Updated homing model and gui

PMEC-OSU · Aug 9, 2024 · e15cc72 · e15cc72
1 parent ed69698
commit e15cc72
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Showing 16 changed files with 199 additions and 15,412 deletions.
diff --git a/Homing/Homing.slx b/Homing/Homing.slx
diff --git a/Homing/HomingApp.mlapp b/Homing/HomingApp.mlapp
diff --git a/Homing/ecat_config_xml_0.cpp b/Homing/ecat_config_xml_0.cpp
diff --git a/Simulink/EtherCAT/LUPA1kHz.xml b/Simulink/EtherCAT/LUPA1kHz.xml
@@ -5934,6 +5934,22 @@ Bit1: Value smaller than Limit2</Comment>
 							<SubIndex>0</SubIndex>
 							<Data>02</Data>
 						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32768</Index>
+							<SubIndex>1</SubIndex>
+							<Data>2104000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32784</Index>
+							<SubIndex>1</SubIndex>
+							<Data>0004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
 					</InitCmds>
 					<Profile>
 						<ChannelInfo>
@@ -7095,6 +7111,22 @@ Bit1: Value smaller than Limit2</Comment>
 							<SubIndex>0</SubIndex>
 							<Data>02</Data>
 						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32768</Index>
+							<SubIndex>1</SubIndex>
+							<Data>2004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32784</Index>
+							<SubIndex>1</SubIndex>
+							<Data>0004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
 					</InitCmds>
 					<Profile>
 						<ChannelInfo>

diff --git a/Simulink/EtherCAT/LUPA_Homing.xml b/Simulink/EtherCAT/LUPA_Homing.xml
@@ -5780,6 +5780,22 @@ Bit1: Value smaller than Limit2</Comment>
 							<SubIndex>0</SubIndex>
 							<Data>02</Data>
 						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32768</Index>
+							<SubIndex>1</SubIndex>
+							<Data>2004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32784</Index>
+							<SubIndex>1</SubIndex>
+							<Data>0004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
 					</InitCmds>
 					<Profile>
 						<ChannelInfo>
@@ -6941,6 +6957,22 @@ Bit1: Value smaller than Limit2</Comment>
 							<SubIndex>0</SubIndex>
 							<Data>02</Data>
 						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32768</Index>
+							<SubIndex>1</SubIndex>
+							<Data>2004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
+						<InitCmd CompleteAccess="true">
+							<Transition>PS</Transition>
+							<Timeout>0</Timeout>
+							<Ccs>1</Ccs>
+							<Index>32784</Index>
+							<SubIndex>1</SubIndex>
+							<Data>0004000000000000010000000000000000000000000000000000ffff7f00</Data>
+						</InitCmd>
 					</InitCmds>
 					<Profile>
 						<ChannelInfo>

diff --git a/Simulink/LUPA.slx b/Simulink/LUPA.slx
diff --git a/Simulink/LUPAapp.mlapp b/Simulink/LUPAapp.mlapp
diff --git a/TwinCAT/Homing/.vs/Homing/v15/.suo b/TwinCAT/Homing/.vs/Homing/v15/.suo
diff --git a/TwinCAT/Homing/Homing.tsproj b/TwinCAT/Homing/Homing.tsproj
diff --git a/TwinCAT/Homing/Homing.tsproj.bak b/TwinCAT/Homing/Homing.tsproj.bak
@@ -2,7 +2,7 @@
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.56">
 	<DataTypes>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
 			<BitSize>1</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -11,7 +11,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
 			<BitSize>5</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -20,7 +20,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
 			<BitSize>9</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -29,7 +29,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
 			<BitSize>4</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -38,7 +38,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
 			<BitSize>7</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>

diff --git a/TwinCAT/Homing/_Boot/TwinCAT RT (x64)/CurrentConfig.xml b/TwinCAT/Homing/_Boot/TwinCAT RT (x64)/CurrentConfig.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcBootProject CreateTime="2024-07-08T13:58:13">
+<TcBootProject CreateTime="2024-08-06T10:23:47">
 	<System>
 		<LockedMemSize>33554432</LockedMemSize>
 		<AffinityMask>#x1</AffinityMask>

diff --git a/TwinCAT/LUPA/.vs/LUPA/v15/.suo b/TwinCAT/LUPA/.vs/LUPA/v15/.suo