Ahmed HADDAD
/
EasyCAT_lib
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EasyCAT.h
00001 //******************************************************************************************** 00002 // * 00003 // AB&T Tecnologie Informatiche - Ivrea Italy * 00004 // http://www.bausano.net * 00005 // https://www.ethercat.org/en/products/791FFAA126AD43859920EA64384AD4FD.htm * 00006 // * 00007 //******************************************************************************************** 00008 // * 00009 // This software is distributed as an example, in the hope that it could be useful, * 00010 // WITHOUT ANY WARRANTY, even the implied warranty of FITNESS FOR A PARTICULAR PURPOSE * 00011 // * 00012 //******************************************************************************************** 00013 00014 00015 //----- EasyCAT library for mbed boards 170912 ---------------------------------------------- 00016 //----- Derived from the AB&T EasyCAT Arduino shield library V 1.5 -------------------------- 00017 00018 //----- Tested with the STM32 NUCLEO-F767ZI board ------------------------------------------- 00019 00020 00021 00022 00023 #ifndef EasyCAT_H 00024 #define EasyCAT_H 00025 00026 00027 00028 00029 //****** PDO configuration parameters ******************************************************** 00030 00031 // Here we can define how many I/O bytes our EasyCAT can exchange 00032 00033 // We can use STANDARD MODE or CUSTOM MODE 00034 // !!! Warning: CUSTOM MODE is recommended only for advanced users !!! 00035 00036 // In STANDARD MODE the EasyCAT exchanges a fixed number of bytes 00037 // in input and in output 00038 // The number of bytes in input are equal to the number of bytes in output 00039 // Valid values are 16, 32, 64, 128 00040 // 00041 // The configuration EEPROM on board of the EasyCAT must be 00042 // loaded with the corresponding bin file, provided by AB&T 00043 // 00044 // The EasyCAT is shipped configured for 32+32 bytes I.E. with 00045 // the "EasyCAT_32_32.bin" file loaded into the configuration EEPROM 00046 00047 00048 //-- BYTE_NUM ----------- Byte exchanged ------ Config EEPROM file 00049 00050 //#define BYTE_NUM 16 // 16 + 16 EasyCAT_16_16.bin 00051 //#define BYTE_NUM 32 // 32 + 32 EasyCAT_32_32.bin 00052 //#define BYTE_NUM 64 // 64 + 64 EasyCAT_64_64.bin 00053 //#define BYTE_NUM 128 // 128 + 128 EasyCAT_128_128.bin 00054 00055 00056 00057 // In CUSTOM MODE, recommended only for advanced users, the EasyCAT exchanges 00058 // a configurable number of bytes, between 0 and 128, in input and in output 00059 // The number of bytes in input and in output can be different 00060 // 00061 // The configuration EEPROM on board of the EasyCAT must be 00062 // loaded with a suitable bin file, provided by the user 00063 // or with the "EasyCAT_configurable.bin" file provided by AB&T 00064 00065 // Comment all the above BYTE_NUM #define for the STANDARD MODE 00066 // and define here the custom number of exchanged bytes 00067 00068 //----- CUSTOM_MODE example ------- 00069 // 00070 #define CUST_BYTE_NUM_OUT 8 // total number of bytes in output 00071 #define CUST_BYTE_NUM_IN 24 // total number of bytes in input 00072 00073 // We can also customize names and data types for the PDOs 00074 // see the example in this file (look for tag "Custom data types example") 00075 00076 //************************************************************************************* 00077 00078 00079 00080 //-- the preprocessor calculates the parameters necessary to transfer out data --- 00081 00082 // define TOT_BYTE_NUM_OUT as the total 00083 // number of byte you need to 00084 // transfer in output (between 0 and 128) 00085 // this must match your ESI XML 00086 00087 #ifdef BYTE_NUM 00088 #define TOT_BYTE_NUM_OUT BYTE_NUM // bytes in output 00089 #else 00090 #define TOT_BYTE_NUM_OUT CUST_BYTE_NUM_OUT // any number between 0 and 128 00091 #endif 00092 00093 00094 #if ((TOT_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes in output 00095 #define TOT_BYTE_NUM_ROUND_OUT ((TOT_BYTE_NUM_OUT | 0x03) + 1) 00096 #else // rounded to 4 (long) 00097 #define TOT_BYTE_NUM_ROUND_OUT TOT_BYTE_NUM_OUT // 00098 #endif // 00099 00100 #if TOT_BYTE_NUM_OUT > 64 // if we have more then 64 bytes 00101 // we have to split the transfer in two 00102 00103 #define SEC_BYTE_NUM_OUT (TOT_BYTE_NUM_OUT - 64) // number of bytes of the second transfer 00104 00105 #if ((SEC_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes of the second transfer 00106 #define SEC_BYTE_NUM_ROUND_OUT ((SEC_BYTE_NUM_OUT | 0x03) + 1) 00107 #else // rounded to 4 (long) 00108 #define SEC_BYTE_NUM_ROUND_OUT SEC_BYTE_NUM_OUT// 00109 #endif // 00110 00111 #define SEC_LONG_NUM_OUT SEC_BYTE_NUM_ROUND_OUT/4// number of long of the second transfer 00112 00113 #define FST_BYTE_NUM_OUT 64 // number of bytes of the first transfer 00114 #define FST_BYTE_NUM_ROUND_OUT 64 // number of bytes of the first transfer 00115 // rounded to 4 (long) 00116 #define FST_LONG_NUM_OUT 16 // number of long of the second transfer 00117 00118 00119 #else // if we have 64 bytes max we tranfert 00120 // them in just one round 00121 00122 #define FST_BYTE_NUM_OUT TOT_BYTE_NUM_OUT // number of bytes of the first and only transfer 00123 00124 #if ((FST_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes of the first and only transfer 00125 #define FST_BYTE_NUM_ROUND_OUT ((FST_BYTE_NUM_OUT | 0x03) + 1) 00126 #else // rounded to 4 (long) 00127 #define FST_BYTE_NUM_ROUND_OUT FST_BYTE_NUM_OUT 00128 #endif 00129 00130 #define FST_LONG_NUM_OUT FST_BYTE_NUM_ROUND_OUT/4// number of long of the first and only transfer 00131 00132 #define SEC_BYTE_NUM_OUT 0 // we don't use the second round 00133 #define SEC_BYTE_NUM_ROUND_OUT 0 // 00134 #define SEC_LONG_NUM_OUT 0 // 00135 00136 #endif 00137 00138 00139 //-- the preprocessor calculates the parameters necessary to transfer in data --- 00140 00141 // define TOT_BYTE_NUM_IN the total 00142 // number of byte you need to 00143 // transfer in input (between 0 and 128) 00144 00145 #ifdef BYTE_NUM 00146 #define TOT_BYTE_NUM_IN BYTE_NUM // bytes in input 00147 #else 00148 #define TOT_BYTE_NUM_IN CUST_BYTE_NUM_IN // any number between 0 and 128 00149 #endif 00150 00151 00152 #if ((TOT_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes in output 00153 #define TOT_BYTE_NUM_ROUND_IN ((TOT_BYTE_NUM_IN | 0x03) + 1) 00154 #else // rounded to 4 (long) 00155 #define TOT_BYTE_NUM_ROUND_IN TOT_BYTE_NUM_IN // 00156 #endif // 00157 00158 #if TOT_BYTE_NUM_IN > 64 // if we have more then 64 bytes 00159 // we have to split the transfer in two 00160 00161 #define SEC_BYTE_NUM_IN (TOT_BYTE_NUM_IN - 64) // number of bytes of the second transfer 00162 00163 #if ((SEC_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes of the second transfer 00164 #define SEC_BYTE_NUM_ROUND_IN ((SEC_BYTE_NUM_IN | 0x03) + 1) 00165 #else // rounded to 4 (long) 00166 #define SEC_BYTE_NUM_ROUND_IN SEC_BYTE_NUM_IN // 00167 #endif // 00168 00169 #define SEC_LONG_NUM_IN SEC_BYTE_NUM_ROUND_IN/4 // number of long of the second transfer 00170 00171 #define FST_BYTE_NUM_IN 64 // number of bytes of the first transfer 00172 #define FST_BYTE_NUM_ROUND_IN 64 // number of bytes of the first transfer 00173 // rounded to 4 (long) 00174 #define FST_LONG_NUM_IN 16 // number of long of the second transfer 00175 00176 00177 #else // if we have 64 bytes max we tranfert 00178 // them in just one round 00179 00180 #define FST_BYTE_NUM_IN TOT_BYTE_NUM_IN // number of bytes of the first and only transfer 00181 00182 #if ((FST_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes of the first and only transfer 00183 #define FST_BYTE_NUM_ROUND_IN ((FST_BYTE_NUM_IN | 0x03) + 1) 00184 #else // rounded to 4 (long) 00185 #define FST_BYTE_NUM_ROUND_IN FST_BYTE_NUM_IN 00186 #endif 00187 00188 #define FST_LONG_NUM_IN FST_BYTE_NUM_ROUND_IN/4 // number of long of the first and only transfer 00189 00190 #define SEC_BYTE_NUM_IN 0 // we don't use the second round 00191 #define SEC_BYTE_NUM_ROUND_IN 0 // 00192 #define SEC_LONG_NUM_IN 0 // 00193 00194 #endif 00195 00196 00197 //--------------------------------------------------------------------------------- 00198 00199 //----------------- sanity check ------------------------------------------------------- 00200 00201 00202 #ifdef BYTE_NUM // STANDARD MODE and CUSTOM MODE 00203 // cannot be defined at the same time 00204 #ifdef CUST_BYTE_NUM_OUT 00205 #error "BYTE_NUM and CUST_BYTE_NUM_OUT cannot be defined at the same time !!!!" 00206 #error "define them correctly in file EasyCAT.h" 00207 #endif 00208 00209 #ifdef CUST_BYTE_NUM_IN 00210 #error "BYTE_NUM and CUST_BYTE_NUM_IN cannot be defined at the same time !!!!" 00211 #error "define them correctly in file EasyCAT.h" 00212 #endif 00213 #endif 00214 00215 #ifdef BYTE_NUM //--- for BYTE_NUM we accept only 16 32 64 128 -- 00216 00217 #if ((BYTE_NUM !=16) && (BYTE_NUM !=32) && (BYTE_NUM !=64) && (BYTE_NUM !=128)) 00218 #error "BYTE_NUM must be 16, 32, 64 or 128 !!! define it correctly in file EasyCAT.h" 00219 #endif 00220 00221 #else 00222 //--- CUST_BYTE_NUM_OUT and CUST_BYTE_NUM_IN -------- 00223 // must be max 128 00224 #if (CUST_BYTE_NUM_OUT > 128) 00225 #error "CUST_BYTE_NUM_OUT must be max 128 !!! define it correctly in file EasyCAT.h" 00226 #endif 00227 00228 #if (CUST_BYTE_NUM_IN > 128) 00229 #error "CUST_BYTE_NUM_IN must be max 128 !!! define it correctly in file EasyCAT.h" 00230 #endif 00231 00232 #endif 00233 00234 00235 //************************************************************************************************* 00236 00237 00238 00239 00240 //---- LAN9252 registers -------------------------------------------------------------------------- 00241 00242 //---- access to EtherCAT registers ------------------- 00243 00244 #define ECAT_CSR_DATA 0x0300 // EtherCAT CSR Interface Data Register 00245 #define ECAT_CSR_CMD 0x0304 // EtherCAT CSR Interface Command Register 00246 00247 00248 //---- access to EtherCAT process RAM ----------------- 00249 00250 #define ECAT_PRAM_RD_ADDR_LEN 0x0308 // EtherCAT Process RAM Read Address and Length Register 00251 #define ECAT_PRAM_RD_CMD 0x030C // EtherCAT Process RAM Read Command Register 00252 #define ECAT_PRAM_WR_ADDR_LEN 0x0310 // EtherCAT Process RAM Write Address and Length Register 00253 #define ECAT_PRAM_WR_CMD 0x0314 // EtherCAT Process RAM Write Command Register 00254 00255 #define ECAT_PRAM_RD_DATA 0x0000 // EtherCAT Process RAM Read Data FIFO 00256 #define ECAT_PRAM_WR_DATA 0x0020 // EtherCAT Process RAM Write Data FIFO 00257 00258 //---- EtherCAT registers ----------------------------- 00259 00260 #define AL_STATUS 0x0130 // AL status 00261 #define WDOG_STATUS 0x0440 // watch dog status 00262 #define AL_EVENT_MASK 0x0204 // AL event interrupt mask 00263 00264 //---- LAN9252 registers ------------------------------ 00265 00266 #define HW_CFG 0x0074 // hardware configuration register 00267 #define BYTE_TEST 0x0064 // byte order test register 00268 #define RESET_CTL 0x01F8 // reset register 00269 #define ID_REV 0x0050 // chip ID and revision 00270 #define IRQ_CFG 0x0054 // interrupt configuration 00271 #define INT_EN 0x005C // interrupt enable 00272 00273 00274 //---- LAN9252 flags ------------------------------------------------------------------------------ 00275 00276 #define ECAT_CSR_BUSY 0x80 00277 00278 #define PRAM_ABORT 0x40000000 00279 00280 #define PRAM_BUSY 0x80 00281 00282 #define PRAM_AVAIL 0x01 00283 00284 #define READY 0x08 00285 00286 #define DIGITAL_RST 0x00000001 00287 00288 00289 //---- EtherCAT flags ----------------------------------------------------------------------------- 00290 00291 // EtherCAT state machine 00292 00293 #define ESM_INIT 0x01 // init 00294 #define ESM_PREOP 0x02 // pre-operational 00295 #define ESM_BOOT 0x03 // bootstrap 00296 #define ESM_SAFEOP 0x04 // safe-operational 00297 #define ESM_OP 0x08 // operational 00298 00299 00300 //--- ESC commands -------------------------------------------------------------------------------- 00301 00302 #define ESC_WRITE 0x80 00303 #define ESC_READ 0xC0 00304 00305 00306 //---- SPI ---------------------------------------------------------------------------------------- 00307 00308 #define COMM_SPI_READ 0x03 00309 #define COMM_SPI_WRITE 0x02 00310 00311 #define DUMMY_BYTE 0xFF 00312 00313 00314 00315 //---- typedef ------------------------------------------------------------------------------------ 00316 00317 typedef union 00318 { 00319 unsigned short Word; 00320 unsigned char Byte[2]; 00321 } UWORD; 00322 00323 typedef union 00324 { 00325 unsigned long Long; 00326 unsigned short Word[2]; 00327 unsigned char Byte[4]; 00328 } ULONG; 00329 00330 00331 typedef union //-- output buffer ----------------- 00332 { // 00333 uint8_t Byte [TOT_BYTE_NUM_ROUND_OUT]; // 00334 00335 #if CUST_BYTE_NUM_OUT > 0 //----- Custom data types example ----- 00336 // 00337 struct // Here we can define our custom 00338 { float Running_Time_T ; // data types and names for the outputs 00339 // 00340 // The total number of bytes declared 00341 uint8_t State_Step_T ; // in this structure must be equal 00342 uint8_t Status_Driver_T ; // to the value assigned to CUST_BYTE_NUM_OUT 00343 uint8_t END_T ; 00344 uint8_t EtherCAT ; // In this case 1+ 4+4+4+ 4+4+4+ 4+4+4+ 4+4+4 = 49 00345 }Cust; // 00346 00347 #endif // 00348 00349 } PROCBUFFER_OUT; // 00350 00351 00352 typedef union //-- input buffer ------------------ 00353 { // 00354 uint8_t Byte [TOT_BYTE_NUM_ROUND_IN]; // 00355 00356 #if CUST_BYTE_NUM_IN > 0 //----- Custom data types example ------ 00357 // 00358 struct // Here we can define our custom 00359 { float Standing_Time_T ; 00360 float Step_Time_T ; 00361 float Wait_COM_Tr_Time_T ; 00362 float COM_Tr_Threshold_T ; 00363 00364 // data types and names for the inputs 00365 int8_t Enable; 00366 int8_t EnableLateral; 00367 int8_t QuickStop; 00368 int8_t ClearFault; 00369 00370 00371 00372 int8_t Stand; 00373 int8_t Start; 00374 int8_t Stepping; 00375 int8_t EndStep; 00376 00377 00378 00379 00380 00381 }Cust; // 00382 // 00383 #endif // 00384 00385 } PROCBUFFER_IN; // 00386 00387 00388 typedef enum 00389 { 00390 ASYNC, 00391 DC_SYNC, 00392 SM_SYNC 00393 }SyncMode; 00394 00395 00396 00397 //------------------------------------------------------------------------------------------------- 00398 00399 class EasyCAT 00400 { 00401 public: 00402 EasyCAT(); // default constructor 00403 EasyCAT(PinName SCS); 00404 EasyCAT(SyncMode Sync); 00405 EasyCAT(PinName SCS, SyncMode Sync); 00406 00407 00408 unsigned char MainTask(); // EtherCAT main task 00409 // must be called cyclically by the application 00410 00411 bool Init(); // EasyCAT board initialization 00412 00413 PROCBUFFER_OUT BufferOut; // output process data buffer 00414 PROCBUFFER_IN BufferIn; // input process data buffer 00415 00416 00417 private: 00418 void SPIWriteRegisterDirect (unsigned short Address, unsigned long DataOut); 00419 unsigned long SPIReadRegisterDirect (unsigned short Address, unsigned char Len); 00420 00421 void SPIWriteRegisterIndirect (unsigned long DataOut, unsigned short Address, unsigned char Len); 00422 unsigned long SPIReadRegisterIndirect (unsigned short Address, unsigned char Len); 00423 00424 void SPIReadProcRamFifo(); 00425 void SPIWriteProcRamFifo(); 00426 00427 PinName SCS_; 00428 SyncMode Sync_; 00429 }; 00430 00431 #endif
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