pusirobot/commandline/dicentries.in

/*
 * This file is part of the stepper project.
 * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option, "") any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

// this file can be included more than once!

// variable name / index / subindex / datasize / issigned / name

// heartbeat time
DICENTRY(HEARTBTTIME,   0x1017, 0, 2, 0, "heartbeat time")

// receive PDO parameter 0
// largest subindex supported
DICENTRY(RPDOP0LS,      0x1400, 0, 1, 0, "receive PDO parameter 0, largest subindex supported")
// COB-ID used by PDO
DICENTRY(RPDOP0CI,      0x1400, 1, 4, 0, "receive PDO parameter 0, COB-ID used by PDO")
// transmission type
DICENTRY(RPDOP0TT,      0x1400, 2, 1, 0, "receive PDO parameter 0, transmission type")
// inhibit time
DICENTRY(RPDOP0IT,      0x1400, 3, 2, 0, "receive PDO parameter 0, inhibit time")
// compatibility entry
DICENTRY(RPDOP0CE,      0x1400, 4, 1, 0, "receive PDO parameter 0, compatibility entry")
// event timer
DICENTRY(RPDOP0ET,      0x1400, 5, 2, 0, "receive PDO parameter 0, event timer")

// receive PDO mapping 0
// number of mapped application objects
DICENTRY(RPDOM0N,       0x1600, 0, 1, 0, "receive PDO mapping 0, number of objects")
// first map
DICENTRY(RPDOM0O1,      0x1600, 1, 4, 0, "receive PDO mapping 0, mapping for 1st object")

// transmit PDO parameter 0
// largest subindex supported
DICENTRY(TPDOP0LS,      0x1800, 0, 1, 0, "transmit PDO parameter 0, largest subindex supported")
// COB-ID used by PDO
DICENTRY(TPDOP0CI,      0x1800, 1, 4, 0, "transmit PDO parameter 0, COB-ID used by PDO")
// transmission type
DICENTRY(TPDOP0TT,      0x1800, 2, 1, 0, "transmit PDO parameter 0, transmission type")
// inhibit time
DICENTRY(TPDOP0IT,      0x1800, 3, 2, 0, "transmit PDO parameter 0, inhibit time")
// reserved
DICENTRY(TPDOP0R,       0x1800, 4, 1, 0, "transmit PDO parameter 0, reserved")
// event timer
DICENTRY(TPDOP0ET,      0x1800, 5, 2, 0, "transmit PDO parameter 0, event timer")

// transmit PDO mapping 0
// number of mapped application objects
DICENTRY(TPDOM0N,       0x1A00, 0, 1, 0, "transmit PDO mapping 0, number of objects")
// first map
DICENTRY(TPDOM0O1,      0x1A00, 1, 4, 0, "transmit PDO mapping 0, mapping for 1st object")
DICENTRY(TPDOM0O2,      0x1A00, 2, 4, 0, "transmit PDO mapping 0, mapping for 2nd object")
DICENTRY(TPDOM0O3,      0x1A00, 3, 4, 0, "transmit PDO mapping 0, mapping for 3rd object")
DICENTRY(TPDOM0O4,      0x1A00, 4, 4, 0, "transmit PDO mapping 0, mapping for 4th object")
DICENTRY(TPDOM0O5,      0x1A00, 5, 4, 0, "transmit PDO mapping 0, mapping for 5th object")

// node ID
DICENTRY(NODEID,        0x2002, 0, 1, 0, "node ID")
// baudrate
DICENTRY(BAUDRATE,      0x2003, 0, 1, 0, "baudrate")
// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
DICENTRY(SYSCONTROL,    0x2007, 0, 1, 0, "system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings")
// error status
DICENTRY(ERRSTATE,      0x6000, 0, 1, 0, "error status")
// controller status
DICENTRY(DEVSTATUS,     0x6001, 0, 1, 0, "controller status")
// rotation direction
DICENTRY(ROTDIR,        0x6002, 0, 1, 0, "rotation direction")
// maximal speed
DICENTRY(MAXSPEED,      0x6003, 0, 4, 1, "maximal speed")
// relative displacement
DICENTRY(RELSTEPS,      0x6004, 0, 4, 0, "relative displacement")
// operation mode
DICENTRY(OPMODE,        0x6005, 0, 1, 0, "operation mode")
// start speed
DICENTRY(STARTSPEED,    0x6006, 0, 2, 0, "start speed")
// stop speed
DICENTRY(STOPSPEED,     0x6007, 0, 2, 0, "stop speed")
// acceleration coefficient
DICENTRY(ACCELCOEF,     0x6008, 0, 1, 0, "acceleration coefficient")
// deceleration coefficient
DICENTRY(DECELCOEF,     0x6009, 0, 1, 0, "deceleration coefficient")
// microstepping
DICENTRY(MICROSTEPS,    0x600A, 0, 2, 0, "microstepping")
// max current
DICENTRY(MAXCURNT,      0x600B, 0, 2, 0, "maximum phase current")
// current position
DICENTRY(POSITION,      0x600C, 0, 4, 1, "current position")
// current reduction
DICENTRY(CURRREDUCT,    0x600D, 0, 1, 0, "current reduction")
// motor enable
DICENTRY(ENABLE,        0x600E, 0, 1, 0, "motor enable")
// EXT emergency stop enable
DICENTRY(EXTENABLE,     0x600F, 1, 1, 0, "EXT emergency stop enable")
// EXT emergency stop trigger mode
DICENTRY(EXTTRIGMODE,   0x600F, 2, 1, 0, "EXT emergency stop trigger mode")
// EXT emergency sensor type
DICENTRY(EXTSENSTYPE,   0x600F, 3, 1, 0, "EXT emergency sensor type")
// GPIO direction
DICENTRY(GPIODIR,       0x6011, 1, 2, 0, "GPIO direction")
// GPIO configuration
DICENTRY(GPIOCONF,      0x6011, 2, 4, 0, "GPIO configuration")
// GPIO value
DICENTRY(GPIOVAL,       0x6012, 0, 2, 0, "GPIO value")
// stall parameters
DICENTRY(STALLPARS,     0x6017, 0, 2, 0, "stall parameters (open loop)")
// offline operation
DICENTRY(OFFLNMBR,      0x6018, 1, 1, 0, "Number of offline programming command")
DICENTRY(OFFLENBL,      0x6018, 2, 1, 0, "Offline automatic operation enable")
// stall set
DICENTRY(STALLSET,      0x601B, 0, 1, 0, "stall set (open loop)")
// absolute displacement
DICENTRY(ABSSTEPS,      0x601C, 0, 4, 1, "absolute displacement")
// stop motor
DICENTRY(STOP,          0x6020, 0, 1, 0, "stop motor")
// encoder resolution
DICENTRY(ENCRESOL,      0x6021, 0, 2, 0, "encoder resolution (closed loop)")
// stall length parameter
DICENTRY(STALLLEN,      0x6028, 0, 2, 0, "stall length parameter (closed loop)")
// torque ring enable
DICENTRY(TORQRING,      0x6029, 0, 1, 0, "torque ring enable (closed loop)")
// autosave position
DICENTRY(POSAUTOSAVE,   0x602A, 0, 1, 0, "autosave position (closed loop)")
// real time speed
DICENTRY(REALTIMESPD,   0x6030, 0, 2, 1, "real time speed (closed loop)")
// calibration zero
DICENTRY(CALIBZERO,     0x6034, 0, 4, 1, "calibration zero")
// encoder position
DICENTRY(ENCPOS,        0x6035, 0, 4, 1, "encoder position")