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@27:93c0e4ae943e, 2015-03-09 (annotated)

Committer:
vsluiter
Date:
Mon Mar 09 15:58:00 2015 +0000
Revision:
27:93c0e4ae943e
Parent:
26:c7959f1fd09a
Child:
28:8505285f65ed
Set to communicate at 230400. Somehow messes up timing, as messages aren't interpretted correctly anymore. Issue with serial transceiver, or interrupt handling?

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 18:6629e8c5d59e 4
vsluiter 18:6629e8c5d59e 5 extern MODSERIAL xbus_serial;
vsluiter 18:6629e8c5d59e 6
vsluiter 16:bfc7ea6bd1af 7 uint8_t XbusImuMsgGoToMeasurement[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 8 0xFF,
vsluiter 16:bfc7ea6bd1af 9 0x10,
vsluiter 16:bfc7ea6bd1af 10 0x00,
vsluiter 16:bfc7ea6bd1af 11 0xF1
vsluiter 16:bfc7ea6bd1af 12 };
vsluiter 13:5e4dcbd44786 13
vsluiter 13:5e4dcbd44786 14 uint8_t XbusImuMsgGoToConfig[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 15 0xFF,
vsluiter 16:bfc7ea6bd1af 16 0x30,
vsluiter 16:bfc7ea6bd1af 17 0x00,
vsluiter 16:bfc7ea6bd1af 18 0xD1
vsluiter 16:bfc7ea6bd1af 19 };
vsluiter 13:5e4dcbd44786 20
vsluiter 16:bfc7ea6bd1af 21 uint8_t XbusImuMsgSetPeriod[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 22 0xFF,
vsluiter 16:bfc7ea6bd1af 23 0x04, /* MID: SetPeriod */
vsluiter 16:bfc7ea6bd1af 24 0x02,
vsluiter 16:bfc7ea6bd1af 25 0x04, /* MSB time */
vsluiter 16:bfc7ea6bd1af 26 0x80, /* LSB time */ /*time in 8.68us*/ /*0480 eq. 10ms*/
vsluiter 16:bfc7ea6bd1af 27 0x77
vsluiter 16:bfc7ea6bd1af 28 };
vsluiter 13:5e4dcbd44786 29
vsluiter 16:bfc7ea6bd1af 30 uint8_t XbusImuMsgSetOutputMode[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 31 0xFF,
vsluiter 16:bfc7ea6bd1af 32 0xD0, /* MID: SetOutpuMode */
vsluiter 16:bfc7ea6bd1af 33 0x02,
vsluiter 16:bfc7ea6bd1af 34 0x40, /* MSB */
vsluiter 16:bfc7ea6bd1af 35 0x00, /* LSB */ /*4000 eq. raw data mode*/
vsluiter 16:bfc7ea6bd1af 36 0xEF
vsluiter 16:bfc7ea6bd1af 37 };
vsluiter 13:5e4dcbd44786 38
vsluiter 16:bfc7ea6bd1af 39 uint8_t XbusImuMsgSetSyncIn_SetSync[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 40 0xFF,
vsluiter 16:bfc7ea6bd1af 41 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 42 0x03,
vsluiter 16:bfc7ea6bd1af 43 0x00, /* SyncInMode*/
vsluiter 16:bfc7ea6bd1af 44 0x00, /* Reserved */
vsluiter 16:bfc7ea6bd1af 45 0x01, /* Sample ADC, RisingEdge*/
vsluiter 16:bfc7ea6bd1af 46 0x27
vsluiter 16:bfc7ea6bd1af 47 };
vsluiter 13:5e4dcbd44786 48
vsluiter 16:bfc7ea6bd1af 49 uint8_t XbusImuMsgSetSyncIn_SetSkip[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 50 0xFF,
vsluiter 16:bfc7ea6bd1af 51 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 52 0x03,
vsluiter 16:bfc7ea6bd1af 53 0x01, /* SkipFactor*/
vsluiter 16:bfc7ea6bd1af 54 0x00, /* MSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 55 0x00, /* LSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 56 0x27
vsluiter 16:bfc7ea6bd1af 57 };
vsluiter 13:5e4dcbd44786 58
vsluiter 16:bfc7ea6bd1af 59 uint8_t XbusImuMsgSetSyncIn_SetOffs[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 60 0xFF,
vsluiter 16:bfc7ea6bd1af 61 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 62 0x05,
vsluiter 16:bfc7ea6bd1af 63 0x02, /* Offset*/
vsluiter 16:bfc7ea6bd1af 64 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 65 0x01, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 66 0x06, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 67 0xB9, /* Bit 7..0 */ /*minimum value: 264*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 68 0x64
vsluiter 16:bfc7ea6bd1af 69 };
vsluiter 13:5e4dcbd44786 70
vsluiter 16:bfc7ea6bd1af 71 uint8_t XbusImuMsgSetSyncOut_SetSync[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 72 0xFF,
vsluiter 16:bfc7ea6bd1af 73 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 74 0x03,
vsluiter 16:bfc7ea6bd1af 75 0x00, /* SyncOutMode*/
vsluiter 16:bfc7ea6bd1af 76 0x00, /* Reserved */
vsluiter 16:bfc7ea6bd1af 77 0x12, /* Postitive Pulse, Pulse Mode*/
vsluiter 16:bfc7ea6bd1af 78 0x14
vsluiter 16:bfc7ea6bd1af 79 };
vsluiter 13:5e4dcbd44786 80
vsluiter 16:bfc7ea6bd1af 81 uint8_t XbusImuMsgSetSyncOut_SetSkip[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 82 0xFF,
vsluiter 16:bfc7ea6bd1af 83 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 84 0x03,
vsluiter 16:bfc7ea6bd1af 85 0x01, /* SkipFactor*/
vsluiter 16:bfc7ea6bd1af 86 0x00, /* MSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 87 0x00, /* LSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 88 0x25
vsluiter 16:bfc7ea6bd1af 89 };
vsluiter 13:5e4dcbd44786 90
vsluiter 16:bfc7ea6bd1af 91 uint8_t XbusImuMsgSetSyncOut_SetOffs[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 92 0xFF,
vsluiter 16:bfc7ea6bd1af 93 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 94 0x05,
vsluiter 16:bfc7ea6bd1af 95 0x02, /* Offset*/
vsluiter 16:bfc7ea6bd1af 96 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 97 0x00, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 98 0xE6, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 99 0x75, /* Bit 7..0 */ /*minimum value: 513*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 100 0xC7
vsluiter 16:bfc7ea6bd1af 101 };
vsluiter 13:5e4dcbd44786 102
vsluiter 16:bfc7ea6bd1af 103 uint8_t XbusImuMsgSetSyncOut_SetWidth[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 104 0xFF,
vsluiter 16:bfc7ea6bd1af 105 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 106 0x05,
vsluiter 16:bfc7ea6bd1af 107 0x03, /* Width*/
vsluiter 16:bfc7ea6bd1af 108 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 109 0x00, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 110 0xE6, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 111 0x75, /* Bit 7..0 */ /*minimum value: 1700*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 112 0xC6
vsluiter 16:bfc7ea6bd1af 113 };
vsluiter 13:5e4dcbd44786 114
vsluiter 17:c5946a0fde83 115 static void XbusSendArray(uint8_t *array)
vsluiter 13:5e4dcbd44786 116 {
vsluiter 17:c5946a0fde83 117 for(int i = 0; i < array[3]+5 ; i++ ) { //make use of len
vsluiter 18:6629e8c5d59e 118 xbus_serial.putc(array[i]);
vsluiter 16:bfc7ea6bd1af 119 }
vsluiter 16:bfc7ea6bd1af 120 wait_ms(10);
vsluiter 13:5e4dcbd44786 121 }
vsluiter 13:5e4dcbd44786 122
vsluiter 26:c7959f1fd09a 123
vsluiter 26:c7959f1fd09a 124 //uses baudrate values in Xbus Master documentation
vsluiter 26:c7959f1fd09a 125 void XbusSetBaudRate(uint8_t baud)
vsluiter 26:c7959f1fd09a 126 {
vsluiter 26:c7959f1fd09a 127 uint8_t msg[10];
vsluiter 26:c7959f1fd09a 128 XbusCreateMessage(0xFF,0x18,1,&baud,msg);
vsluiter 26:c7959f1fd09a 129 XbusSendArray(msg);
vsluiter 26:c7959f1fd09a 130 }
vsluiter 26:c7959f1fd09a 131
vsluiter 26:c7959f1fd09a 132 void XbusReset()
vsluiter 26:c7959f1fd09a 133 {
vsluiter 26:c7959f1fd09a 134 uint8_t msg[10];
vsluiter 26:c7959f1fd09a 135 XbusCreateMessage(0xFF,0x40,0,msg,msg);//Reset
vsluiter 26:c7959f1fd09a 136 XbusSendArray(msg);
vsluiter 26:c7959f1fd09a 137 wait_ms(1000);
vsluiter 26:c7959f1fd09a 138 }
vsluiter 26:c7959f1fd09a 139
vsluiter 27:93c0e4ae943e 140 void XbusGoToConfig(void)
vsluiter 27:93c0e4ae943e 141 {
vsluiter 27:93c0e4ae943e 142 uint8_t msg[30];
vsluiter 27:93c0e4ae943e 143 XbusCreateMessage(0xFF,0x30,0,msg,msg);//GoToConfig
vsluiter 27:93c0e4ae943e 144 XbusSendArray(msg);
vsluiter 27:93c0e4ae943e 145 }
vsluiter 27:93c0e4ae943e 146
vsluiter 13:5e4dcbd44786 147 void XbusInitializeXbusMaster(void)
vsluiter 13:5e4dcbd44786 148 {
vsluiter 17:c5946a0fde83 149 uint8_t msg[30];
vsluiter 17:c5946a0fde83 150 uint8_t data[10];
vsluiter 17:c5946a0fde83 151
vsluiter 17:c5946a0fde83 152 //XbusCreateMessage(0xFF,0x40,0,msg,msg);//Reset
vsluiter 17:c5946a0fde83 153 //XbusSendArray(msg);
vsluiter 17:c5946a0fde83 154 //wait_ms(1000);
vsluiter 17:c5946a0fde83 155
vsluiter 17:c5946a0fde83 156 XbusCreateMessage(0xFF,0x30,0,msg,msg);//GoToConfig
vsluiter 17:c5946a0fde83 157 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 158
vsluiter 17:c5946a0fde83 159
vsluiter 17:c5946a0fde83 160 data[0] = 0x04;
vsluiter 17:c5946a0fde83 161 data[1] = 0x80;
vsluiter 17:c5946a0fde83 162 XbusCreateMessage(0xFF,0x04,2,data,msg);//SetPeriod
vsluiter 17:c5946a0fde83 163 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 164
vsluiter 17:c5946a0fde83 165 data[0] = 0x40;
vsluiter 17:c5946a0fde83 166 data[1] = 0x00;
vsluiter 17:c5946a0fde83 167 for (int i = 0 ; i<3 ; i++)
vsluiter 17:c5946a0fde83 168 {
vsluiter 17:c5946a0fde83 169 XbusCreateMessage(i+1,0xD0,2,data,msg);//Set Output Data Format
vsluiter 17:c5946a0fde83 170 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 171 }
vsluiter 17:c5946a0fde83 172 wait_ms(10);
vsluiter 17:c5946a0fde83 173 XbusCreateMessage(0xFF,0x10,0,msg,msg);//GoToMeasurement
vsluiter 17:c5946a0fde83 174 XbusSendArray(msg);
vsluiter 13:5e4dcbd44786 175 }
vsluiter 13:5e4dcbd44786 176
vsluiter 18:6629e8c5d59e 177 void XbusReceiveState(xbus_t * xbus, uint8_t rxdata)
vsluiter 13:5e4dcbd44786 178 {
vsluiter 16:bfc7ea6bd1af 179 switch(xbus->rx.state) {
vsluiter 16:bfc7ea6bd1af 180 case XBUS_IDLE: {
vsluiter 16:bfc7ea6bd1af 181 if(rxdata == 0xFA) {
vsluiter 13:5e4dcbd44786 182 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 183 xbus->rx.buffer[0] = 0xFA;
vsluiter 13:5e4dcbd44786 184 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 185 xbus->rx.state = XBUS_BID;
vsluiter 13:5e4dcbd44786 186 }
vsluiter 13:5e4dcbd44786 187 break;
vsluiter 13:5e4dcbd44786 188 }
vsluiter 16:bfc7ea6bd1af 189 case XBUS_BID: {
vsluiter 13:5e4dcbd44786 190 xbus->rx.counter = 1;
vsluiter 13:5e4dcbd44786 191 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 192 xbus->rx.checksum = rxdata;
vsluiter 13:5e4dcbd44786 193 xbus->rx.state = XBUS_MID;
vsluiter 13:5e4dcbd44786 194 break;
vsluiter 13:5e4dcbd44786 195 }
vsluiter 16:bfc7ea6bd1af 196 case XBUS_MID: {
vsluiter 13:5e4dcbd44786 197 xbus->rx.counter = 2;
vsluiter 13:5e4dcbd44786 198 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 199 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 200 xbus->rx.state = XBUS_LEN;
vsluiter 13:5e4dcbd44786 201 break;
vsluiter 13:5e4dcbd44786 202 }
vsluiter 16:bfc7ea6bd1af 203 case XBUS_LEN: {
vsluiter 13:5e4dcbd44786 204 if(rxdata > XBUS_BUFFER_LENGTH - 4) // if message longer than buffer can contain
vsluiter 13:5e4dcbd44786 205 xbus->rx.state = XBUS_IDLE; // EXLEN not supported!
vsluiter 16:bfc7ea6bd1af 206 else {
vsluiter 13:5e4dcbd44786 207 xbus->rx.counter = 3;
vsluiter 13:5e4dcbd44786 208 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 209 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 210 if(rxdata == 0) // no data sent
vsluiter 13:5e4dcbd44786 211 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 212 else
vsluiter 13:5e4dcbd44786 213 xbus->rx.state = XBUS_DATA;
vsluiter 13:5e4dcbd44786 214 }
vsluiter 13:5e4dcbd44786 215 break;
vsluiter 13:5e4dcbd44786 216 }
vsluiter 16:bfc7ea6bd1af 217 case XBUS_DATA: {
vsluiter 13:5e4dcbd44786 218 xbus->rx.checksum += rxdata;
vsluiter 13:5e4dcbd44786 219 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 220 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 221 if(xbus->rx.counter == (xbus->rx.buffer[3] + 3) ) // if all data received (calculated from LEN
vsluiter 13:5e4dcbd44786 222 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 223 break;
vsluiter 13:5e4dcbd44786 224 }
vsluiter 16:bfc7ea6bd1af 225 case XBUS_CS: {
vsluiter 16:bfc7ea6bd1af 226 volatile uint16_t cs_calc;
vsluiter 13:5e4dcbd44786 227 xbus->rx.checksum_ok = 0;
vsluiter 13:5e4dcbd44786 228 xbus->rx.message_complete = 1;
vsluiter 13:5e4dcbd44786 229 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 230 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 231 //xbus->rx.checksum = 255 - xbus->rx.checksum;
vsluiter 16:bfc7ea6bd1af 232 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 233 cs_calc = xbus->rx.checksum + rxdata;
vsluiter 16:bfc7ea6bd1af 234 if( (cs_calc & 0x00FF) == 0)
vsluiter 13:5e4dcbd44786 235 xbus->rx.checksum_ok = 1;
vsluiter 16:bfc7ea6bd1af 236 else
vsluiter 16:bfc7ea6bd1af 237 asm("nop");
vsluiter 13:5e4dcbd44786 238 break;
vsluiter 13:5e4dcbd44786 239 }
vsluiter 16:bfc7ea6bd1af 240 default: {
vsluiter 13:5e4dcbd44786 241 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 242 break;
vsluiter 13:5e4dcbd44786 243 }
vsluiter 13:5e4dcbd44786 244 }
vsluiter 13:5e4dcbd44786 245 }
vsluiter 13:5e4dcbd44786 246
vsluiter 13:5e4dcbd44786 247
vsluiter 18:6629e8c5d59e 248 void XbusSetupReceiver(xbus_t * xbus)
vsluiter 13:5e4dcbd44786 249 {
vsluiter 16:bfc7ea6bd1af 250 //xbus_pc.uart = &XBUS_UART_PC;
vsluiter 13:5e4dcbd44786 251 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 252 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 253 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 254 }
vsluiter 13:5e4dcbd44786 255
vsluiter 17:c5946a0fde83 256 void XbusCreateMessage(uint8_t bid, uint8_t mid, uint8_t message_size, uint8_t *message, uint8_t *buffer )
vsluiter 17:c5946a0fde83 257 {
vsluiter 17:c5946a0fde83 258 buffer[0] = 0xFA;
vsluiter 17:c5946a0fde83 259 buffer[1] = bid;
vsluiter 17:c5946a0fde83 260 buffer[2] = mid;
vsluiter 17:c5946a0fde83 261 buffer[3] = message_size;
vsluiter 17:c5946a0fde83 262 if(message_size > 0)
vsluiter 17:c5946a0fde83 263 {
vsluiter 17:c5946a0fde83 264 for( int i = 0; i< message_size ; i++)
vsluiter 17:c5946a0fde83 265 {
vsluiter 17:c5946a0fde83 266 buffer[i+4] = message[i];
vsluiter 17:c5946a0fde83 267 }
vsluiter 17:c5946a0fde83 268 }
vsluiter 17:c5946a0fde83 269 buffer[message_size + 4] = XbusCreateChecksum(buffer, message_size + 5);
vsluiter 17:c5946a0fde83 270
vsluiter 17:c5946a0fde83 271 }
vsluiter 17:c5946a0fde83 272
vsluiter 13:5e4dcbd44786 273 /*Calculate xbus checksum from received message*/
vsluiter 13:5e4dcbd44786 274 uint8_t XbusCreateChecksum(uint8_t * array, uint8_t arraysize)
vsluiter 13:5e4dcbd44786 275 {
vsluiter 16:bfc7ea6bd1af 276 uint8_t counter;
vsluiter 16:bfc7ea6bd1af 277 uint16_t temp =0;
vsluiter 16:bfc7ea6bd1af 278 uint8_t checksum;
vsluiter 16:bfc7ea6bd1af 279 for(counter = 1; counter < (arraysize-1) ; counter++) { //start at BID, end before checksum
vsluiter 16:bfc7ea6bd1af 280 temp += array[counter];
vsluiter 16:bfc7ea6bd1af 281 }
vsluiter 16:bfc7ea6bd1af 282 checksum = (uint8_t)(0x100 - temp);
vsluiter 16:bfc7ea6bd1af 283 //checksum++;
vsluiter 16:bfc7ea6bd1af 284 return checksum;
vsluiter 13:5e4dcbd44786 285 }