First Last
EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of
EtherCAT
by 
First Last
Diff: EtherCAT/objectlist.h
- Revision:
- 31:d0532aa7f631
- Parent:
- 23:2b2cdba08259
- Child:
- 32:1f6a705cd794
--- a/EtherCAT/objectlist.h Tue Mar 10 09:43:41 2015 +0000
+++ b/EtherCAT/objectlist.h Tue Mar 10 11:30:44 2015 +0000
@@ -198,44 +198,44 @@
};
const _objd SDO1A00[]= //TxPDO mapping (objects from slave to master)
{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of TxPDOs
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000110}, //First Object, pointing to object 6000:01
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000210}, //Second Object, pointing to object 6000:02 //..
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000310},
- {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000410},
- {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000510},
- {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000610},
- {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000710},
- {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000810},
- {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000910},
- {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000A10}
+ {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},
+ {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000420},
+ {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60000520},
+ {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}
};
const _objd SDO1A01[]= //TxPDO mapping (objects from slave to master)
{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of TxPDOs
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010110}, //First Object, pointing to object 6001:01
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010210}, //Second Object, pointing to object 6001:02 //..
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010310},
- {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010410},
- {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010510},
- {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010610},
- {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010710},
- {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010810},
- {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010910},
- {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010A10}
+ {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},
+ {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010420},
+ {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60010520},
+ {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}
};
const _objd SDO1A02[]= //TxPDO mapping (objects from slave to master)
{{0x00,DTYPE_UNSIGNED8,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of TxPDOs
- {0x01,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020110}, //First Object, pointing to object 6002:01
- {0x02,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020210}, //Second Object, pointing to object 6002:02 //..
- {0x03,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020310},
- {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020410},
- {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020510},
- {0x06,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020610},
- {0x07,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020710},
- {0x08,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020810},
- {0x09,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020910},
- {0x0A,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020A10}
+ {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},
+ {0x04,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020420},
+ {0x05,DTYPE_UNSIGNED32,32,ATYPE_R,&acNameMO[0],0x60020520},
+ {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}
};
const _objd SDO1A03[]= //TxPDO mapping (objects from slave to master)
@@ -268,44 +268,44 @@
const _objd SDO6000[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {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
+ {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
+ {0x04,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_04[0],0,&(Rb.first.gyr[0])},//6000:04 is gyr X
+ {0x05,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_05[0],0,&(Rb.first.gyr[1])},//6000:05 is gyr Y
+ {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
};
const _objd SDO6001[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {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
+ {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
+ {0x04,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_04[0],0,&(Rb.second.gyr[0])},//6001:04 is gyr X
+ {0x05,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_05[0],0,&(Rb.second.gyr[1])},//6001:05 is gyr Y
+ {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
};
const _objd SDO6002[]= //TxPDO module
{{0x00,DTYPE_UNSIGNED8 ,8,ATYPE_R,&acNameNOE[0],0x0A}, //Number of elements
- {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
+ {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
+ {0x04,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_04[0],0,&(Rb.third.gyr[0])},//6002:04 is gyr X
+ {0x05,DTYPE_REAL32 ,32,ATYPE_R,&acName6000_05[0],0,&(Rb.third.gyr[1])},//6002:05 is gyr Y
+ {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
};
const _objd SDO6003[]= //TxPDO module