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8 # Higen Motor : Donggu Kang |
8 # Higen Motor : Donggu Kang |
9 # |
9 # |
10 # See COPYING file for copyrights details. |
10 # See COPYING file for copyrights details. |
11 |
11 |
12 from __future__ import absolute_import |
12 from __future__ import absolute_import |
|
13 from __future__ import division |
13 import os |
14 import os |
14 |
15 |
15 from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName |
16 from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName |
16 |
17 |
17 SLAVE_PDOS_CONFIGURATION_DECLARATION = """ |
18 SLAVE_PDOS_CONFIGURATION_DECLARATION = """ |
252 for initCmd in initCmds: |
253 for initCmd in initCmds: |
253 index = initCmd["Index"] |
254 index = initCmd["Index"] |
254 subindex = initCmd["Subindex"] |
255 subindex = initCmd["Subindex"] |
255 entry = device_entries.get((index, subindex), None) |
256 entry = device_entries.get((index, subindex), None) |
256 if entry is not None: |
257 if entry is not None: |
257 data_size = entry["BitSize"] / 8 |
258 data_size = entry["BitSize"] // 8 |
258 data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] |
259 data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] |
259 init_cmd_infos = { |
260 init_cmd_infos = { |
260 "index": index, |
261 "index": index, |
261 "subindex": subindex, |
262 "subindex": subindex, |
262 "data": data_str, |
263 "data": data_str, |
411 ConfigureVariable(entry_infos, str_completion) |
412 ConfigureVariable(entry_infos, str_completion) |
412 |
413 |
413 elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: |
414 elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: |
414 data_type = entry.getDataType().getcontent() |
415 data_type = entry.getDataType().getcontent() |
415 entry_infos["dir"] = "Q" |
416 entry_infos["dir"] = "Q" |
416 entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) |
417 entry_infos["data_size"] = max(1, entry_infos["bitlen"] // 8) |
417 entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) |
418 entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) |
418 entry_infos["var_type"] = data_type |
419 entry_infos["var_type"] = data_type |
419 entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos |
420 entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos |
420 |
421 |
421 ConfigureVariable(entry_infos, str_completion) |
422 ConfigureVariable(entry_infos, str_completion) |