send PDO incl. Index and SubIndex about pysoem HOT 10 CLOSED

"""Running a TMCM-1617 in Profile velocity mode.

Remarks:
* You need to adapt <your network adapter id> first.
* This script assumes that only the TMCM-1617 is connected to the master.
* Pressing CTRL+C whill stopt the motor and exit the script.
* PDO configuration is kept at its default configuration.
* All other CoE objects are supposed to have it's default values.
* Add a `print(convert_input_data(tmcm1617.input).velocity_actual_value)` in the `while 1` loop to
  monitor the current velocity.

Note: Make sure to constantly send process data to the drive, otherwise it goes to SafeOP Error state.
"""

import pysoem
import time
import ctypes


tmcm1617 = None


class InputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('modes_of_operation_display', ctypes.c_int8),
        ('statusword', ctypes.c_uint16),
        ('position_demand_value', ctypes.c_int32),
        ('position_actual_value', ctypes.c_int32),
        ('velocity_demand_value', ctypes.c_int32),
        ('velocity_actual_value', ctypes.c_int32),
        ('torque_demand_value', ctypes.c_int32),
        ('torque_actual_value', ctypes.c_int32),
        ('digital_input', ctypes.c_uint32),
    ]


class OutputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('modes_of_operation', ctypes.c_int8),
        ('controlword', ctypes.c_uint16),
        ('target_position', ctypes.c_int32),
        ('target_velocity', ctypes.c_int32),
        ('target_torque', ctypes.c_int32),
        ('digital_output', ctypes.c_uint32),
    ]


modes_of_operation = {
    'No mode': 0,
    'Profile position mode': 1,
    'Profile velocity mode': 3,
    'Homing mode': 6,
    'Cyclic synchronous position mode': 8,
    'Cyclic synchronous velocity mode': 9,
    'Cyclic synchronous torque mode': 10,
}


def convert_input_data(data):
    return InputPdo.from_buffer_copy(data)


def tmcm1617_config_func(slave_pos):
    global tmcm1617
    # limit maximum current
    tmcm1617.sdo_write(0x2003, 0, (2000).to_bytes(length=4, byteorder='little', signed=False))
    # set torque control P value
    tmcm1617.sdo_write(0x2041, 1, (50).to_bytes(length=2, byteorder='little', signed=False))
    # set torque control I value
    tmcm1617.sdo_write(0x2041, 2, (20).to_bytes(length=2, byteorder='little', signed=False))
    # set motor type = BLDC
    tmcm1617.sdo_write(0x2050, 0, bytes([3]))
    # set commutation mode = Hall sensors
    tmcm1617.sdo_write(0x2055, 0, bytes([2]))
    # inverse hall direction
    tmcm1617.sdo_write(0x2070, 2, bytes([1]))
    # tune hall PHI_E offset
    tmcm1617.sdo_write(0x2070, 4, (10500).to_bytes(length=2, byteorder='little', signed=True))


def main():
    global tmcm1617
    master = pysoem.Master()
    master.open('<your network adapter id>')  # someting like '\\Device\\NPF_{B4B7A38F-7DEB-43AF-B787B7-EABADE43978EA}' under Windows
    if master.config_init() > 0:
        tmcm1617 = master.slaves[0]
        tmcm1617.config_func = tmcm1617_config_func
        master.config_map()
        if master.state_check(pysoem.SAFEOP_STATE, 50_000) == pysoem.SAFEOP_STATE:
            master.state = pysoem.OP_STATE
            master.write_state()
            master.state_check(pysoem.OP_STATE, 5_000_000)
            if master.state == pysoem.OP_STATE:
                output_data = OutputPdo()
                output_data.modes_of_operation = modes_of_operation['Profile velocity mode']
                output_data.target_velocity = 500  # RPM
                for control_cmd in [6, 7, 15]:
                    output_data.controlword = control_cmd
                    tmcm1617.output = bytes(output_data)  # that is the actual change of the PDO output data
                    master.send_processdata()
                    master.receive_processdata(1_000)
                    time.sleep(0.01)
                try:
                    while 1:
                        master.send_processdata()
                        master.receive_processdata(1_000)
                        time.sleep(0.01)
                except KeyboardInterrupt:
                    print('stopped')
                # zero everything
                tmcm1617.output = bytes(len(tmcm1617.output))
                master.send_processdata()
                master.receive_processdata(1_000)
            else:
                print('failed to got to op state')
        else:
            print('failed to got to safeop state')
        master.state = pysoem.PREOP_STATE
        master.write_state()
    else:
        print('no device found')
    master.close()


if __name__ == '__main__':
    main()

class InputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('statusword_1', ctypes.c_uint16),
        ('modes_of_operation_display_1', ctypes.c_int8),
        ('position_actual_value_1', ctypes.c_int32),
        ('velocity_actual_value_1', ctypes.c_int32),
        ('statusword_2', ctypes.c_uint16),
        ('modes_of_operation_display_2', ctypes.c_int8),
        ('position_actual_value_2', ctypes.c_int32),
        ('velocity_actual_value_2', ctypes.c_int32),
        ('statusword_3', ctypes.c_uint16),
        ('modes_of_operation_display_3', ctypes.c_int8),
        ('position_actual_value_3', ctypes.c_int32),
        ('velocity_actual_value_3', ctypes.c_int32),
    ]

class OutputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('controlword_1', ctypes.c_int16),
        ('modes_of_operation_1', ctypes.c_uint8),
        ('target_position_1', ctypes.c_int32),
        ('target_velocity_1', ctypes.c_int32),
        ('controlword_2', ctypes.c_int16),
        ('modes_of_operation_2', ctypes.c_uint8),
        ('target_position_2', ctypes.c_int32),
        ('target_velocity_2', ctypes.c_int32),
        ('controlword_3', ctypes.c_int16),
        ('modes_of_operation_3', ctypes.c_uint8),
        ('target_position_3', ctypes.c_int32),
        ('target_velocity_3', ctypes.c_int32),
    ]

class OutputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('modes_of_operation', ctypes.c_int8),
        ('controlword', ctypes.c_uint16),
        ('target_position', ctypes.c_int32),
        ('target_velocity', ctypes.c_int32),
        ('target_torque', ctypes.c_int32),
        ('digital_output', ctypes.c_uint32),
    ]

class InputPdo(ctypes.Structure):
    _pack_ = 1
    _fields_ = [
        ('modes_of_operation_display', ctypes.c_int8),
        ('statusword', ctypes.c_uint16),
        ('position_demand_value', ctypes.c_int32),
        ('position_actual_value', ctypes.c_int32),
        ('velocity_demand_value', ctypes.c_int32),
        ('velocity_actual_value', ctypes.c_int32),
        ('torque_demand_value', ctypes.c_int32),
        ('torque_actual_value', ctypes.c_int32),
        ('digital_input', ctypes.c_uint32),
    ]