├── .gitignore ├── LLECP ├── .vscode │ ├── launch.json │ ├── settings.json │ └── tasks.json ├── CMakeLists.txt ├── EtherCATMaster │ ├── CMakeLists.txt │ ├── EtherCATDef.h │ ├── EtherCATMaster.cpp │ ├── EtherCATMaster.h │ ├── SOEM │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ ├── AddENI.cmake │ │ │ ├── Linux.cmake │ │ │ ├── Windows.cmake │ │ │ ├── rt-kernel.cmake │ │ │ └── tools │ │ │ │ └── FindSphinx.cmake │ │ ├── osal │ │ │ ├── linux │ │ │ │ ├── osal.c │ │ │ │ └── osal_defs.h │ │ │ ├── osal.h │ │ │ ├── rtk │ │ │ │ ├── osal.c │ │ │ │ └── osal_defs.h │ │ │ └── win32 │ │ │ │ ├── osal.c │ │ │ │ └── osal_defs.h │ │ ├── oshw │ │ │ ├── linux │ │ │ │ ├── nicdrv.c │ │ │ │ ├── nicdrv.h │ │ │ │ ├── oshw.c │ │ │ │ └── oshw.h │ │ │ ├── rtk │ │ │ │ ├── nicdrv.c │ │ │ │ ├── nicdrv.h │ │ │ │ ├── oshw.c │ │ │ │ └── oshw.h │ │ │ └── win32 │ │ │ │ ├── nicdrv.c │ │ │ │ ├── nicdrv.h │ │ │ │ ├── oshw.c │ │ │ │ ├── oshw.h │ │ │ │ └── wpcap │ │ │ │ ├── Include │ │ │ │ ├── Packet32.h │ │ │ │ ├── Win32-Extensions.h │ │ │ │ ├── bittypes.h │ │ │ │ ├── ip6_misc.h │ │ │ │ ├── pcap-bpf.h │ │ │ │ ├── pcap-namedb.h │ │ │ │ ├── pcap-stdinc.h │ │ │ │ ├── pcap.h │ │ │ │ ├── pcap │ │ │ │ │ ├── bluetooth.h │ │ │ │ │ ├── bpf.h │ │ │ │ │ ├── namedb.h │ │ │ │ │ ├── pcap.h │ │ │ │ │ ├── sll.h │ │ │ │ │ ├── usb.h │ │ │ │ │ └── vlan.h │ │ │ │ └── remote-ext.h │ │ │ │ └── Lib │ │ │ │ ├── Packet.lib │ │ │ │ ├── libpacket.a │ │ │ │ ├── libwpcap.a │ │ │ │ ├── wpcap.lib │ │ │ │ └── x64 │ │ │ │ ├── Packet.lib │ │ │ │ └── wpcap.lib │ │ ├── samples │ │ │ ├── ec_sample │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── ec_sample.c │ │ │ ├── eepromtool │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── eepromtool.c │ │ │ ├── eni_test │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── eni_test.c │ │ │ │ └── sample-eni.xml │ │ │ ├── eoe_test │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── eoe_test.c │ │ │ ├── firm_update │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── firm_update.c │ │ │ ├── simple_ng │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── simple_ng.c │ │ │ └── slaveinfo │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── slaveinfo.c │ │ └── soem │ │ │ ├── ec_base.c │ │ │ ├── ec_base.h │ │ │ ├── ec_coe.c │ │ │ ├── ec_coe.h │ │ │ ├── ec_config.c │ │ │ ├── ec_config.h │ │ │ ├── ec_dc.c │ │ │ ├── ec_dc.h │ │ │ ├── ec_eoe.c │ │ │ ├── ec_eoe.h │ │ │ ├── ec_foe.c │ │ │ ├── ec_foe.h │ │ │ ├── ec_main.c │ │ │ ├── ec_main.h │ │ │ ├── ec_options.h │ │ │ ├── ec_print.c │ │ │ ├── ec_print.h │ │ │ ├── ec_soe.c │ │ │ ├── ec_soe.h │ │ │ ├── ec_type.h │ │ │ └── soem.h │ ├── sdo_operation.cpp │ └── slave │ │ ├── EL1088.cpp │ │ ├── EL1088.h │ │ ├── EL2088.cpp │ │ ├── EL2088.h │ │ ├── NETX_50_RE_ECS.cpp │ │ ├── NETX_50_RE_ECS.h │ │ ├── SlaveBase.cpp │ │ ├── SlaveBase.h │ │ └── SlaveDef.h ├── LLSMC │ ├── CIA402Axis │ │ ├── AxisErrorCode.h │ │ ├── AxisFriendList.h │ │ ├── CIA402Axis.cpp │ │ ├── CIA402Axis.h │ │ ├── CIA402AxisConfig.cpp │ │ ├── CIA402AxisDef.h │ │ ├── CIA402AxisGeneral.cpp │ │ ├── CIA402AxisPDO.cpp │ │ └── CMakeLists.txt │ ├── CMakeLists.txt │ ├── SMbasic │ │ ├── AxisConfig │ │ │ ├── MC_SetEncodeRatio.cpp │ │ │ ├── MC_SetEncodeRatio.h │ │ │ ├── MC_SetGearingRatio.cpp │ │ │ ├── MC_SetGearingRatio.h │ │ │ ├── MC_SetPosition.cpp │ │ │ ├── MC_SetPosition.h │ │ │ ├── MC_SetSWLimit.cpp │ │ │ └── MC_SetSWLimit.h │ │ ├── AxisControl │ │ │ ├── MC_ClearFault.cpp │ │ │ ├── MC_ClearFault.h │ │ │ ├── MC_InitResetAxis.cpp │ │ │ ├── MC_InitResetAxis.h │ │ │ ├── MC_PowerOff.cpp │ │ │ ├── MC_PowerOff.h │ │ │ ├── MC_PowerOn.cpp │ │ │ ├── MC_PowerOn.h │ │ │ ├── MC_Reset.cpp │ │ │ └── MC_Reset.h │ │ ├── AxisMovement │ │ │ ├── MC_FollowPosition.cpp │ │ │ ├── MC_FollowPosition.h │ │ │ ├── MC_FollowTorque.cpp │ │ │ ├── MC_FollowTorque.h │ │ │ ├── MC_FollowVelocity.cpp │ │ │ ├── MC_FollowVelocity.h │ │ │ ├── MC_MoveAbsolute.cpp │ │ │ ├── MC_MoveAbsolute.h │ │ │ ├── MC_MoveRelative.cpp │ │ │ ├── MC_MoveRelative.h │ │ │ ├── MC_MoveVelocity.cpp │ │ │ ├── MC_MoveVelocity.h │ │ │ ├── MC_SetOverride.cpp │ │ │ ├── MC_SetOverride.h │ │ │ ├── MC_Stop.cpp │ │ │ └── MC_Stop.h │ │ ├── AxisRead │ │ │ ├── MC_ReadActualPosition.cpp │ │ │ └── MC_ReadActualPosition.h │ │ ├── CMakeLists.txt │ │ ├── SMbasic.cpp │ │ ├── SMbasic.h │ │ ├── SMbasicDef.h │ │ └── SMbasic_stdafx.h │ └── SoftMotion │ │ ├── CMakeLists.txt │ │ ├── SMbasicErrorCode.h │ │ ├── SoftMotion.cpp │ │ ├── SoftMotion.h │ │ ├── SoftMotionPlanner.cpp │ │ └── motion_algorithm │ │ ├── CMakeLists.txt │ │ └── motion_planning │ │ ├── MotionDefine.h │ │ ├── motion_planning.cpp │ │ └── motion_planning.h ├── RT_Script │ ├── CMakeLists.txt │ ├── FuncUint │ │ ├── FuncBase.cpp │ │ └── FuncBase.h │ ├── RT_Script.cpp │ ├── RT_Script.h │ ├── RT_ScriptActuator.cpp │ ├── RT_ScriptActuatorUint.cpp │ ├── RT_ScriptCalculator.cpp │ ├── RT_ScriptInterpreter.cpp │ ├── ScriptDefine.h │ ├── ScriptUint │ │ ├── CmdTypeDefine.h │ │ ├── Definition.h │ │ ├── ScriptUint_Buffer.cpp │ │ ├── ScriptUint_Buffer.h │ │ ├── ScriptUint_Cmd.cpp │ │ ├── ScriptUint_Cmd.h │ │ ├── ScriptUint_Line.cpp │ │ ├── ScriptUint_Line.h │ │ ├── ScriptUint_Token.cpp │ │ └── ScriptUint_Token.h │ ├── ScriptVariable.cpp │ ├── ScriptVariable.h │ └── sCmdNameDefine.h ├── STExecEngine │ ├── CMakeLists.txt │ ├── CodeComponent │ │ ├── BaseToken.cpp │ │ ├── BaseToken.h │ │ ├── BufferUint.cpp │ │ ├── BufferUint.h │ │ ├── CmdUint.cpp │ │ ├── CmdUint.h │ │ ├── LineUint.cpp │ │ ├── LineUint.h │ │ └── UintDef.h │ ├── CompilerCore │ │ ├── Actuator.cpp │ │ ├── Actuator.h │ │ ├── FunctionManager.cpp │ │ ├── FunctionManager.h │ │ ├── Parser.cpp │ │ ├── Parser.h │ │ ├── ParserStringDef.h │ │ ├── ProgramManager.cpp │ │ ├── ProgramManager.h │ │ ├── VariableManager.cpp │ │ └── VariableManager.h │ ├── FunctionUint │ │ ├── FunctionInclude.h │ │ ├── FunctionInfo.cpp │ │ ├── FunctionInfo.h │ │ ├── Function_HRPC.cpp │ │ └── Function_HRPC.h │ ├── STExecEngine.cpp │ ├── STExecEngine.h │ └── VariableUint │ │ ├── StructInfo.cpp │ │ ├── StructInfo.h │ │ ├── StructManager.cpp │ │ ├── StructManager.h │ │ ├── VariableUint.cpp │ │ └── VariableUint.h ├── 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