HC Voort / Mbed 2 deprecated EtherCAT-XbusMaster

SOES implementation i.c.w. ET1100 (Beckhoff ASIC)

Dependencies:   KL25Z_ClockControl MODSERIAL mbed

Fork of EtherCAT-XbusMaster by First Last

xbus.cpp@13:5e4dcbd44786, 2015-03-03 (annotated)

Committer:
vsluiter
Date:
Tue Mar 03 12:14:22 2015 +0000
Revision:
13:5e4dcbd44786
Child:
16:bfc7ea6bd1af
Changed xbus to cpp in order to interface with MODSERIAL object, added initialization code for xbusmaster;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 13:5e4dcbd44786 1 #include "xbus.h"
vsluiter 13:5e4dcbd44786 2
vsluiter 13:5e4dcbd44786 3 #define ARRAY(x) x, sizeof(x)
vsluiter 13:5e4dcbd44786 4 static inline void XbusReceiveState(struct xbus_struct *, uint8_t );
vsluiter 13:5e4dcbd44786 5 uint8_t XbusImuMsgGoToMeasurement[] ={ 0xFA,
vsluiter 13:5e4dcbd44786 6 0xFF,
vsluiter 13:5e4dcbd44786 7 0x10,
vsluiter 13:5e4dcbd44786 8 0x00,
vsluiter 13:5e4dcbd44786 9 0xF1};
vsluiter 13:5e4dcbd44786 10
vsluiter 13:5e4dcbd44786 11 uint8_t XbusImuMsgGoToConfig[] = { 0xFA,
vsluiter 13:5e4dcbd44786 12 0xFF,
vsluiter 13:5e4dcbd44786 13 0x30,
vsluiter 13:5e4dcbd44786 14 0x00,
vsluiter 13:5e4dcbd44786 15 0xD1};
vsluiter 13:5e4dcbd44786 16
vsluiter 13:5e4dcbd44786 17 uint8_t XbusImuMsgSetPeriod[] ={ 0xFA,
vsluiter 13:5e4dcbd44786 18 0xFF,
vsluiter 13:5e4dcbd44786 19 0x04, /* MID: SetPeriod */
vsluiter 13:5e4dcbd44786 20 0x02,
vsluiter 13:5e4dcbd44786 21 0x04, /* MSB time */
vsluiter 13:5e4dcbd44786 22 0x80, /* LSB time */ /*time in 8.68us*/ /*0480 eq. 10ms*/
vsluiter 13:5e4dcbd44786 23 0x77};
vsluiter 13:5e4dcbd44786 24
vsluiter 13:5e4dcbd44786 25 uint8_t XbusImuMsgSetOutputMode[] ={ 0xFA,
vsluiter 13:5e4dcbd44786 26 0xFF,
vsluiter 13:5e4dcbd44786 27 0xD0, /* MID: SetOutpuMode */
vsluiter 13:5e4dcbd44786 28 0x02,
vsluiter 13:5e4dcbd44786 29 0x40, /* MSB */
vsluiter 13:5e4dcbd44786 30 0x00, /* LSB */ /*4000 eq. raw data mode*/
vsluiter 13:5e4dcbd44786 31 0xEF};
vsluiter 13:5e4dcbd44786 32
vsluiter 13:5e4dcbd44786 33 uint8_t XbusImuMsgSetSyncIn_SetSync[] ={0xFA,
vsluiter 13:5e4dcbd44786 34 0xFF,
vsluiter 13:5e4dcbd44786 35 0xD6, /* MID: SetSyncIn */
vsluiter 13:5e4dcbd44786 36 0x03,
vsluiter 13:5e4dcbd44786 37 0x00, /* SyncInMode*/
vsluiter 13:5e4dcbd44786 38 0x00, /* Reserved */
vsluiter 13:5e4dcbd44786 39 0x01, /* Sample ADC, RisingEdge*/
vsluiter 13:5e4dcbd44786 40 0x27};
vsluiter 13:5e4dcbd44786 41
vsluiter 13:5e4dcbd44786 42 uint8_t XbusImuMsgSetSyncIn_SetSkip[] ={0xFA,
vsluiter 13:5e4dcbd44786 43 0xFF,
vsluiter 13:5e4dcbd44786 44 0xD6, /* MID: SetSyncIn */
vsluiter 13:5e4dcbd44786 45 0x03,
vsluiter 13:5e4dcbd44786 46 0x01, /* SkipFactor*/
vsluiter 13:5e4dcbd44786 47 0x00, /* MSB SkipFactor */
vsluiter 13:5e4dcbd44786 48 0x00, /* LSB SkipFactor */
vsluiter 13:5e4dcbd44786 49 0x27};
vsluiter 13:5e4dcbd44786 50
vsluiter 13:5e4dcbd44786 51 uint8_t XbusImuMsgSetSyncIn_SetOffs[] ={0xFA,
vsluiter 13:5e4dcbd44786 52 0xFF,
vsluiter 13:5e4dcbd44786 53 0xD6, /* MID: SetSyncIn */
vsluiter 13:5e4dcbd44786 54 0x05,
vsluiter 13:5e4dcbd44786 55 0x02, /* Offset*/
vsluiter 13:5e4dcbd44786 56 0x00, /* Bit 31..24 */
vsluiter 13:5e4dcbd44786 57 0x01, /* Bit 23..16 */
vsluiter 13:5e4dcbd44786 58 0x06, /* Bit 15..8 */
vsluiter 13:5e4dcbd44786 59 0xB9, /* Bit 7..0 */ /*minimum value: 264*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 13:5e4dcbd44786 60 0x64};
vsluiter 13:5e4dcbd44786 61
vsluiter 13:5e4dcbd44786 62 uint8_t XbusImuMsgSetSyncOut_SetSync[] ={0xFA,
vsluiter 13:5e4dcbd44786 63 0xFF,
vsluiter 13:5e4dcbd44786 64 0xD8, /* MID: SetSyncOut */
vsluiter 13:5e4dcbd44786 65 0x03,
vsluiter 13:5e4dcbd44786 66 0x00, /* SyncOutMode*/
vsluiter 13:5e4dcbd44786 67 0x00, /* Reserved */
vsluiter 13:5e4dcbd44786 68 0x12, /* Postitive Pulse, Pulse Mode*/
vsluiter 13:5e4dcbd44786 69 0x14};
vsluiter 13:5e4dcbd44786 70
vsluiter 13:5e4dcbd44786 71 uint8_t XbusImuMsgSetSyncOut_SetSkip[] ={0xFA,
vsluiter 13:5e4dcbd44786 72 0xFF,
vsluiter 13:5e4dcbd44786 73 0xD8, /* MID: SetSyncOut */
vsluiter 13:5e4dcbd44786 74 0x03,
vsluiter 13:5e4dcbd44786 75 0x01, /* SkipFactor*/
vsluiter 13:5e4dcbd44786 76 0x00, /* MSB SkipFactor */
vsluiter 13:5e4dcbd44786 77 0x00, /* LSB SkipFactor */
vsluiter 13:5e4dcbd44786 78 0x25};
vsluiter 13:5e4dcbd44786 79
vsluiter 13:5e4dcbd44786 80 uint8_t XbusImuMsgSetSyncOut_SetOffs[] ={0xFA,
vsluiter 13:5e4dcbd44786 81 0xFF,
vsluiter 13:5e4dcbd44786 82 0xD8, /* MID: SetSyncOut */
vsluiter 13:5e4dcbd44786 83 0x05,
vsluiter 13:5e4dcbd44786 84 0x02, /* Offset*/
vsluiter 13:5e4dcbd44786 85 0x00, /* Bit 31..24 */
vsluiter 13:5e4dcbd44786 86 0x00, /* Bit 23..16 */
vsluiter 13:5e4dcbd44786 87 0xE6, /* Bit 15..8 */
vsluiter 13:5e4dcbd44786 88 0x75, /* Bit 7..0 */ /*minimum value: 513*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 13:5e4dcbd44786 89 0xC7};
vsluiter 13:5e4dcbd44786 90
vsluiter 13:5e4dcbd44786 91 uint8_t XbusImuMsgSetSyncOut_SetWidth[] ={0xFA,
vsluiter 13:5e4dcbd44786 92 0xFF,
vsluiter 13:5e4dcbd44786 93 0xD8, /* MID: SetSyncOut */
vsluiter 13:5e4dcbd44786 94 0x05,
vsluiter 13:5e4dcbd44786 95 0x03, /* Width*/
vsluiter 13:5e4dcbd44786 96 0x00, /* Bit 31..24 */
vsluiter 13:5e4dcbd44786 97 0x00, /* Bit 23..16 */
vsluiter 13:5e4dcbd44786 98 0xE6, /* Bit 15..8 */
vsluiter 13:5e4dcbd44786 99 0x75, /* Bit 7..0 */ /*minimum value: 1700*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 13:5e4dcbd44786 100 0xC6};
vsluiter 13:5e4dcbd44786 101
vsluiter 13:5e4dcbd44786 102 static void XbusSendArray(uint8_t *array, uint8_t size)
vsluiter 13:5e4dcbd44786 103 {
vsluiter 13:5e4dcbd44786 104 for(int i = 0; i < size ; i++ )
vsluiter 13:5e4dcbd44786 105 {
vsluiter 13:5e4dcbd44786 106 xbus.putc(array[i]);
vsluiter 13:5e4dcbd44786 107 }
vsluiter 13:5e4dcbd44786 108 wait_ms(10);
vsluiter 13:5e4dcbd44786 109 }
vsluiter 13:5e4dcbd44786 110
vsluiter 13:5e4dcbd44786 111 void XbusInitializeXbusMaster(void)
vsluiter 13:5e4dcbd44786 112 {
vsluiter 13:5e4dcbd44786 113 XbusSendArray(ARRAY(XbusImuMsgGoToConfig));
vsluiter 13:5e4dcbd44786 114 XbusSendArray(ARRAY(XbusImuMsgSetPeriod));
vsluiter 13:5e4dcbd44786 115 XbusSendArray(ARRAY(XbusImuMsgSetOutputMode));
vsluiter 13:5e4dcbd44786 116 XbusSendArray(ARRAY(XbusImuMsgGoToMeasurement));
vsluiter 13:5e4dcbd44786 117 }
vsluiter 13:5e4dcbd44786 118
vsluiter 13:5e4dcbd44786 119 void XbusReceiveState(struct xbus_struct * xbus, uint8_t rxdata)
vsluiter 13:5e4dcbd44786 120 {
vsluiter 13:5e4dcbd44786 121 switch(xbus->rx.state)
vsluiter 13:5e4dcbd44786 122 {
vsluiter 13:5e4dcbd44786 123 case XBUS_IDLE:
vsluiter 13:5e4dcbd44786 124 {
vsluiter 13:5e4dcbd44786 125 if(rxdata == 0xFA)
vsluiter 13:5e4dcbd44786 126 {
vsluiter 13:5e4dcbd44786 127 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 128 xbus->rx.buffer[0] = 0xFA;
vsluiter 13:5e4dcbd44786 129 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 130 xbus->rx.state = XBUS_BID;
vsluiter 13:5e4dcbd44786 131 }
vsluiter 13:5e4dcbd44786 132 break;
vsluiter 13:5e4dcbd44786 133 }
vsluiter 13:5e4dcbd44786 134 case XBUS_BID:
vsluiter 13:5e4dcbd44786 135 {
vsluiter 13:5e4dcbd44786 136 xbus->rx.counter = 1;
vsluiter 13:5e4dcbd44786 137 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 138 xbus->rx.checksum = rxdata;
vsluiter 13:5e4dcbd44786 139 xbus->rx.state = XBUS_MID;
vsluiter 13:5e4dcbd44786 140 break;
vsluiter 13:5e4dcbd44786 141 }
vsluiter 13:5e4dcbd44786 142 case XBUS_MID:
vsluiter 13:5e4dcbd44786 143 {
vsluiter 13:5e4dcbd44786 144 xbus->rx.counter = 2;
vsluiter 13:5e4dcbd44786 145 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 146 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 147 xbus->rx.state = XBUS_LEN;
vsluiter 13:5e4dcbd44786 148 break;
vsluiter 13:5e4dcbd44786 149 }
vsluiter 13:5e4dcbd44786 150 case XBUS_LEN:
vsluiter 13:5e4dcbd44786 151 {
vsluiter 13:5e4dcbd44786 152 if(rxdata > XBUS_BUFFER_LENGTH - 4) // if message longer than buffer can contain
vsluiter 13:5e4dcbd44786 153 xbus->rx.state = XBUS_IDLE; // EXLEN not supported!
vsluiter 13:5e4dcbd44786 154 else
vsluiter 13:5e4dcbd44786 155 {
vsluiter 13:5e4dcbd44786 156 xbus->rx.counter = 3;
vsluiter 13:5e4dcbd44786 157 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 158 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 159 if(rxdata == 0) // no data sent
vsluiter 13:5e4dcbd44786 160 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 161 else
vsluiter 13:5e4dcbd44786 162 xbus->rx.state = XBUS_DATA;
vsluiter 13:5e4dcbd44786 163 }
vsluiter 13:5e4dcbd44786 164 break;
vsluiter 13:5e4dcbd44786 165 }
vsluiter 13:5e4dcbd44786 166 case XBUS_DATA:
vsluiter 13:5e4dcbd44786 167 {
vsluiter 13:5e4dcbd44786 168 xbus->rx.checksum += rxdata;
vsluiter 13:5e4dcbd44786 169 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 170 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 171 if(xbus->rx.counter == (xbus->rx.buffer[3] + 3) ) // if all data received (calculated from LEN
vsluiter 13:5e4dcbd44786 172 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 173 break;
vsluiter 13:5e4dcbd44786 174 }
vsluiter 13:5e4dcbd44786 175 case XBUS_CS:
vsluiter 13:5e4dcbd44786 176 {
vsluiter 13:5e4dcbd44786 177 volatile uint16_t cs_calc;
vsluiter 13:5e4dcbd44786 178 xbus->rx.checksum_ok = 0;
vsluiter 13:5e4dcbd44786 179 xbus->rx.message_complete = 1;
vsluiter 13:5e4dcbd44786 180 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 181 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 182 //xbus->rx.checksum = 255 - xbus->rx.checksum;
vsluiter 13:5e4dcbd44786 183 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 184 cs_calc = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 185 if( (cs_calc & 0x00FF) == 0)
vsluiter 13:5e4dcbd44786 186 xbus->rx.checksum_ok = 1;
vsluiter 13:5e4dcbd44786 187 else
vsluiter 13:5e4dcbd44786 188 asm("nop");
vsluiter 13:5e4dcbd44786 189 break;
vsluiter 13:5e4dcbd44786 190 }
vsluiter 13:5e4dcbd44786 191 default:
vsluiter 13:5e4dcbd44786 192 {
vsluiter 13:5e4dcbd44786 193 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 194 break;
vsluiter 13:5e4dcbd44786 195 }
vsluiter 13:5e4dcbd44786 196 }
vsluiter 13:5e4dcbd44786 197 }
vsluiter 13:5e4dcbd44786 198
vsluiter 13:5e4dcbd44786 199
vsluiter 13:5e4dcbd44786 200 void XbusSetupReceiver(struct xbus_struct * xbus)
vsluiter 13:5e4dcbd44786 201 {
vsluiter 13:5e4dcbd44786 202 xbus_pc.uart = &XBUS_UART_PC;
vsluiter 13:5e4dcbd44786 203 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 204 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 205 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 206 }
vsluiter 13:5e4dcbd44786 207
vsluiter 13:5e4dcbd44786 208
vsluiter 13:5e4dcbd44786 209 /*Calculate xbus checksum from received message*/
vsluiter 13:5e4dcbd44786 210 uint8_t XbusCreateChecksum(uint8_t * array, uint8_t arraysize)
vsluiter 13:5e4dcbd44786 211 {
vsluiter 13:5e4dcbd44786 212 uint8_t counter;
vsluiter 13:5e4dcbd44786 213 uint16_t temp =0;
vsluiter 13:5e4dcbd44786 214 uint8_t checksum;
vsluiter 13:5e4dcbd44786 215 for(counter = 1; counter < (arraysize-1) ; counter++) //start at BID, end before checksum
vsluiter 13:5e4dcbd44786 216 {
vsluiter 13:5e4dcbd44786 217 temp += array[counter];
vsluiter 13:5e4dcbd44786 218 }
vsluiter 13:5e4dcbd44786 219 checksum = (uint8_t)(0x100 - temp);
vsluiter 13:5e4dcbd44786 220 //checksum++;
vsluiter 13:5e4dcbd44786 221 return checksum;
vsluiter 13:5e4dcbd44786 222 }