Merge branch 'develop'

.gitignore

@@ -1,16 +1,14 @@
 #For Clion IDE
-.idea/*
-cmake-build-debug/**
+**/.idea/
+**/cmake-build-debug/
 
 #For Visual Studio Code IDE
-*/.vscode/.browse.c_cpp.db*
-*/.vscode/c_cpp_properties.json
-*/.vscode/launch.json
+**/.vscode/
 
 #For the platformio plugin for Visual Studio Code
-*/.pio
-*/.pioenvs
-*/.piolibdeps
+**/.pio/
+**/.pioenvs/
+**/.piolibdeps/
 
 #For RT-labs projects
-.metadata
+**/.metadata

.travis.yml

@@ -0,0 +1,18 @@
+os: linux
+language: python
+
+notifications:
+  slack:
+    secure: mCWNJ6yjkotu6P4oV0J1BnOboTPWpLjaBKt6vb2cGcvKZ858DMSib2qaHb1lAVh27HdH9e4+yNOZuQf4/GSvFUgJfLogWMz01zwyQXhTkzMpWPcTt46biFi1jMnzgIn+AhiaH87e82bGr06zAsCNu6A1iJeieVOXJcyVhlUGVkc4hzMir49rXWGvQOfID+WtQ9ChKIcu1UVWO3tiBGtOAqgaJu7qT9fuCJ1ggx+0wT1WLCwWrZyuO7SenshdzmeJIIPvdVzaNM7nTqdDI+GwsOcPXiOU4A1MhTN9OQrhG7YDbTj24Do2wxrC/cmVi/5Xpek/+num/dO+2/7LihSkhfM4V62roMWwinWOuz/18S8vnQEhu+THOmWHJEHtVGbq5VoBFyXaP6wWEWh58xWHgI7ppj9wlRX+Hau/pcIjJxArfL+vy9YBL3V2TEG5TrLPxfxFRRx8l7ugY+wAC7v3T7YxGGV3yfNIg4tLIG6DDsiK5Ti8l/zyDdSvbmpy+le5yHEpFxi2yyBeje5+hzj4HFykfKK56NYiPhoT5hIWluSLizzLogEB53qEuYe3H163qI1JPVPAn5/nNtsfChPDZ0eVaqLm4jLXATkI19Km/peZOmAE7B2A9Ar7DHk3tVDbaxMRz9IH0nSREp6yp7dwfAcUHWv/pK1idOoHTFJO5zg=
+  email: false
+
+cache:
+  directories:
+    - "~/.platformio"
+
+install:
+  - pip install -U platformio
+  - platformio update
+
+script:
+  - platformio run

README.md

@@ -1,9 +1,37 @@
-# general-ethercat-slaves
-Repository for the General EtherCAT Slave (GES) code of the MARCH IV
+# 🤖 Ethercat Slaves
+Repository for the General EtherCAT Slaves (GES) and the PDB EtherCAT Slave of the March exoskeleton.
 
-Developing the slave code will be a task of the MARCH IV Electrical engineers.
+The DieBieSlave is used as the GES in the MARCH IV. The hardware of the PDB EtherCAT Slave is developed by MARCH IV.
 
-The DieBieSlave is used as the GES in the MARCH IV.
+| Branch | Build Status |
+| ------ |:------------:|
+| master | [![Build Status](https://api.travis-ci.com/project-march/ethercat-slaves.svg?branch=master)](https://travis-ci.com/project-march/ethercat-slaves) |
+| develop | [![Build Status](https://api.travis-ci.com/project-march/ethercat-slaves.svg?branch=develop)](https://travis-ci.com/project-march/ethercat-slaves) |
 
 
+## 🛠️ Building
+This project uses the cross platform builder [platformio](https://docs.platformio.org/en/latest/what-is-platformio.html).
+So you will need to install that first.
 
+The project contains multiple [environments](https://docs.platformio.org/en/latest/projectconf/section_env.html#projectconf-section-env) for each slave. The environments you can choose are:
+
+* `bp_ges`: Backpack GES
+* `lll_ges`: Left lower leg GES
+* `lul_ges`: Left upper leg GES
+* `rll_ges`: Right lower leg GES
+* `rul_ges`: Right upper leg GES
+* `pdb`: Power distribution board slave
+* `standalone_pdb`: Power distribution board, which does not use ethercat
+
+To build all of the projects you run:
+
+    $ pio run
+
+This will build all the projects sequentially. When you want to build one specific environment only you can use the `--environment` (`-e`) option:
+
+    $ pio run -e <slave>
+
+So, for example, to build the backpack GES you run `pio run -e bp_ges`.
+To actually upload the project, connect the the GES you would like to upload to and use the `--target` (`-t`) option.
+
+    $ pio run -e <slave> -t upload

esi/BP-GES.esx

@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Slave fileVersion="1" id="BP-GES" productCode="0x1">
+  <Name>Backpack GES</Name>
+  <Vendor>
+    <Id>0x959</Id>
+    <Name>DieBie Engineering</Name>
+  </Vendor>
+  <Group>
+    <Type>DieBie Slaves</Type>
+    <Name>Slaves</Name>
+  </Group>
+  <Fmmu>Outputs</Fmmu>
+  <Fmmu>Inputs</Fmmu>
+  <Sm ControlByte="0x26" DefaultSize="128" Enable="false" StartAddress="0x1000">MBoxOut</Sm>
+  <Sm ControlByte="0x22" DefaultSize="128" Enable="false" StartAddress="0x1080">MBoxIn</Sm>
+  <Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
+  <Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
+  <Mailbox CoE="true">
+    <Bootstrap Length="128" Start="0x1000"/>
+    <Standard Length="128" Start="0x1000"/>
+  </Mailbox>
+  <Eeprom>
+    <ByteSize>2048</ByteSize>
+    <ConfigData>8003000000000000</ConfigData>
+  </Eeprom>
+  <Dictionary>
+    <Item>
+      <Name>Device Type</Name>
+      <Index>0x1000</Index>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0x00001389</DefaultValue>
+    </Item>
+    <Item>
+      <Name>Hardware Version</Name>
+      <Index>0x1009</Index>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+    </Item>
+    <Item>
+      <Name>Software Version</Name>
+      <Index>0x100A</Index>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+    </Item>
+  </Dictionary>
+  <Input>
+    <Index>0x1A00</Index>
+    <Name>miso</Name>
+    <ObjectType>RECORD</ObjectType>
+    <Member>
+      <Index>0x01</Index>
+      <Name>TemperatureLHAA</Name>
+      <Type>INTEGER32</Type>
+    </Member>
+    <Member>
+      <Index>0x02</Index>
+      <Name>TemperatureRHAA</Name>
+      <Type>INTEGER32</Type>
+    </Member>
+  </Input>
+</Slave>