0A}, //Number of TxPDOs +{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x09}, //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}, @@ -206,12 +206,11 @@ {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000620}, {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000720}, {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000820}, - {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000920}, - {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000A20} + {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000920} }; const _objd SDO1A01[]= //TxPDO mapping (objects from slave to master) -{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of TxPDOs +{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of TxPDOs {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010120}, //First Object, pointing to object 6001:01 {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010220}, //Second Object, pointing to object 6001:02 //.. {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010320}, @@ -220,12 +219,11 @@ {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010620}, {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010720}, {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010820}, - {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010920}, - {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010A20} + {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010920} }; const _objd SDO1A02[]= //TxPDO mapping (objects from slave to master) -{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of TxPDOs +{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of TxPDOs {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020120}, //First Object, pointing to object 6002:01 {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020220}, //Second Object, pointing to object 6002:02 //.. {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020320}, @@ -234,8 +232,7 @@ {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020620}, {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020720}, {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020820}, - {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020920}, - {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020A20} + {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020920} }; const _objd SDO1A03[]= //TxPDO mapping (objects from slave to master) @@ -267,7 +264,7 @@ }; const _objd SDO6000[]= //TxPDO module -{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements +{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of elements {0x01,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_01[0],0,&(Rb.first.acc[0])},//6000:01 is acc X {0x02,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_02[0],0,&(Rb.first.acc[1])},//6000:02 is acc Y {0x03,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_03[0],0,&(Rb.first.acc[2])},//6000:03 is acc Z @@ -276,12 +273,11 @@ {0x06,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_06[0],0,&(Rb.first.gyr[2])},//6000:06 is gyr Z {0x07,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_07[0],0,&(Rb.first.mag[0])},//6000:07 is mag X {0x08,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_08[0],0,&(Rb.first.mag[1])},//6000:08 is mag Y - {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.first.mag[2])},//6000:09 is mag Z - {0x0A,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_0A[0],0,&(Rb.first.temp)} //6000:0A is imu temperature + {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.first.mag[2])}//6000:09 is mag Z }; const _objd SDO6001[]= //TxPDO module -{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements +{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of elements {0x01,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_01[0],0,&(Rb.second.acc[0])},//6001:01 is acc X {0x02,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_02[0],0,&(Rb.second.acc[1])},//6001:02 is acc Y {0x03,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_03[0],0,&(Rb.second.acc[2])},//6001:03 is acc Z @@ -290,12 +286,11 @@ {0x06,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_06[0],0,&(Rb.second.gyr[2])},//6001:06 is gyr Z {0x07,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_07[0],0,&(Rb.second.mag[0])},//6001:07 is mag X {0x08,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_08[0],0,&(Rb.second.mag[1])},//6001:08 is mag Y - {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.second.mag[2])},//6001:09 is mag Z - {0x0A,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_0A[0],0,&(Rb.second.temp)} //6001:0A is imu temperature + {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.second.mag[2])}//6001:09 is mag Z }; const _objd SDO6002[]= //TxPDO module -{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements +{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x09}, //Number of elements {0x01,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_01[0],0,&(Rb.third.acc[0])},//6002:01 is acc X {0x02,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_02[0],0,&(Rb.third.acc[1])},//6002:02 is acc Y {0x03,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_03[0],0,&(Rb.third.acc[2])},//6002:03 is acc Z @@ -304,8 +299,7 @@ {0x06,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_06[0],0,&(Rb.third.gyr[2])},//6002:06 is gyr Z {0x07,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_07[0],0,&(Rb.third.mag[0])},//6002:07 is mag X {0x08,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_08[0],0,&(Rb.third.mag[1])},//6002:08 is mag Y - {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.third.mag[2])},//6002:09 is mag Z - {0x0A,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_0A[0],0,&(Rb.third.temp)} //6002:0A is imu temperature + {0x09,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_09[0],0,&(Rb.third.mag[2])}//6002:09 is mag Z }; const _objd SDO6003[]= //TxPDO module @@ -330,18 +324,18 @@ {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 , 10,0,&acName1A00[0],&SDO1A00[0]}, //TxPDO mapping - {0x1A01,OTYPE_RECORD , 10,0,&acName1A01[0],&SDO1A01[0]}, //TxPDO mapping - {0x1A02,OTYPE_RECORD , 10,0,&acName1A02[0],&SDO1A02[0]}, //TxPDO mapping + {0x1A00,OTYPE_RECORD , 9,0,&acName1A00[0],&SDO1A00[0]}, //TxPDO mapping + {0x1A01,OTYPE_RECORD , 9,0,&acName1A01[0],&SDO1A01[0]}, //TxPDO mapping + {0x1A02,OTYPE_RECORD , 9,0,&acName1A02[0],&SDO1A02[0]}, //TxPDO mapping {0x1A03,OTYPE_RECORD , 1,0,&acName1A03[0],&SDO1A03[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 , 4,0,&acName1C13[0],&SDO1C13[0]}, //TxPDO objects - {0x6000,OTYPE_ARRAY , 10,0,&acName6000[0],&SDO6000[0]}, //TxPDO module - {0x6001,OTYPE_ARRAY , 10,0,&acName6001[0],&SDO6001[0]}, //TxPDO module - {0x6002,OTYPE_ARRAY , 10,0,&acName6002[0],&SDO6002[0]}, //TxPDO module + {0x6000,OTYPE_ARRAY , 9,0,&acName6000[0],&SDO6000[0]}, //TxPDO module + {0x6001,OTYPE_ARRAY , 9,0,&acName6001[0],&SDO6001[0]}, //TxPDO module + {0x6002,OTYPE_ARRAY , 9,0,&acName6002[0],&SDO6002[0]}, //TxPDO module {0x6003,OTYPE_ARRAY , 1,0,&acName6003[0],&SDO6003[0]}, //TxPDO module {0x7000,OTYPE_ARRAY , 0x01,0,&acName7000[0],&SDO7000[0]}, //RxPDO module {0x8000,OTYPE_ARRAY , 0x01,0,&acName8000[0],&SDO8000[0]}, //RxPDO module