Refactor CANOpen and introduce DunkerMotor module

zauberzeug / lizard

Domain-specific language to specify behaviour of microcontroller managed hardware

MIT License

15 stars 5 forks source link

Refactor CANOpen and introduce DunkerMotor module #58

Closed falkoschindler closed 3 months ago

falkoschindler commented 4 months ago

This PR

moves some code from canopen_master.* and canopen_motor.* into canopen.h,
introduces DunkerMotor and DunkerWheels modules, and
replaces upload_ssh.sh with a litte more powerful upload_ssh.py.

Open tasks:

[x] check if CANOpen Master needs to send the sync counter in some cases
[x] test with field friend motors
[x] fix warnings ("defined but not used")
[x] Replace "RPDO1" with "TPDO1", and use 0x180 + ID instead of 0x200 + ID?

Johannes-Thiel commented 3 months ago

I have tested if the Master has to send a sync counter. Sofar I haven't found a case where it has to be send. I tested with the fieldfriend. For the D1 the PDOs dont work with or without counter.