#!/bin/bash

# This script uses the ethercat command line to configure the PDOs for a ProNet
# based on example downloaded from http://lists.etherlab.org/pipermail/etherlab-users/2012/001684.html
# see also end of section 3.4 of ProNet ethercat guide

POS=-p0

echo "set MODE. 3=ProfileVelocity 8=CSP"
ethercat -p0 -t uint8 download 0x6060 0 8

echo " STATUS word `ethercat -p0 -t uint16 upload 0x6041 0 `" 

#---------------------------------------------------------

# clear RxPDO
ethercat $POS --type uint8 download 0x1C12 0 0 # clear RxPDO counter

ethercat $POS --type uint8 download 0x1600 0 0 # clear RxPDO0 nEntries
ethercat $POS --type uint8 download 0x1601 0 0 #       RxPDO1
ethercat $POS --type uint8 download 0x1602 0 0 #       RxPDO2
ethercat $POS --type uint8 download 0x1603 0 0 #       RxPDO3

# define RxPdo's
ethercat $POS --type uint32 download 0x1602 1 0x60400010 # control word: index=0x6040 subindex=00 bitlen=16
ethercat $POS --type uint32 download 0x1602 2 0x607A0020 # posCommand  : index=0x607A subindex=00 bitlen=32
ethercat $POS --type uint8  download 0x1602 0 2 # number of var in this PDO

# assign RxPdo's to sync manager
ethercat $POS --type uint16 download 0x1C12 1 0x1602 #        RxPdo #1
ethercat $POS --type uint8  download 0x1C12 0 1 # nEntries in RxPdo list

#--------------------------------------

# clear TxPdo
ethercat $POS --type uint8  download 0x1C13 0 0  # clear TxPDO counter
ethercat $POS --type uint8  download 0x1A00 0 0  # clear TxPDO0 nEntries
ethercat $POS --type uint8  download 0x1A01 0 0  #       TxPDO1
ethercat $POS --type uint8  download 0x1A02 0 0  #       TxPDO2 
ethercat $POS --type uint8  download 0x1A03 0 0  #       TxPDO3

# define TxPdo's
ethercat $POS --type uint32 download 0x1A02 1 0x60410010 # status word : index=0x6041 subindex=00 bitlen=16
ethercat $POS --type uint32 download 0x1A02 2 0x60640020 # posActual   : index=0x6064 subindex=00 bitlen=32
ethercat $POS --type uint8  download 0x1A02 0 2 # number of var in this PDO

ethercat $POS --type uint16  download 0x1C13 1 0x1A02 #        TxPdo #1
ethercat $POS --type uint8   download 0x1C13 0 1 # nEntries in TxPdo list


ethercat rescan
sleep 5
ethercat cstruct $POS
#dmesg | tail -50

echo "check MODE. should still be as set above"
echo "mode = `ethercat -p0 -t uint8 upload 0x6060 0`" 

echo " STATUS word `ethercat -p0 -t uint16 upload 0x6041 0 `" 

echo "reset FAULT"
ethercat -p0 -t uint16 download 0x6040 0 0x0080 

echo " STATUS word `ethercat -p0 -t uint16 upload 0x6041 0 `. bit 3 should be clear" 

echo "set TargetVelocity to 0"
ethercat -p0 -t int32 download 0x60FF 0 0

echo " STATUS word `ethercat -p0 -t uint16 upload 0x6041 0 `" 

echo "turn on with CONTROL word sequence"
ethercat -p0 -t uint16 download 0x6040 0 0x0006 # EnableVoltage+QuickStop
ethercat -p0 -t uint16 download 0x6040 0 0x0007 #                        +SwitchOn
ethercat -p0 -t uint16 download 0x6040 0 0x000f #                                 +EnableOperation

echo " STATUS word `ethercat -p0 -t uint16 upload 0x6041 0 `"