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

EtherCAT/esc_hw.cpp@42:ef78d11f2bd7, 2015-09-11 (annotated)

Committer:
vsluiter
Date:
Fri Sep 11 15:33:31 2015 +0000
Revision:
42:ef78d11f2bd7
Parent:
1:5e22bf1a3817 
Also implemented samplecounter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 1:5e22bf1a3817 1 /*
vsluiter 1:5e22bf1a3817 2 * SOES Simple Open EtherCAT Slave
vsluiter 1:5e22bf1a3817 3 *
vsluiter 1:5e22bf1a3817 4 * File : esc_hw.c
vsluiter 1:5e22bf1a3817 5 * Version : 0.9.2
vsluiter 1:5e22bf1a3817 6 * Date : 22-02-2010
vsluiter 1:5e22bf1a3817 7 * Copyright (C) 2007-2010 Arthur Ketels
vsluiter 1:5e22bf1a3817 8 *
vsluiter 1:5e22bf1a3817 9 * SOES is free software; you can redistribute it and/or modify it under
vsluiter 1:5e22bf1a3817 10 * the terms of the GNU General Public License version 2 as published by the Free
vsluiter 1:5e22bf1a3817 11 * Software Foundation.
vsluiter 1:5e22bf1a3817 12 *
vsluiter 1:5e22bf1a3817 13 * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
vsluiter 1:5e22bf1a3817 14 * WARRANTY; without even the implied warranty of MERCHANTABILITY or
vsluiter 1:5e22bf1a3817 15 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
vsluiter 1:5e22bf1a3817 16 * for more details.
vsluiter 1:5e22bf1a3817 17 *
vsluiter 1:5e22bf1a3817 18 * As a special exception, if other files instantiate templates or use macros
vsluiter 1:5e22bf1a3817 19 * or inline functions from this file, or you compile this file and link it
vsluiter 1:5e22bf1a3817 20 * with other works to produce a work based on this file, this file does not
vsluiter 1:5e22bf1a3817 21 * by itself cause the resulting work to be covered by the GNU General Public
vsluiter 1:5e22bf1a3817 22 * License. However the source code for this file must still be made available
vsluiter 1:5e22bf1a3817 23 * in accordance with section (3) of the GNU General Public License.
vsluiter 1:5e22bf1a3817 24 *
vsluiter 1:5e22bf1a3817 25 * This exception does not invalidate any other reasons why a work based on
vsluiter 1:5e22bf1a3817 26 * this file might be covered by the GNU General Public License.
vsluiter 1:5e22bf1a3817 27 *
vsluiter 1:5e22bf1a3817 28 * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
vsluiter 1:5e22bf1a3817 29 * property of, and protected by Beckhoff Automation GmbH.
vsluiter 1:5e22bf1a3817 30 */
vsluiter 1:5e22bf1a3817 31 #include "cpuinit.h"
vsluiter 1:5e22bf1a3817 32 #include "utypes.h"
vsluiter 1:5e22bf1a3817 33
vsluiter 1:5e22bf1a3817 34 #define ESC_CMD_READ 0x02
vsluiter 1:5e22bf1a3817 35 #define ESC_CMD_READWS 0x03
vsluiter 1:5e22bf1a3817 36 #define ESC_CMD_WRITE 0x04
vsluiter 1:5e22bf1a3817 37 #define ESC_CMD_NOP 0x00
vsluiter 1:5e22bf1a3817 38 #define ESC_TERM 0xff
vsluiter 1:5e22bf1a3817 39 #define ESC_NEXT 0x00
vsluiter 1:5e22bf1a3817 40
vsluiter 1:5e22bf1a3817 41 #ifndef WSREAD
vsluiter 1:5e22bf1a3817 42
vsluiter 1:5e22bf1a3817 43 /** \fn uint8 ESC_read(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 44 \brief Read a value from the ESC.
vsluiter 1:5e22bf1a3817 45 \param address ESC address
vsluiter 1:5e22bf1a3817 46 \param *buf pointer to buffer of uint8s in RAM
vsluiter 1:5e22bf1a3817 47 \param len length of buffer in RAM
vsluiter 1:5e22bf1a3817 48 \param *tALevent pointer to Application Layer event
vsluiter 1:5e22bf1a3817 49 */
vsluiter 1:5e22bf1a3817 50 uint8 ESC_read(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 51 {
vsluiter 1:5e22bf1a3817 52 uint8 pstat;
vsluiter 1:5e22bf1a3817 53 uint8 count;
vsluiter 1:5e22bf1a3817 54 uint8 *ptr;
vsluiter 1:5e22bf1a3817 55 uint16union adr;
vsluiter 1:5e22bf1a3817 56 //SPI_Cmd(SPI1, ENABLE); //pull nSS low
vsluiter 1:5e22bf1a3817 57 //GPIO_ResetBits(GPIOA, GPIO_Pin_4);
vsluiter 1:5e22bf1a3817 58 et1100_ss.write(0);
vsluiter 1:5e22bf1a3817 59 adr.w = address << 3;
vsluiter 1:5e22bf1a3817 60 pstat = !et1100_miso.read(); //last cmd result; read MISO pin state and invert
vsluiter 1:5e22bf1a3817 61 ptr = (uint8_t *)tALevent;
vsluiter 1:5e22bf1a3817 62 *ptr = et1100_spi.write(adr.b[1]); //write first address byte
vsluiter 1:5e22bf1a3817 63 ptr++; //increase write pointer
vsluiter 1:5e22bf1a3817 64 *ptr = et1100_spi.write(adr.b[0] + ESC_CMD_READ); //write second address byte, with read command
vsluiter 1:5e22bf1a3817 65 count = len; //
vsluiter 1:5e22bf1a3817 66 ptr = (uint8_t *)buf; //let ptr point to the buffer location
vsluiter 1:5e22bf1a3817 67 while (count > 1) { //while number of received bytes is smaller than len
vsluiter 1:5e22bf1a3817 68 *ptr = et1100_spi.write(ESC_NEXT); //write dummy byte to start transaction
vsluiter 1:5e22bf1a3817 69 count--; //decrease bytecounter
vsluiter 1:5e22bf1a3817 70 ptr++; //increase buffer pointer
vsluiter 1:5e22bf1a3817 71 }
vsluiter 1:5e22bf1a3817 72 *ptr = et1100_spi.write( ESC_TERM); //write last byte
vsluiter 1:5e22bf1a3817 73
vsluiter 1:5e22bf1a3817 74 //SPI_Cmd(SPI1, DISABLE); //set SS high
vsluiter 1:5e22bf1a3817 75 et1100_ss.write(1);
vsluiter 1:5e22bf1a3817 76 return pstat; //return inverted MISO state from previous transaction
vsluiter 1:5e22bf1a3817 77 }
vsluiter 1:5e22bf1a3817 78 #endif
vsluiter 1:5e22bf1a3817 79
vsluiter 1:5e22bf1a3817 80 #ifdef WSREAD
vsluiter 1:5e22bf1a3817 81 // use read with wait state byte, needed if SPI>12Mhz or>16KB addressing
vsluiter 1:5e22bf1a3817 82 /** void ESC_read(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 83 \brief read function for SPI ESC interface ("PDI")
vsluiter 1:5e22bf1a3817 84 \param address - address of register in ESC
vsluiter 1:5e22bf1a3817 85 \param *buf pointer to read buffer in microcontroller
vsluiter 1:5e22bf1a3817 86 \param len length of memory section to read, from start of 'address'
vsluiter 1:5e22bf1a3817 87 \param *tAlevent microcontroller status register to write response to
vsluiter 1:5e22bf1a3817 88 */
vsluiter 1:5e22bf1a3817 89 uint8 ESC_read(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 90 {
vsluiter 1:5e22bf1a3817 91 uint8 pstat;
vsluiter 1:5e22bf1a3817 92 uint8 count;
vsluiter 1:5e22bf1a3817 93 uint8 *ptr;
vsluiter 1:5e22bf1a3817 94 uint16union adr;
vsluiter 1:5e22bf1a3817 95 //SPI_Cmd(SPI1, ENABLE); //pull nSS low
vsluiter 1:5e22bf1a3817 96 et1100_ss.write(0);
vsluiter 1:5e22bf1a3817 97 adr.w = address << 3;
vsluiter 1:5e22bf1a3817 98 pstat = !et1100_miso.read();
vsluiter 1:5e22bf1a3817 99 ptr = tALevent;
vsluiter 1:5e22bf1a3817 100 *ptr = et1100_spi.write(adr.b[1]); //write first address byte
vsluiter 1:5e22bf1a3817 101 ptr++; //increase write pointer
vsluiter 1:5e22bf1a3817 102 *ptr = et1100_spi.write(adr.b[0] + ESC_CMD_READWS); //write second address byte, with readws command
vsluiter 1:5e22bf1a3817 103 et1100_spi.write( ESC_TERM); //write byte to start transaction //COMMENT: Why not ESC_NEXT?
vsluiter 1:5e22bf1a3817 104 ptr = buf; //change ptr to point to buffer
vsluiter 1:5e22bf1a3817 105 count = len; //
vsluiter 1:5e22bf1a3817 106 while (count > 1) { //while number of received bytes is smaller than len
vsluiter 1:5e22bf1a3817 107 *(ptr) = et1100_spi.write( ESC_NEXT); //write dummy byte to start transaction
vsluiter 1:5e22bf1a3817 108 count--; //decrease bytecounter
vsluiter 1:5e22bf1a3817 109 ptr++; //increase buffer pointer
vsluiter 1:5e22bf1a3817 110 }
vsluiter 1:5e22bf1a3817 111 *(ptr) = et1100_spi.write( ESC_TERM); //write last byte
vsluiter 1:5e22bf1a3817 112 //SPI_Cmd(SPI1, DISABLE); //set SS high
vsluiter 1:5e22bf1a3817 113 et1100_ss.write(1);
vsluiter 1:5e22bf1a3817 114 return pstat; //return inverted MISO state from previous transaction
vsluiter 1:5e22bf1a3817 115 }
vsluiter 1:5e22bf1a3817 116 #endif
vsluiter 1:5e22bf1a3817 117
vsluiter 1:5e22bf1a3817 118 /** void ESC_write(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 119 \brief write function for SPI ESC interface ("PDI")
vsluiter 1:5e22bf1a3817 120 \param address - address of register in ESC
vsluiter 1:5e22bf1a3817 121 \param *buf pointer to data buffer in microcontroller, buffer contains 'len' bytes to write to location 'address'
vsluiter 1:5e22bf1a3817 122 \param len length of memory section to write, from start of 'address'
vsluiter 1:5e22bf1a3817 123 \param *tAlevent microcontroller status register to write response to
vsluiter 1:5e22bf1a3817 124 */
vsluiter 1:5e22bf1a3817 125 uint8 ESC_write(uint16 address, void *buf, uint8 len, void *tALevent)
vsluiter 1:5e22bf1a3817 126 {
vsluiter 1:5e22bf1a3817 127 uint8 pstat;
vsluiter 1:5e22bf1a3817 128 uint8 count;
vsluiter 1:5e22bf1a3817 129 uint8 *ptr;
vsluiter 1:5e22bf1a3817 130 uint16union adr;
vsluiter 1:5e22bf1a3817 131 adr.w = address << 3; //shift 16-bit address value 3 places, then write to adr (union of uint16 and uint8[2])
vsluiter 1:5e22bf1a3817 132 pstat = !3; //last cmd result ///////COMMENT: Shouldn't this be pstat = !(PINB & (1 << i_spimiso));? Otherwise just return 0
vsluiter 1:5e22bf1a3817 133 //SPI_Cmd(SPI1, ENABLE); //pull nSS low
vsluiter 1:5e22bf1a3817 134 et1100_ss.write(0);
vsluiter 1:5e22bf1a3817 135 ptr = (uint8_t *)tALevent; //set pointer to tAlevent
vsluiter 1:5e22bf1a3817 136 *ptr = et1100_spi.write( adr.b[1]); //write first address byte
vsluiter 1:5e22bf1a3817 137 ptr++; //increase pointer to second byte of tAlevent
vsluiter 1:5e22bf1a3817 138 *ptr = et1100_spi.write(adr.b[0] + ESC_CMD_WRITE); //write second address byte with write command
vsluiter 1:5e22bf1a3817 139 count = len; //
vsluiter 1:5e22bf1a3817 140 ptr = (uint8_t *)buf; //set pointer to buffer location
vsluiter 1:5e22bf1a3817 141 while (count > 0) { //while number of received bytes is smaller than len
vsluiter 1:5e22bf1a3817 142 et1100_spi.write( *(ptr)); //write byte from buffer
vsluiter 1:5e22bf1a3817 143 ptr++; //increase buffer pointer
vsluiter 1:5e22bf1a3817 144 count--; //decrease counter
vsluiter 1:5e22bf1a3817 145 }
vsluiter 1:5e22bf1a3817 146 //SPI_Cmd(SPI1, DISABLE); //set SS high
vsluiter 1:5e22bf1a3817 147 et1100_ss.write(1);
vsluiter 1:5e22bf1a3817 148 return pstat;
vsluiter 1:5e22bf1a3817 149 }
vsluiter 1:5e22bf1a3817 150
vsluiter 1:5e22bf1a3817 151