Knud Dalgaard
/
310-TMC3-TestHW
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Revision 0:c92ca0229c9a, committed 2014-05-09
- Comitter:
- knuderich
- Date:
- Fri May 09 11:30:55 2014 +0000
- Commit message:
- P029 P030 gpio
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/MCP23008/MCP23008.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,154 @@
+/* MCP23017 library for Arduino
+ Copyright (C) 2009 David Pye <davidmpye@gmail.com
+ Modified for use on the MBED ARM platform
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "MCP23008.h"
+#include "mbed.h"
+
+//===============================================================================================
+// Init and setup functions
+//===============================================================================================
+
+/*-----------------------------------------------------------------------------
+ *
+ */
+MCP23008::MCP23008(PinName sda, PinName scl, int i2cAddress) : _i2c(sda, scl)
+{
+ MCP23008_i2cAddress = i2cAddress;
+ reset(); // initialise chip to power-on condition
+}
+
+/*-----------------------------------------------------------------------------
+ * reset
+ * Set configuration (IOCON) and direction(IODIR) registers to initial state
+ */
+void MCP23008::reset()
+{
+ //
+ // set direction registers to inputs
+ //
+ writeRegister(IODIR, (unsigned char)0xFF);
+ //
+ // set all other registers to zero (last of 10 registers is OLAT)
+ //
+ for (int reg_addr = IPOL ; reg_addr <= OLAT ; reg_addr++) {
+ writeRegister(reg_addr, (unsigned char)0x00);
+ }
+
+ //
+ // Set the shadow registers to power-on state
+ //
+ shadow_IODIR = 0xFF;
+ shadow_GPIO = 0;
+ shadow_GPPU = 0;
+ shadow_IPOL = 0;
+}
+
+
+
+/*-----------------------------------------------------------------------------
+ * Config
+ * set direction and pull-up registers
+ */
+void MCP23008::config(unsigned char dir_config, unsigned char pullup_config, unsigned char polarity_config)
+{
+ shadow_IODIR = dir_config;
+ writeRegister(IODIR, (unsigned char)shadow_IODIR);
+ shadow_GPPU = pullup_config;
+ writeRegister(GPPU, (unsigned char)shadow_GPPU);
+ shadow_IPOL = polarity_config;
+ writeRegister(IPOL, (unsigned char)shadow_IPOL);
+}
+
+
+
+/*-----------------------------------------------------------------------------
+ * writeRegister
+ * write a byte
+ */
+void MCP23008::writeRegister(int regAddress, unsigned char data)
+{
+ char buffer[2];
+
+ buffer[0] = regAddress;
+ buffer[1] = data;
+ _i2c.write(MCP23008_i2cAddress, buffer, 2);
+}
+
+
+
+/*-----------------------------------------------------------------------------
+ * readRegister
+ */
+unsigned char MCP23008::readRegister(int regAddress)
+{
+ char buffer[1];
+
+ buffer[0] = regAddress;
+ _i2c.write(MCP23008_i2cAddress, buffer, 1);
+ _i2c.read(MCP23008_i2cAddress, buffer, 1);
+
+ return ( (unsigned char)buffer[0] );
+}
+
+
+//===============================================================================================
+// User functions
+//===============================================================================================
+
+/*-----------------------------------------------------------------------------
+ * Write a combination of bits to the 8-bit port
+ */
+void MCP23008::write_mask(unsigned char data, unsigned char mask)
+{
+ shadow_GPIO = (shadow_GPIO & ~mask) | data;
+ writeRegister(GPIO, (unsigned char)shadow_GPIO);
+}
+
+/*-----------------------------------------------------------------------------
+ * read_mask
+ */
+int MCP23008::read_mask(unsigned char mask)
+{
+ shadow_GPIO = readRegister(GPIO);
+ return (shadow_GPIO & mask);
+}
+
+
+/*-----------------------------------------------------------------------------
+ * write_bit
+ * Write a 1/0 to a single bit of the 16-bit port
+ */
+void MCP23008::write_bit(int value, int bit_number) {
+ if (value == 0) {
+ shadow_GPIO &= ~(1 << bit_number);
+ } else {
+ shadow_GPIO |= 1 << bit_number;
+ }
+ writeRegister(GPIO, (unsigned char)shadow_GPIO);
+}
+
+
+/*-----------------------------------------------------------------------------
+ * read_bit
+ * Read a single bit from the 16-bit port
+ */
+int MCP23008::read_bit(int bit_number) {
+ shadow_GPIO = readRegister(GPIO);
+ return ((shadow_GPIO >> bit_number) & 0x01);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/MCP23008/MCP23008.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,133 @@
+/* MCP23008 library for Arduino
+ Copyright (C) 2013 Stefan Jaensch, based on MCP23017 from David Pye <davidmpye@gmail.com
+ Modified for use on the MBED ARM platform
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MBED_MCP23008_H
+#define MBED_MCP23008_H
+
+#include "mbed.h"
+
+//
+// Register defines from data sheet - we set IOCON.BANK to 0
+// as it is easier to manage the registers sequentially.
+//
+#define IODIR 0x00
+#define IPOL 0x01
+#define GPINTEN 0x02
+#define DEFVAL 0x03
+#define INTCON 0x04
+#define IOCON 0x05
+#define GPPU 0x06
+#define INTF 0x07
+#define INTCAP 0x08
+#define GPIO 0x09
+#define OLAT 0x0A
+
+#define I2C_BASE_ADDRESS 0x40
+
+#define DIR_OUTPUT 0
+#define DIR_INPUT 1
+
+
+#define MCP23008_GP0 ( 0x01 )
+#define MCP23008_GP1 ( 0x02 )
+#define MCP23008_GP2 ( 0x04 )
+#define MCP23008_GP3 ( 0x08 )
+#define MCP23008_GP4 ( 0x10 )
+#define MCP23008_GP5 ( 0x20 )
+#define MCP23008_GP6 ( 0x40 )
+#define MCP23008_GP7 ( 0x80 )
+
+
+/** MCP23008 class
+ *
+ * Allow access to an I2C connected MCP23008 8-bit I/O extender chip
+ * Example:
+ * @code
+ * MCP23008 *par_port;
+ ...
+ par_port = new MCP23008( p9, p10, I2C_ADD);
+ par_port->config(0xF0,0,0);
+ * @endcode
+ *
+ */
+class MCP23008 {
+public:
+ /** Constructor for the MCP23008 connected to specified I2C pins at a specific address
+ *
+ * 8-bit I/O expander with I2C interface
+ *
+ * @param sda I2C data pin
+ * @param scl I2C clock pin
+ * @param i2cAddress I2C address
+ */
+ MCP23008(PinName sda, PinName scl, int i2cAddress);
+
+ /** Reset MCP23008 device to its power-on state
+ */
+ void reset(void);
+
+ /** Configure an MCP23008 device
+ *
+ * @param dir_config data direction value (1 = input, 0 = output)
+ * @param pullup_config 100k pullup value (1 = enabled, 0 = disabled)
+ * @param polarity_config polarity value (1 = flip, 0 = normal)
+ */
+ void config(unsigned char dir_config, unsigned char pullup_config, unsigned char polarity_config);
+
+ /** Write a masked 16-bit value to the device
+ *
+ * @param data 8-bit data value
+ * @param mask 8-bit mask value
+ */
+ void write_mask(unsigned char data, unsigned char mask);
+
+ /** Read a 8-bit value from the device and apply mask
+ *
+ * @param mask 8-bit mask value
+ * @return 8-bit data with mask applied
+ */
+ int read_mask(unsigned char mask);
+
+ /** Write a 0/1 value to an output bit
+ *
+ * @param value 0 or 1
+ * @param bit_number bit number range 0 --> 7
+ */
+ void write_bit(int value, int bit_number);
+
+ /** Read a 0/1 value from an input bit
+ *
+ * @param bit_number bit number range 0 --> 7
+ * @return 0/1 value read
+ */
+ int read_bit(int bit_number);
+
+
+
+
+protected:
+ void writeRegister(int regAddress, unsigned char data);
+ unsigned char readRegister(int regAddress);
+
+
+ I2C _i2c;
+ int MCP23008_i2cAddress; // physical I2C address
+ unsigned char shadow_GPIO, shadow_IODIR, shadow_GPPU, shadow_IPOL; // Cached copies of the register values
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/MCP23017/MCP23017.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,242 @@
+/* MCP23017 library for Arduino
+ Copyright (C) 2009 David Pye <davidmpye@gmail.com
+ Modified for use on the MBED ARM platform
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "MCP23017.h"
+#include "mbed.h"
+
+union {
+ uint8_t value8[2];
+ uint16_t value16;
+} tmp_data;
+
+/*-----------------------------------------------------------------------------
+ *
+ */
+MCP23017::MCP23017(PinName sda, PinName scl, int i2cAddress) : _i2c(sda, scl) {
+ MCP23017_i2cAddress = i2cAddress;
+ reset(); // initialise chip to power-on condition
+}
+
+/*-----------------------------------------------------------------------------
+ * reset
+ * Set configuration (IOCON) and direction(IODIR) registers to initial state
+ */
+void MCP23017::reset() {
+//
+// First make sure that the device is in BANK=0 mode
+//
+ writeRegister(0x05, (unsigned char)0x00);
+//
+// set direction registers to inputs
+//
+ writeRegister(IODIR, (unsigned short)0xFFFF);
+//
+// set all other registers to zero (last of 10 registers is OLAT)
+//
+ for (int reg_addr = 2 ; reg_addr <= OLAT ; reg_addr+=2) {
+ writeRegister(reg_addr, (unsigned short)0x0000);
+ }
+//
+// Set the shadow registers to power-on state
+//
+ shadow_IODIR = 0xFFFF;
+ shadow_GPIO = 0;
+ shadow_GPPU = 0;
+ shadow_IPOL = 0;
+}
+
+/*-----------------------------------------------------------------------------
+ * write_bit
+ * Write a 1/0 to a single bit of the 16-bit port
+ */
+void MCP23017::write_bit(int value, int bit_number) {
+ if (value == 0) {
+ shadow_GPIO &= ~(1 << bit_number);
+ } else {
+ shadow_GPIO |= 1 << bit_number;
+ }
+ writeRegister(GPIO, (unsigned short)shadow_GPIO);
+}
+
+/*-----------------------------------------------------------------------------
+ * Write a combination of bits to the 16-bit port
+ */
+void MCP23017::write_mask(unsigned short data, unsigned short mask) {
+ shadow_GPIO = (shadow_GPIO & ~mask) | data;
+ writeRegister(GPIO, (unsigned short)shadow_GPIO);
+}
+
+/*-----------------------------------------------------------------------------
+ * read_bit
+ * Read a single bit from the 16-bit port
+ */
+int MCP23017::read_bit(int bit_number) {
+ shadow_GPIO = readRegister(GPIO);
+ return ((shadow_GPIO >> bit_number) & 0x0001);
+}
+
+/*-----------------------------------------------------------------------------
+ * read_mask
+ */
+int MCP23017::read_mask(unsigned short mask) {
+ shadow_GPIO = readRegister(GPIO);
+ return (shadow_GPIO & mask);
+}
+
+/*-----------------------------------------------------------------------------
+ * Config
+ * set direction and pull-up registers
+ */
+void MCP23017::config(unsigned short dir_config, unsigned short pullup_config, unsigned short polarity_config) {
+ shadow_IODIR = dir_config;
+ writeRegister(IODIR, (unsigned short)shadow_IODIR);
+ shadow_GPPU = pullup_config;
+ writeRegister(GPPU, (unsigned short)shadow_GPPU);
+ shadow_IPOL = polarity_config;
+ writeRegister(IPOL, (unsigned short)shadow_IPOL);
+}
+
+/*-----------------------------------------------------------------------------
+ * writeRegister
+ * write a byte
+ */
+void MCP23017::writeRegister(int regAddress, unsigned char data) {
+ char buffer[2];
+
+ buffer[0] = regAddress;
+ buffer[1] = data;
+ _i2c.write(MCP23017_i2cAddress, buffer, 2);
+}
+
+/*----------------------------------------------------------------------------
+ * write Register
+ * write two bytes
+ */
+void MCP23017::writeRegister(int regAddress, unsigned short data) {
+ char buffer[3];
+
+ buffer[0] = regAddress;
+ tmp_data.value16 = data;
+ buffer[1] = tmp_data.value8[0];
+ buffer[2] = tmp_data.value8[1];
+
+ _i2c.write(MCP23017_i2cAddress, buffer, 3);
+}
+
+/*-----------------------------------------------------------------------------
+ * readRegister
+ */
+int MCP23017::readRegister(int regAddress) {
+ char buffer[2];
+
+ buffer[0] = regAddress;
+ _i2c.write(MCP23017_i2cAddress, buffer, 1);
+ _i2c.read(MCP23017_i2cAddress, buffer, 2);
+
+ return ((int)(buffer[0] + (buffer[1]<<8)));
+}
+
+/*-----------------------------------------------------------------------------
+ * pinMode
+ */
+void MCP23017::pinMode(int pin, int mode) {
+ if (DIR_INPUT) {
+ shadow_IODIR |= 1 << pin;
+ } else {
+ shadow_IODIR &= ~(1 << pin);
+ }
+ writeRegister(IODIR, (unsigned short)shadow_IODIR);
+}
+
+/*-----------------------------------------------------------------------------
+ * digitalRead
+ */
+int MCP23017::digitalRead(int pin) {
+ shadow_GPIO = readRegister(GPIO);
+ if ( shadow_GPIO & (1 << pin)) {
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+/*-----------------------------------------------------------------------------
+ * digitalWrite
+ */
+void MCP23017::digitalWrite(int pin, int val) {
+ //If this pin is an INPUT pin, a write here will
+ //enable the internal pullup
+ //otherwise, it will set the OUTPUT voltage
+ //as appropriate.
+ bool isOutput = !(shadow_IODIR & 1<<pin);
+
+ if (isOutput) {
+ //This is an output pin so just write the value
+ if (val) shadow_GPIO |= 1 << pin;
+ else shadow_GPIO &= ~(1 << pin);
+ writeRegister(GPIO, (unsigned short)shadow_GPIO);
+ } else {
+ //This is an input pin, so we need to enable the pullup
+ if (val) {
+ shadow_GPPU |= 1 << pin;
+ } else {
+ shadow_GPPU &= ~(1 << pin);
+ }
+ writeRegister(GPPU, (unsigned short)shadow_GPPU);
+ }
+}
+
+/*-----------------------------------------------------------------------------
+ * digitalWordRead
+ */
+unsigned short MCP23017::digitalWordRead() {
+ shadow_GPIO = readRegister(GPIO);
+ return shadow_GPIO;
+}
+
+/*-----------------------------------------------------------------------------
+ * digitalWordWrite
+ */
+void MCP23017::digitalWordWrite(unsigned short w) {
+ shadow_GPIO = w;
+ writeRegister(GPIO, (unsigned short)shadow_GPIO);
+}
+
+/*-----------------------------------------------------------------------------
+ * inputPolarityMask
+ */
+void MCP23017::inputPolarityMask(unsigned short mask) {
+ writeRegister(IPOL, mask);
+}
+
+/*-----------------------------------------------------------------------------
+ * inputoutputMask
+ */
+void MCP23017::inputOutputMask(unsigned short mask) {
+ shadow_IODIR = mask;
+ writeRegister(IODIR, (unsigned short)shadow_IODIR);
+}
+
+/*-----------------------------------------------------------------------------
+ * internalPullupMask
+ */
+void MCP23017::internalPullupMask(unsigned short mask) {
+ shadow_GPPU = mask;
+ writeRegister(GPPU, (unsigned short)shadow_GPPU);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/MCP23017/MCP23017.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,143 @@
+/* MCP23017 library for Arduino
+ Copyright (C) 2009 David Pye <davidmpye@gmail.com
+ Modified for use on the MBED ARM platform
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef MBED_MCP23017_H
+#define MBED_MCP23017_H
+
+#include "mbed.h"
+
+//
+// Register defines from data sheet - we set IOCON.BANK to 0
+// as it is easier to manage the registers sequentially.
+//
+#define IODIR 0x00
+#define IPOL 0x02
+#define GPINTEN 0x04
+#define DEFVAL 0x06
+#define INTCON 0x08
+#define IOCON 0x0A
+#define GPPU 0x0C
+#define INTF 0x0E
+#define INTCAP 0x10
+#define GPIO 0x12
+#define OLAT 0x14
+
+#define I2C_BASE_ADDRESS 0x40
+
+#define DIR_OUTPUT 0
+#define DIR_INPUT 1
+
+/** MCP23017 class
+ *
+ * Allow access to an I2C connected MCP23017 16-bit I/O extender chip
+ * Example:
+ * @code
+ * MCP23017 *par_port;
+ * @endcode
+ *
+ */
+class MCP23017 {
+public:
+ /** Constructor for the MCP23017 connected to specified I2C pins at a specific address
+ *
+ * 16-bit I/O expander with I2C interface
+ *
+ * @param sda I2C data pin
+ * @param scl I2C clock pin
+ * @param i2cAddress I2C address
+ */
+ MCP23017(PinName sda, PinName scl, int i2cAddress);
+
+ /** Reset MCP23017 device to its power-on state
+ */
+ void reset(void);
+
+ /** Write a 0/1 value to an output bit
+ *
+ * @param value 0 or 1
+ * @param bit_number bit number range 0 --> 15
+ */
+ void write_bit(int value, int bit_number);
+
+ /** Write a masked 16-bit value to the device
+ *
+ * @param data 16-bit data value
+ * @param mask 16-bit mask value
+ */
+ void write_mask(unsigned short data, unsigned short mask);
+
+ /** Read a 0/1 value from an input bit
+ *
+ * @param bit_number bit number range 0 --> 15
+ * @return 0/1 value read
+ */
+ int read_bit(int bit_number);
+
+ /** Read a 16-bit value from the device and apply mask
+ *
+ * @param mask 16-bit mask value
+ * @return 16-bit data with mask applied
+ */
+ int read_mask(unsigned short mask);
+
+ /** Configure an MCP23017 device
+ *
+ * @param dir_config data direction value (1 = input, 0 = output)
+ * @param pullup_config 100k pullup value (1 = enabled, 0 = disabled)
+ * @param polarity_config polarity value (1 = flip, 0 = normal)
+ */
+ void config(unsigned short dir_config, unsigned short pullup_config, unsigned short polarity_config);
+
+ void writeRegister(int regAddress, unsigned char val);
+ void writeRegister(int regAddress, unsigned short val);
+ int readRegister(int regAddress);
+
+/*-----------------------------------------------------------------------------
+ * pinmode
+ * Set units to sequential, bank0 mode
+ */
+ void pinMode(int pin, int mode);
+ void digitalWrite(int pin, int val);
+ int digitalRead(int pin);
+
+// These provide a more advanced mapping of the chip functionality
+// See the data sheet for more information on what they do
+
+//Returns a word with the current pin states (ie contents of the GPIO register)
+ unsigned short digitalWordRead();
+// Allows you to write a word to the GPIO register
+ void digitalWordWrite(unsigned short w);
+// Sets up the polarity mask that the MCP23017 supports
+// if set to 1, it will flip the actual pin value.
+ void inputPolarityMask(unsigned short mask);
+//Sets which pins are inputs or outputs (1 = input, 0 = output) NB Opposite to arduino's
+//definition for these
+ void inputOutputMask(unsigned short mask);
+// Allows enabling of the internal 100k pullup resisters (1 = enabled, 0 = disabled)
+ void internalPullupMask(unsigned short mask);
+ int read(void);
+ void write(int data);
+
+protected:
+ I2C _i2c;
+ int MCP23017_i2cAddress; // physical I2C address
+ unsigned short shadow_GPIO, shadow_IODIR, shadow_GPPU, shadow_IPOL; // Cached copies of the register values
+
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/RS485.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,198 @@
+#include "mbed.h"
+#include "RS485.h"
+#include "crc16.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+Serial uartRS485(p28, p27);
+DigitalOut RS485RTS( p20 );
+Timeout RS485Timeout;
+Timeout RS485TimeoutTx;
+
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+void RS485_initStructure( void );
+void RS485_rxCallback( void );
+void RS485_rxTimeout( void );
+void RS485_txTimeout( void );
+
+// void testcomm(void); // UpdateAll
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+char RS485Buffer[RS485_BUFFER_LENGTH];
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+sRS485_handler RS485_handler;
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+
+void RS485_init( void )
+{
+ uartRS485.baud(RS485_BAUDRATE);
+ // uartRS485.format(RS485_BITS, Serial::None, RS485_STOPBIT );
+ uartRS485.format(RS485_BITS, Serial::Even, RS485_STOPBIT ); // 21.01.2014 KED
+ RS485RTS = 0;
+ RS485_reset();
+ uartRS485.attach( &RS485_rxCallback, Serial::RxIrq ); // call RS485_rx() on every RX interrupt
+
+ /*
+ #warning TEST
+ testcomm(); // UpdateAll
+ wait(1.0);
+ testcomm(); // UpdateAll
+ */
+}
+
+
+void RS485_reset( void )
+{
+ RS485_handler.ptrRXBuffer = &RS485Buffer[0];
+ RS485_handler.bytesToRead = 0;
+ RS485_handler.mode = RS485_MODE_LISTEN;
+}
+
+
+// Return 1: Sending was successfull
+// Return 0: Could not send data zero bytes
+int RS485_sendData( char *ptrDataToSend, int NumBytes )
+{
+ int i;
+
+ if( NumBytes > 0 )
+ {
+ // Set RS485 driver to sending mode
+ RS485RTS = 1;
+
+ // Send data
+ for( i = 0; i < NumBytes; i++ )
+ {
+ while( !uartRS485.writeable() );
+ uartRS485.putc(*ptrDataToSend);
+ ptrDataToSend++;
+ }//for
+
+ // Restart timeout timer
+ RS485TimeoutTx.attach_us( &RS485_txTimeout, RS485_TX_TIMEOUT_US );
+
+ return 1;
+ }//if
+
+ return 0;
+}
+
+
+
+
+
+
+// Return 1: New data available, get pointer to buffer and number of bytes to read
+// Return 0: No new data available
+int RS485_receiveData( char *& ptrData, int *ptrNumBytes )
+{
+ // Dummy operation to avoid compiler warning
+ ptrData++;
+
+ if( RS485_handler.mode != RS485_MODE_RX_READY )
+ {
+ *ptrNumBytes = 0;
+ return 0;
+ }
+
+ *ptrNumBytes = RS485_handler.bytesToRead;
+ ptrData = &RS485Buffer[0];
+
+ RS485_reset();
+ return 1;
+}
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+// Function is called on RX interrupt
+void RS485_rxCallback( void )
+{
+ char tempChar;
+
+ tempChar = uartRS485.getc();
+
+ // Only save data, if not in blocked mode
+ if( RS485_handler.mode == RS485_MODE_LISTEN ) {
+ if( RS485_handler.bytesToRead < RS485_BUFFER_LENGTH ) { // no buffer overflow
+ // Restart timeout timer
+ RS485Timeout.attach_us( &RS485_rxTimeout, RS485_RX_TIMEOUT_US );
+ // Save received byte
+ *RS485_handler.ptrRXBuffer = tempChar;
+ RS485_handler.ptrRXBuffer++;
+ RS485_handler.bytesToRead++;
+ }
+ }// if
+}
+
+
+void RS485_txTimeout( void )
+{
+ // Set RS485 driver to receiving mode
+ RS485RTS = 0;
+}
+
+
+void RS485_rxTimeout( void )
+{
+ // Disable timeout
+ RS485Timeout.detach();
+ RS485_handler.mode = RS485_MODE_RX_READY; // Transmission is ready
+}
+
+
+/*
+// TEST LCD communication
+void testcomm(void) // UpdateAll
+{
+ char i;
+ unsigned short clacCRC16;
+
+ RS485Buffer[0] = 0x00; // Address
+ RS485Buffer[1] = 0x04; // Command = UpdateAll
+
+ for (i=0; i < 80; i++)
+ {
+ RS485Buffer[i+2] = 0x30;
+ }
+
+ RS485Buffer[82] = 0x01; // linie
+ RS485Buffer[83] = 0x02; // pos
+ RS485Buffer[84] = 0x03; // BlinkingCurserOn
+
+
+ RS485Buffer[85] = 0x00; // LED Error
+
+ RS485Buffer[86] = 0x00; // high Contrast
+ RS485Buffer[87] = 0x00; // low Contrast
+
+
+ calcCRC16(&RS485Buffer[0], 88, &clacCRC16);
+ RS485Buffer[88] = (unsigned char)(0x00FF & (clacCRC16>>8)); // set High Byte
+ RS485Buffer[89] = (unsigned char)(0x00FF & clacCRC16); // set Low Byte
+
+ RS485_sendData( &RS485Buffer[0], 90 );
+}
+
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/RS485.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define RS485_BUFFER_LENGTH 512
+#define RS485_RX_TIMEOUT_US 300
+#define RS485_TX_TIMEOUT_US 300
+#define RS485_BAUDRATE 38400 // Same as Display
+#define RS485_BITS 8
+#define RS485_STOPBIT 1
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+typedef enum
+{
+ RS485_MODE_LISTEN,
+ RS485_MODE_RX_READY,
+ //-----------------
+ CNT_eRS485_mode
+}eRS485_mode;
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+typedef struct
+{
+ eRS485_mode mode; // mode of RS485 hardware
+ char *ptrRXBuffer; // actual read position in buffer
+ char bytesToRead; // Number of received bytes
+}sRS485_handler;
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+extern sRS485_handler RS485_handler;
+extern char RS485Buffer[RS485_BUFFER_LENGTH];
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void RS485_init( void );
+void RS485_reset( void ); // clear all RS485 registers, --> restart
+int RS485_receiveData( char *& ptrData, int *ptrNumBytes );
+int RS485_sendData( char *ptrDataToSend, int NumBytes );
+int RS485_sendDataWithCRC( char *ptrDataToSend, int NumBytes );
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/ana.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,106 @@
+#include "mbed.h"
+#include "ana.h"
+#include "filter.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+AnalogIn ana1(p15);
+AnalogIn ana2(p16);
+AnalogIn ana3(p17);
+Ticker ana_sw_timer;
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+static void ANA_periodical( void );
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static sFLT_LP1Order16BitHandler filterHandlerAna1;
+static sFLT_LP1Order16BitHandler filterHandlerAna2;
+static sFLT_LP1Order16BitHandler filterHandlerAna3;
+static unsigned short ANA_rawSamples[CNT_eANA_Channels];
+static unsigned short ANA_filteredSamples[CNT_eANA_Channels];
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void ANA_init( void )
+{
+ int i;
+
+ for( i = 0; i < CNT_eANA_Channels; i++ )
+ {
+ ANA_rawSamples[i] = 0;
+ ANA_filteredSamples[i] = 0;
+ }
+
+ filterHandlerAna1.filterShift = ANA_LP_FILTER_SHIFT_ANA1;
+ filterHandlerAna2.filterShift = ANA_LP_FILTER_SHIFT_ANA2;
+ filterHandlerAna3.filterShift = ANA_LP_FILTER_SHIFT_ANA3;
+
+ FLT_LP_1Order_16Bit_Init( &filterHandlerAna1 );
+ FLT_LP_1Order_16Bit_Init( &filterHandlerAna2 );
+ FLT_LP_1Order_16Bit_Init( &filterHandlerAna3 );
+
+ ana_sw_timer.attach_us(&ANA_periodical, ANA_SW_TIMER_PERIOD );
+}
+
+
+unsigned short ANA_getRaw(int channel)
+{
+
+ if( (channel < 0) || (channel >= CNT_eANA_Channels) )
+ {
+ return 0;
+ }
+
+ return ANA_rawSamples[channel];
+}
+
+
+unsigned short ANA_getFiltered( int channel )
+{
+ if( (channel < 0) || (channel >= CNT_eANA_Channels) )
+ {
+ return 0;
+ }
+
+ return ANA_filteredSamples[channel];
+}
+
+
+float ANA_scale(float offset, float gain, unsigned short input)
+{
+ return (float)input * gain - offset;
+}
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+static void ANA_periodical( void )
+{
+ ANA_rawSamples[ANA_CH1] = ana1.read_u16();
+ ANA_rawSamples[ANA_CH2] = ana2.read_u16();
+ ANA_rawSamples[ANA_CH3] = ana3.read_u16();
+
+ ANA_filteredSamples[ANA_CH1] = FLT_LP_1Order_16Bit( &filterHandlerAna1, ANA_rawSamples[ANA_CH1] );
+ ANA_filteredSamples[ANA_CH2] = FLT_LP_1Order_16Bit( &filterHandlerAna2, ANA_rawSamples[ANA_CH2] );
+ ANA_filteredSamples[ANA_CH3] = FLT_LP_1Order_16Bit( &filterHandlerAna3, ANA_rawSamples[ANA_CH3] );
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/ana.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define ANA_SW_TIMER_PERIOD 10000 // [us] Period time of call
+#define ANA_LP_FILTER_SHIFT_ANA1 3
+#define ANA_LP_FILTER_SHIFT_ANA2 3
+#define ANA_LP_FILTER_SHIFT_ANA3 3
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+typedef enum
+{
+ ANA_CH1,
+ ANA_CH2,
+ ANA_CH3,
+ //-----------------
+ CNT_eANA_Channels
+}eANA_Channels;
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void ANA_init( void );
+unsigned short ANA_getRaw(int channel);
+unsigned short ANA_getFiltered( int channel );
+float ANA_scale(float offset, float gain, unsigned short input);
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/can.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,113 @@
+#include "mbed.h"
+#include "can.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+CAN can1(p30, p29);
+
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+static void CAN_rxCallback( void );
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static CANMessage CAN_rxMessage;
+static bool CAN_newFrame = false;
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void CAN_init( void )
+{
+ CAN_newFrame = false;
+ can1.reset();
+ can1.frequency( CAN_FREQUENCY );
+ can1.attach( &CAN_rxCallback );
+}
+
+
+// Return:
+// 0 --> no new frame
+// 1 --> new frame was received
+int CAN_get( int *ptrID, char *ptrLen, char *ptrData )
+{
+ int i;
+
+ // No new frame
+ if( CAN_newFrame == false )
+ {
+ *ptrID = 0;
+ *ptrLen = 0;
+ return 0;
+ }
+
+ // New frame was received
+ *ptrID = CAN_rxMessage.id;
+ *ptrLen = CAN_rxMessage.len;
+ for( i = 0; i < CAN_rxMessage.len; i++)
+ {
+ *ptrData = CAN_rxMessage.data[i];
+ ptrData++;
+ }
+
+ CAN_newFrame = false;
+
+ return 1;
+}
+
+
+// Return:
+// 0: ID, Len outside limit or CAN hardware problems
+// 1: Data have been send
+int CAN_send( int ID, char Len, char *ptrData )
+{
+ // Check limits
+ if( Len > 8 )
+ {
+ return 0;
+ }
+
+ if( (ID < 0) || (ID > 0x7FF) )
+ {
+ return 0;
+ }
+
+
+ if( can1.write( CANMessage(ID, ptrData, Len) ) )
+ {
+ return 1;
+ }
+
+ // Error sending data --> reset init CAN
+ CAN_init();
+ return 0;
+}
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+static void CAN_rxCallback( void )
+{
+ can1.read(CAN_rxMessage);
+ CAN_newFrame = true;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/310-TMC3-TestHW/can.h Fri May 09 11:30:55 2014 +0000 @@ -0,0 +1,36 @@ +#include "mbed.h" + + + +//--------------------------------------- +// Definitions +//--------------------------------------- +#define CAN_FREQUENCY ( 500000 ) + + + +//--------------------------------------- +// Enums +//--------------------------------------- + + + + +//--------------------------------------- +// Structures +//--------------------------------------- + + + +//--------------------------------------- +// Global Variables +//--------------------------------------- + + + +//--------------------------------------- +// Global Functions +//--------------------------------------- +void CAN_init( void ); // Init hardware and internal buffer +int CAN_get( int *ptrID, char *ptrLen, char *ptrData ); +int CAN_send( int ID, char Len, char *ptrData );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/crc16.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,67 @@
+
+
+//----------------------------------------
+// Includes
+//----------------------------------------
+#include "mbed.h"
+#include "crc16.h"
+
+
+//----------------------------------------
+// Prototype declaration
+//----------------------------------------
+
+
+//----------------------------------------
+// global Variables
+//----------------------------------------
+
+
+//----------------------------------------
+// Function
+//----------------------------------------
+
+//---------------------------------------------------------------------
+// Function Name: calcCRC16
+// Description: calculate CRC16 from preview CRC16 value and new data byte
+//
+// Inputs: - uint8 *ptrData: first data byte
+// - uint16 numbBytes: Number of data bytes to process
+// - uint16 *ptrCRC16: return value
+//
+// Returns: None
+//
+// Last Change: 05.04.2013
+//-----------------------------------------------------------------------
+void calcCRC16(char *ptrData, int numbBytes, unsigned short *ptrCRC16)
+{
+ unsigned short i;
+ unsigned short i_bytes;
+ unsigned short CRC16;
+ char data;
+
+ CRC16 = CRC16_STARTVALUE;
+
+ for(i_bytes=0; i_bytes < numbBytes; i_bytes++)
+ {
+ data = *ptrData++; // get new data, inc pointer
+
+ for(i=0;i<8;i++)
+ {
+ if( ( (CRC16 ^ data) & 0x01) == 0x01 )
+ {
+ CRC16 >>= 1;
+ CRC16 ^= CRC16_POLYNOME;
+ }//if
+ else
+ {
+ CRC16 >>= 1;
+ }//else
+
+ data >>= 1; // shift data 1 bit right, dividing it by 2
+ }//for
+
+ }//for i_bytes
+
+ *ptrCRC16 = CRC16; //return CRC16
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/310-TMC3-TestHW/crc16.h Fri May 09 11:30:55 2014 +0000 @@ -0,0 +1,30 @@ +#include "mbed.h" + + +//---------------------------------------- +// Structures +//---------------------------------------- + + +//---------------------------------------- +// Definitions +//---------------------------------------- +#define CRC16_POLYNOME 0xA001 +#define CRC16_STARTVALUE 0xFFFF + + +//---------------------------------------- +// global Variables +//---------------------------------------- + + + +//---------------------------------------- +// global Functions -> Prototype declaration +//---------------------------------------- + +// Inputs: - uint16 *ptrCRC16: must be initialized with 0xFFFF +// - uint8 *ptrData: one byte data + +extern void calcCRC16(char *ptrData, int numbBytes, unsigned short *ptrCRC16); +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/di.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,357 @@
+#include "mbed.h"
+#include "uart.h"
+#include "interpret.h"
+#include "di.h"
+#include "MCP23017.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+MCP23017 *DI_PIN1_8_I2C; // Pin: 1..8 and Low, High level reference
+MCP23017 *DI_PIN9_24_I2C; // Pin: 9..24
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static int DI_PinMapping[ DI_NUMBER_PINS ]; // array, keeps MCP23017 pin number for easy access
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void DI_init( void )
+{
+ DI_PinMapping[0] = DI_PIN1;
+ DI_PinMapping[1] = DI_PIN2;
+ DI_PinMapping[2] = DI_PIN3;
+ DI_PinMapping[3] = DI_PIN4;
+ DI_PinMapping[4] = DI_PIN5;
+ DI_PinMapping[5] = DI_PIN6;
+ DI_PinMapping[6] = DI_PIN7;
+ DI_PinMapping[7] = DI_PIN8;
+ DI_PinMapping[8] = DI_PIN9;
+ DI_PinMapping[9] = DI_PIN10;
+ DI_PinMapping[10] = DI_PIN11;
+ DI_PinMapping[11] = DI_PIN12;
+ DI_PinMapping[12] = DI_PIN13;
+ DI_PinMapping[13] = DI_PIN14;
+ DI_PinMapping[14] = DI_PIN15;
+ DI_PinMapping[15] = DI_PIN16;
+ DI_PinMapping[16] = DI_PIN17;
+ DI_PinMapping[17] = DI_PIN18;
+ DI_PinMapping[18] = DI_PIN19;
+ DI_PinMapping[19] = DI_PIN20;
+ DI_PinMapping[20] = DI_PIN21;
+ DI_PinMapping[21] = DI_PIN22;
+ DI_PinMapping[22] = DI_PIN23;
+ DI_PinMapping[23] = DI_PIN24;
+
+ DI_PIN1_8_I2C = new MCP23017( p9, p10, DI_PIN1_8_I2C_ADD);
+ DI_PIN1_8_I2C->config(0, 0, 0x00FF); // set to outputs, no pull-ups, not-inverted
+
+
+ DI_PIN9_24_I2C = new MCP23017( p9, p10, DI_PIN9_24_I2C_ADD);
+ DI_PIN9_24_I2C->config(0, 0, 0x00FF); // set to outputs, no pull-ups, not-inverted
+
+
+ DI_PIN1_8_I2C->write_bit(0, DI_LEVEL_LOW);
+ DI_PIN1_8_I2C->write_bit(0, DI_LEVEL_HIGH);
+ DI_PIN1_8_I2C->write_mask(0x00FF, 0x00FF); // set outputs high
+ DI_PIN9_24_I2C->write_mask(0xFFFF, 0xFFFF); // set outputs high
+}
+
+
+
+// process commands
+void DI_deviceID_process( void )
+{
+ unsigned int temp32U;
+ unsigned short portTemp = 0;
+ int i;
+ int j;
+
+ // Get data before processing and save to temp32U;
+ // maximal 3 bytes
+ temp32U = 0;
+ for( i = 0; i < 3; i++ )
+ {
+ temp32U <<= 8;
+ temp32U |= ( 0x000000FF & (unsigned int)(uartBuffer[INT_BUF_1DATA + i]) );
+ }
+
+
+ switch( uartBuffer[ INT_BUF_COMMAND ] )
+ {
+ //--------------------
+ case DI_SET_LEVEL_LOW:
+ //--------------------
+ {
+ // Write to DI HW
+ if( uartBuffer[INT_BUF_1DATA] )
+ {
+ DI_PIN1_8_I2C->write_bit(1, DI_LEVEL_LOW);
+ }
+ else
+ {
+ DI_PIN1_8_I2C->write_bit(0, DI_LEVEL_LOW);
+ }
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+
+ break;
+ }
+
+ //--------------------
+ case DI_GET_LEVEL_LOW:
+ //--------------------
+ {
+ temp32U = DI_PIN1_8_I2C->read_bit(DI_LEVEL_LOW);
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DI;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & temp32U);
+ UART_handler.bytesToWrite = 4;
+
+ break;
+ }
+
+ //--------------------
+ case DI_SET_LEVEL_HIGH:
+ //--------------------
+ {
+ // Write to DI HW
+ if( uartBuffer[INT_BUF_1DATA] )
+ {
+ DI_PIN1_8_I2C->write_bit(1, DI_LEVEL_HIGH);
+ }
+ else
+ {
+ DI_PIN1_8_I2C->write_bit(0, DI_LEVEL_HIGH);
+ }
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+
+ break;
+ }
+
+ //--------------------
+ case DI_GET_LEVEL_HIGH:
+ //--------------------
+ {
+ temp32U = DI_PIN1_8_I2C->read_bit(DI_LEVEL_HIGH);
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DI;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & temp32U);
+ UART_handler.bytesToWrite = 4;
+
+ break;
+ }
+
+
+ //--------------------
+ case DI_SET_SINGLE:
+ //--------------------
+ {
+ // Limit check of pin number
+ if( (uartBuffer[INT_BUF_1DATA] == 0) || (uartBuffer[INT_BUF_1DATA] > DI_NUMBER_PINS) )
+ {
+ INT_generateACKFrame(INT_ID_DI, INT_COM_VAL_NOTVALID);
+ break;
+ }
+
+ if( uartBuffer[INT_BUF_1DATA] > 8 ) // --> write to: DI_PIN9_24_I2C
+ {
+ DI_PIN9_24_I2C->write_bit(0, DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1]);
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+ break;
+ }
+
+ // otherwise:--> write to: DI_PIN1_8_I2C
+ DI_PIN1_8_I2C->write_bit(0, DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1]);
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+ break;
+ }
+
+
+ //--------------------
+ case DI_CLEAR_SINGLE:
+ //--------------------
+ {
+ // Limit check of pin number
+ if( (uartBuffer[INT_BUF_1DATA] == 0) || (uartBuffer[INT_BUF_1DATA] > DI_NUMBER_PINS) )
+ {
+ INT_generateACKFrame(INT_ID_DI, INT_COM_VAL_NOTVALID);
+ break;
+ }
+
+ if( uartBuffer[INT_BUF_1DATA] > 8 ) // --> write to: DI_PIN9_24_I2C
+ {
+ DI_PIN9_24_I2C->write_bit(1, DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1]);
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+ break;
+ }
+
+ // otherwise:--> write to: DI_PIN1_8_I2C
+ DI_PIN1_8_I2C->write_bit(1, DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1]);
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+ break;
+ }
+
+
+ //--------------------
+ case DI_GET_SINGLE:
+ //--------------------
+ {
+ // Limit check of pin number
+ if( (uartBuffer[INT_BUF_1DATA] == 0) || (uartBuffer[INT_BUF_1DATA] > DI_NUMBER_PINS) )
+ {
+ INT_generateACKFrame(INT_ID_DI, INT_COM_VAL_NOTVALID);
+ break;
+ }
+
+ if( uartBuffer[INT_BUF_1DATA] > 8 ) // --> read from: DI_PIN9_24_I2C
+ {
+ temp32U = DI_PIN9_24_I2C->read_bit( DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1] );
+ }
+ else // otherwise:--> read from: DI_PIN1_8_I2C
+ {
+ temp32U = DI_PIN1_8_I2C->read_bit( DI_PinMapping[uartBuffer[INT_BUF_1DATA] - 1] );
+ }
+
+ // Invert because DO function is inverted
+ temp32U = (~temp32U & 0x00000001);
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DI;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & temp32U);
+ UART_handler.bytesToWrite = 4;
+
+ break;
+ }
+
+
+ //--------------------
+ case DI_SET_PORT:
+ //--------------------
+ {
+ // process Pin: 1..8 --> write to: DI_PIN1_8_I2C
+ portTemp = 0;
+ for( i = 0; i < 8; i++ )
+ {
+ if( temp32U & (1 << i) ) // Bit is set --> set coresponding pin
+ {
+ portTemp |= ( 1 << DI_PinMapping[i]);
+ }
+ }
+ DI_PIN1_8_I2C->write_mask((~portTemp & 0x00FF), 0x00FF); // set outputs
+
+
+ // process Pin: 9..24 --> write to: DI_PIN9_24_I2C
+ portTemp = 0;
+ for( i = 8; i < 24; i++ )
+ {
+ if( temp32U & (1 << i) ) // Bit is set --> set coresponding pin
+ {
+ portTemp |= ( 1 << DI_PinMapping[i]);
+ }
+ }
+ DI_PIN9_24_I2C->write_mask(~portTemp, 0xFFFF); // set outputs
+
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DI, INT_COM_ACK);
+
+ break;
+ }
+
+
+ //--------------------
+ case DI_GET_PORT:
+ //--------------------
+ {
+ temp32U = 0;
+
+ // process Pin: 1..8 --> read to: DI_PIN1_8_I2C
+ portTemp = ~( DI_PIN1_8_I2C->read_mask(0x00FF) );
+
+ for( i = 0; i < 8; i++ ) {
+ if( portTemp & (1 << i) ) {
+ for( j = 0; j < 16; j++ ) {
+ if( DI_PinMapping[j] == i ) {
+ temp32U |= (1 << j);
+ }
+ }//for j
+
+ }// if
+ }// for i
+
+
+ // process Pin: 9..24 --> read to: DI_PIN9_24_I2C
+ portTemp = ~( DI_PIN9_24_I2C->read_mask(0xFFFF) );
+
+ for( i = 0; i < 16; i++ ) {
+ if( portTemp & (1 << i) ) {
+ for( j = 8; j < 24; j++ ) {
+ if( DI_PinMapping[j] == i ) {
+ temp32U |= (1 << j);
+ }
+ }//for j
+
+ }// if
+ }// for i
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DI;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 3;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & (temp32U >> 16));
+ uartBuffer[INT_BUF_1DATA + 1] = (char)(0x000000FF & (temp32U >> 8) );
+ uartBuffer[INT_BUF_1DATA + 2] = (char)(0x000000FF & (temp32U) );
+ UART_handler.bytesToWrite = 6;
+ break;
+
+ }
+
+
+ //-----------------
+ default:
+ //-----------------
+ {
+ // Command not supported
+ INT_generateACKFrame(INT_ID_DI, INT_COM_COM_NOTSUPP);
+ }
+ }//switch
+
+}
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/di.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,87 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define DI_PIN9_24_I2C_ADD ( I2C_BASE_ADDRESS + (6 << 1) ) // I2C_BASE_ADDRESS is defined in MCP23017
+#define DI_PIN1_8_I2C_ADD ( I2C_BASE_ADDRESS + (4 << 1) ) // I2C_BASE_ADDRESS is defined in MCP23017
+
+// define pin number (0..15) of MCP23017
+typedef enum
+{
+ DI_PIN1 = 7,
+ DI_PIN2 = 6,
+ DI_PIN3 = 5,
+ DI_PIN4 = 4,
+ DI_PIN5 = 3,
+ DI_PIN6 = 2,
+ DI_PIN7 = 1,
+ DI_PIN8 = 0,
+ DI_PIN9 = 15,
+ DI_PIN10 = 14,
+ DI_PIN11 = 13,
+ DI_PIN12 = 12,
+ DI_PIN13 = 11,
+ DI_PIN14 = 10,
+ DI_PIN15 = 9,
+ DI_PIN16 = 8,
+ DI_PIN17 = 7,
+ DI_PIN18 = 6,
+ DI_PIN19 = 5,
+ DI_PIN20 = 4,
+ DI_PIN21 = 3,
+ DI_PIN22 = 2,
+ DI_PIN23 = 1,
+ DI_PIN24 = 0,
+ //---------------
+ CNT_DI_ePinTable
+}DI_ePinTable;
+
+#define DI_NUMBER_PINS ( 24 )
+
+#define DI_LEVEL_LOW ( 8 )
+#define DI_LEVEL_HIGH ( 9 )
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+// Global commands 0 - 20 are defined in interpret.h
+// Commands 21 - 127 are HW-unit commands
+typedef enum
+{
+ DI_SET_LEVEL_LOW = 21, // 21: setLevelLow
+ DI_GET_LEVEL_LOW, // 22: getLevelLow
+ DI_SET_LEVEL_HIGH, // 23: setLevelHigh
+ DI_GET_LEVEL_HIGH, // 24: getLevelHigh
+ DI_SET_SINGLE, // 25: setSingle
+ DI_CLEAR_SINGLE, // 26: clearSingle
+ DI_GET_SINGLE, // 27: getSingle
+ DI_SET_PORT, // 28: setPort
+ DI_GET_PORT, // 29: getPort
+ //----------------
+ CNT_eDI_command
+}eDI_command;
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void DI_init( void );
+void DI_deviceID_process( void );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/dido.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,141 @@
+#include "mbed.h"
+#include "dido.h"
+#include "MCP23008.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+MCP23008 *DIDO_I2C; //
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static unsigned char DIDO_doState; // keeps last written DO state
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+
+void DIDO_init( void )
+{
+ unsigned char direction;
+
+ direction = 0x00; // Set all to outputs
+ direction = ( (1<<DIDO_DI1) | (1<<DIDO_DI2) | (1<<DIDO_DI3) | (1<<DIDO_DI4) | (1<<DIDO_DI5) ); // set some to inputs
+
+ DIDO_I2C = new MCP23008( p9, p10, DIDO_I2C_ADD);
+ DIDO_I2C->config(direction, 0 , 0); // set direction, no pull-ups, 0
+
+ DIDO_setDO1OFF();
+ DIDO_setDO2OFF();
+ DIDO_setRelayOFF();
+
+}
+
+
+void DIDO_setDO1ON( void )
+{
+ DIDO_doState |= (1 << DIDO_DO1);
+ DIDO_I2C->write_bit(0, DIDO_DO1);
+}
+
+void DIDO_setDO1OFF( void )
+{
+ DIDO_doState &= ~(1 << DIDO_DO1);
+ DIDO_I2C->write_bit(1, DIDO_DO1);
+}
+
+
+void DIDO_setDO2ON( void )
+{
+ DIDO_doState |= (1 << DIDO_DO2);
+ DIDO_I2C->write_bit(0, DIDO_DO2);
+}
+
+void DIDO_setDO2OFF( void )
+{
+ DIDO_doState &= ~(1 << DIDO_DO2);
+ DIDO_I2C->write_bit(1, DIDO_DO2);
+}
+
+
+void DIDO_setRelayON( void )
+{
+ DIDO_doState |= (1 << DIDO_RELAY);
+ DIDO_I2C->write_bit(1, DIDO_RELAY);
+}
+
+void DIDO_setRelayOFF( void )
+{
+ DIDO_doState &= ~(1 << DIDO_RELAY);
+ DIDO_I2C->write_bit(0, DIDO_RELAY);
+}
+
+
+int DIDO_getDO1( void )
+{
+ return ( DIDO_doState & (1 << DIDO_DO1) );
+}
+
+
+int DIDO_getDO2( void )
+{
+ return ( DIDO_doState & (1 << DIDO_DO2) );
+}
+
+
+int DIDO_getRelay( void )
+{
+ return ( DIDO_doState & (1 << DIDO_RELAY) );
+}
+
+
+int DIDO_getDI1( void )
+{
+ return DIDO_I2C->read_bit(DIDO_DI1);
+}
+
+
+int DIDO_getDI2( void )
+{
+ return DIDO_I2C->read_bit(DIDO_DI2);
+}
+
+
+int DIDO_getDI3( void )
+{
+ return DIDO_I2C->read_bit(DIDO_DI3);
+}
+
+
+int DIDO_getDI4( void )
+{
+ return DIDO_I2C->read_bit(DIDO_DI4);
+}
+
+
+int DIDO_getDI5( void )
+{
+ return DIDO_I2C->read_bit(DIDO_DI5);
+}
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/310-TMC3-TestHW/dido.h Fri May 09 11:30:55 2014 +0000 @@ -0,0 +1,63 @@ +#include "mbed.h" + + +//--------------------------------------- +// Definitions +//--------------------------------------- +#define DIDO_I2C_ADD ( I2C_BASE_ADDRESS + (5 << 1) ) // + + +#define DIDO_DO1 ( 2 ) // MCP23008 GPIO: 2 +#define DIDO_DO2 ( 1 ) // MCP23008 GPIO: 1 +#define DIDO_RELAY ( 0 ) // MCP23008 GPIO: 0 +#define DIDO_DI1 ( 7 ) // MCP23008 GPIO: 7 +#define DIDO_DI2 ( 6 ) // MCP23008 GPIO: 6 +#define DIDO_DI3 ( 5 ) // MCP23008 GPIO: 5 +#define DIDO_DI4 ( 4 ) // MCP23008 GPIO: 4 +#define DIDO_DI5 ( 3 ) // MCP23008 GPIO: 3 + + +//--------------------------------------- +// Enums +//--------------------------------------- + + + + + +//--------------------------------------- +// Structures +//--------------------------------------- + + + + +//--------------------------------------- +// Global Variables +//--------------------------------------- + + + +//--------------------------------------- +// Global Functions +//--------------------------------------- +void DIDO_init( void ); + +void DIDO_setDO1ON( void ); +void DIDO_setDO1OFF( void ); +void DIDO_setDO2ON( void ); +void DIDO_setDO2OFF( void ); +void DIDO_setRelayON( void ); +void DIDO_setRelayOFF( void ); + +// Return: +// 0 = off, or low input level +// >= 1: On, or high input level +int DIDO_getDO1( void ); +int DIDO_getDO2( void ); +int DIDO_getRelay( void ); +int DIDO_getDI1( void ); +int DIDO_getDI2( void ); +int DIDO_getDI3( void ); +int DIDO_getDI4( void ); +int DIDO_getDI5( void );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/do.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,159 @@
+#include "mbed.h"
+#include "uart.h"
+#include "interpret.h"
+#include "do.h"
+#include "MCP23017.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+MCP23017 *DO_I2C; //
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static int DO_PinMapping[ DO_NUMBER_PINS ]; // array, keeps MCP23017 pin number for easy access
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void DO_init( void )
+{
+ DO_PinMapping[0] = DO_PIN1;
+ DO_PinMapping[1] = DO_PIN2;
+ DO_PinMapping[2] = DO_PIN3;
+ DO_PinMapping[3] = DO_PIN4;
+ DO_PinMapping[4] = DO_PIN5;
+ DO_PinMapping[5] = DO_PIN6;
+ DO_PinMapping[6] = DO_PIN7;
+ DO_PinMapping[7] = DO_PIN8;
+ DO_PinMapping[8] = DO_PIN9;
+ DO_PinMapping[9] = DO_PIN10;
+ DO_PinMapping[10] = DO_PIN11;
+ DO_PinMapping[11] = DO_PIN12;
+ DO_PinMapping[12] = DO_PIN13;
+ DO_PinMapping[13] = DO_PIN14;
+ DO_PinMapping[14] = DO_PIN15;
+ DO_PinMapping[15] = DO_PIN16;
+
+ DO_I2C = new MCP23017( p9, p10, DO_I2C_ADD);
+ DO_I2C->config(0xFFFF,0,0); // set to inputs, no pull-ups, not-inverted
+}
+
+
+
+// process commands
+void DO_deviceID_process( void )
+{
+ unsigned int temp32U = 0;
+ unsigned short portTemp = 0;
+ int i;
+ int j;
+
+ temp32U = 0x000000FF & ( (unsigned int)uartBuffer[INT_BUF_1DATA] );
+
+ switch( uartBuffer[ INT_BUF_COMMAND ] ) {
+ //--------------------
+ case DO_GET_SINGLE:
+ //--------------------
+ {
+ if( (temp32U == 0) || (temp32U > DO_NUMBER_PINS) ) {
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_DO, INT_COM_VAL_NOTVALID);
+
+ break;
+ }
+
+ temp32U = DO_I2C->read_bit( DO_PinMapping[temp32U - 1] );
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DO;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & temp32U);
+ UART_handler.bytesToWrite = 4;
+ break;
+
+ }
+
+
+ //--------------------
+ case DO_GET_PORT:
+ //--------------------
+ {
+ temp32U = 0;
+
+ portTemp = DO_I2C->read_mask(0xFFFF);
+
+ for( i = 0; i < 16; i++ ) {
+ if( portTemp & (1 << i) ) {
+ for( j = 0; j < 16; j++ ) {
+ if( DO_PinMapping[j] == i ) {
+ temp32U |= (1 << j);
+ }
+ }//for j
+
+ }// if
+ }// for i
+
+ /*
+ for( i = 0; i < 16; i++ )
+ {
+ if( portTemp & (1 << i) )
+ {
+ for( j = 1; j < 17; j++ )
+ {
+ if( DO_PinMapping[j] == i )
+ {
+ temp32U |= (1 << (j-1));
+ }
+ }//for j
+
+ }// if
+ }// for i
+ */
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_DO;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 2;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & (temp32U >> 8) );
+ uartBuffer[INT_BUF_1DATA + 1] = (char)(0x000000FF & (temp32U) );
+ UART_handler.bytesToWrite = 5;
+ break;
+
+ }
+
+
+ //-----------------
+ default:
+ //-----------------
+ {
+ // Command not supported
+ INT_generateACKFrame(INT_ID_DO, INT_COM_COM_NOTSUPP);
+ }
+ }//switch
+
+}
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/do.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define DO_I2C_ADD ( I2C_BASE_ADDRESS | (7 << 1) ) // I2C_BASE_ADDRESS is defined in MCP23017
+#define DO_NUMBER_PINS ( 16 )
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+// define pin number (0..15) of MCP23017
+typedef enum
+{
+ DO_PIN1 = 15,
+ DO_PIN2 = 14,
+ DO_PIN3 = 13,
+ DO_PIN4 = 12,
+ DO_PIN5 = 11,
+ DO_PIN6 = 10,
+ DO_PIN7 = 9,
+ DO_PIN8 = 8,
+ DO_PIN9 = 7,
+ DO_PIN10 = 6,
+ DO_PIN11 = 5,
+ DO_PIN12 = 4,
+ DO_PIN13 = 3,
+ DO_PIN14 = 2,
+ DO_PIN15 = 1,
+ DO_PIN16 = 0
+}DO_ePinTable;
+
+
+// Global commands 0 - 20 are defined in interpret.h
+// Commands 21 - 127 are HW-unit commands
+typedef enum
+{
+ DO_GET_SINGLE = 21, // 21: getSingle
+ DO_GET_PORT, // 22: getPort
+ //----------------
+ CNT_eDO_command
+}eDO_command;
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void DO_init( void );
+void DO_deviceID_process( void );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/filter.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "filter.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+
+void FLT_LP_1Order_16Bit_Init( sFLT_LP1Order16BitHandler *filterHandler )
+{
+ filterHandler->filterReg = 0;
+}
+
+
+unsigned short FLT_LP_1Order_16Bit(sFLT_LP1Order16BitHandler *filterHandler, unsigned short input)
+{
+ unsigned int temp32U;
+
+ temp32U = filterHandler->filterReg;
+ temp32U = temp32U - (temp32U >> filterHandler->filterShift) + (unsigned int)input;
+ filterHandler->filterReg = temp32U;
+
+ return (unsigned short)( temp32U >> filterHandler->filterShift);
+}
+
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/filter.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+typedef struct
+{
+ unsigned int filterReg;
+ unsigned int filterShift;
+}sFLT_LP1Order16BitHandler;
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void FLT_LP_1Order_16Bit_Init( sFLT_LP1Order16BitHandler *filterHandler );
+unsigned short FLT_LP_1Order_16Bit(sFLT_LP1Order16BitHandler *filterHandler, unsigned short input);
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/interpret.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,226 @@
+#include "interpret.h"
+#include "uart.h"
+#include "mbed_unit.h"
+#include "pt100.h"
+#include "di.h"
+#include "do.h"
+#include "RS485.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+DigitalOut led_system_ready(LED1);
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+void INT_selectDeviceID( void );
+void INT_deviceID_process_Broadcast( void );
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static sINT_handler INT_handler;
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+
+void INT_init( void )
+{
+ INT_handler.state = INT_STATE_INIT;
+ INT_handler.receivedDeviceID = 0;
+ INT_handler.receivedCommand = 0;
+ led_system_ready = 0;
+}
+
+
+
+void INT_poll( void )
+{
+ switch( INT_handler.state )
+ {
+ //---------------------------
+ case INT_STATE_INIT:
+ //---------------------------
+ {
+ led_system_ready = 0;
+ DI_init();
+ MBED_init(); // PWM, CAN, RS232,...
+ PT100_init();
+ DO_init();
+ RS485_init();
+ led_system_ready = 1;
+ INT_handler.state = INT_STATE_IDLE;
+
+ break;
+ }
+
+
+ //---------------------------
+ case INT_STATE_IDLE:
+ //---------------------------
+ {
+ if( UART_newFrame() )
+ {
+ INT_handler.state = INT_STATE_CHECK;
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case INT_STATE_CHECK:
+ //---------------------------
+ {
+ //---------------------------------
+ if( UART_checkReceivedCRC() )
+ //---------------------------------
+ {
+ // backup device ID and command for acknowledge
+ INT_handler.receivedDeviceID = uartBuffer[INT_BUF_DEVICEID];
+ INT_handler.receivedCommand = uartBuffer[INT_BUF_COMMAND];
+ INT_handler.state = INT_STATE_INTERPRET;
+ }
+ //------------------------
+ else // CRC check failed --> ignore frame
+ //------------------------
+ {
+ UART_reset();
+ INT_handler.state = INT_STATE_IDLE;
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case INT_STATE_INTERPRET:
+ //---------------------------
+ {
+ INT_selectDeviceID();
+ INT_handler.state = INT_STATE_ACK;
+ break;
+ }
+
+
+ //---------------------------
+ case INT_STATE_ACK:
+ //---------------------------
+ {
+ // INT_selectDeviceID() has already updated UART_buffer[] --> just send
+ UART_sendData();
+ INT_handler.state = INT_STATE_IDLE;
+ break;
+ }
+
+
+ //---------------------------
+ default:
+ //---------------------------
+ {
+ INT_handler.state = INT_STATE_INIT;
+ }
+
+ }//switch
+
+}
+
+
+void INT_generateACKFrame(char deviceID, char command)
+{
+ uartBuffer[INT_BUF_DEVICEID] = deviceID;
+ uartBuffer[INT_BUF_COMMAND] = command;
+ uartBuffer[INT_BUF_NUM] = 0;
+ UART_handler.bytesToWrite = 3;
+}
+
+
+//---------------------------------------
+// Local Functions
+//---------------------------------------
+
+
+// Here, the DeviceID gets used to communicate with the requested HW-unit
+// Modify this function, if new HW-units are integreted.
+// The XXX_deviceID_process() function also generates the acknowledge frame and
+// place it in the uartBuffer[].
+// The next state, INT_STATE_ACK, of the Interprete FSM is than sending these data
+void INT_selectDeviceID( void )
+{
+ switch( INT_handler.receivedDeviceID )
+ {
+ //----------------------
+ case INT_ID_BROADCAST:
+ //----------------------
+ {
+ INT_deviceID_process_Broadcast();
+ break;
+ }
+
+
+ //----------------------
+ case INT_ID_MBED:
+ //----------------------
+ {
+ MBED_deviceID_process();
+ break;
+ }
+
+
+ //----------------------
+ case INT_ID_PT100:
+ //----------------------
+ {
+ PT100_deviceID_process();
+ break;
+ }
+
+
+ //----------------------
+ case INT_ID_DI:
+ //----------------------
+ {
+ DI_deviceID_process();
+ break;
+ }
+
+
+ //----------------------
+ case INT_ID_DO:
+ //----------------------
+ {
+ DO_deviceID_process();
+ break;
+ }
+
+
+ //----------------------
+ default:
+ //----------------------
+ {
+ // Device ID is not supported, send ack.
+ INT_generateACKFrame(INT_handler.receivedDeviceID, INT_COM_DEV_NOTSUPP);
+ }
+ }//switch
+}
+
+
+
+
+// Interprete Command for broadcast
+void INT_deviceID_process_Broadcast( void )
+{
+
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/interpret.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,96 @@
+#include "mbed.h"
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define INT_BUF_DEVICEID 0 // UART buffer index of DeviceID
+#define INT_BUF_COMMAND 1 // UART buffer index of Command
+#define INT_BUF_NUM 2 // UART buffer index of number of Bytes
+#define INT_BUF_1DATA 3 // UART buffer index of first data byte if #Bytes > 0
+
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+typedef enum
+{
+ INT_STATE_INIT,
+ INT_STATE_IDLE,
+ INT_STATE_CHECK,
+ INT_STATE_INTERPRET,
+ INT_STATE_ACK,
+ //---------------
+ CNT_eINT_state
+}eINT_state;
+
+
+
+typedef enum
+{
+ INT_ID_BROADCAST = 0,
+ INT_ID_MBED,
+ INT_ID_PT100,
+ INT_ID_DI,
+ INT_ID_DO,
+ //----------------------
+ CNT_eINT_deviceID
+
+}eINT_deviceID;
+
+
+// Global commands 0 - 20,
+// Commands 21 - 127 are devined inside the individual HW-units
+typedef enum
+{
+ INT_COM_NOP = 0, // 0: NOP
+ INT_COM_RESET, // 1: Reset
+ INT_COM_ACK, // 2: ACK
+ INT_COM_DEV_NOTSUPP, // 3: DeviceID not supported
+ INT_COM_COM_NOTSUPP, // 4: Command not supported
+ INT_COM_VAL_NOTVALID, // 5: Value is not valid
+ INT_COM_6,
+ INT_COM_7,
+ INT_COM_8,
+ INT_COM_9,
+ INT_COM_10,
+ INT_COM_11,
+ INT_COM_12,
+ INT_COM_13,
+ INT_COM_14,
+ INT_COM_15,
+ INT_COM_16,
+ INT_COM_17,
+ INT_COM_18,
+ INT_COM_19,
+ INT_COM_20,
+ //----------------
+ CNT_eINT_command
+}eINT_command;
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+typedef struct
+{
+ eINT_state state;
+ char receivedDeviceID;
+ char receivedCommand;
+
+}sINT_handler;
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void INT_init( void );
+void INT_poll( void );
+void INT_generateACKFrame(char deviceID, char command);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/main.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "uart.h"
+#include "interpret.h"
+
+
+//----------------------------------------------
+// Info:
+// MCP23017 class is used from: Gobert Pierre, 13.04.2012
+//
+//----------------------------------------------
+
+//----------------------------------------------
+// STATUS:
+// 2013-01-25:
+// - I2C communication with MCP23017 is running
+// - PT100, command 21 and 22 is working
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+DigitalOut myled(LED1);
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+int main() {
+
+ UART_init();
+ INT_init();
+
+ while(1)
+ {
+ INT_poll();
+
+ }//while
+}
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/310-TMC3-TestHW/mbed.bld Fri May 09 11:30:55 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/824293ae5e43 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/mbed_unit.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,426 @@
+#include "mbed.h"
+#include "uart.h"
+#include "interpret.h"
+#include "mbed_unit.h"
+#include "rs232.h"
+#include "can.h"
+#include "pwm.h"
+#include "ana.h"
+#include "dido.h"
+#include "RS485.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+
+
+DigitalOut K1_Relay(P0_29);
+DigitalOut K2_Relay(P0_30);
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void MBED_init( void )
+{
+ PWM_init();
+ RS232_init();
+ CAN_init();
+ ANA_init();
+ DIDO_init();
+ K1_Relay=0;
+ K2_Relay=0;
+}
+
+
+
+// process commands
+void MBED_deviceID_process( void )
+{
+ unsigned int temp32U;
+ int temp32;
+ char *ptrTempChar;
+ int i;
+
+ switch( uartBuffer[ INT_BUF_COMMAND ] ) {
+ //---------------------------
+ case MBED_SET_RPM_LEVEL_LOW:
+ //---------------------------
+ {
+ if( uartBuffer[INT_BUF_1DATA] )
+ K1_Relay=1;
+ else
+ K1_Relay=0;
+
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_RPM_LEVEL_HIGH:
+ //---------------------------
+ {
+ if( uartBuffer[INT_BUF_1DATA] )
+ K2_Relay=1;
+ else
+ K2_Relay=0;
+
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ break;
+
+ }
+
+
+ //---------------------------
+ case MBED_SET_PWM_PORT:
+ //---------------------------
+ {
+ // Set output high or low
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH0) ) PWM_setDC(PWM_CH0, 100);
+ else PWM_setDC(PWM_CH0, 0);
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH1) ) PWM_setDC(PWM_CH1, 100);
+ else PWM_setDC(PWM_CH1, 0);
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH2) ) PWM_setDC(PWM_CH2, 100);
+ else PWM_setDC(PWM_CH2, 0);
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH3) ) PWM_setDC(PWM_CH3, 100);
+ else PWM_setDC(PWM_CH3, 0);
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH4) ) PWM_setDC(PWM_CH4, 100);
+ else PWM_setDC(PWM_CH4, 0);
+ if( uartBuffer[INT_BUF_1DATA] & (1 << PWM_CH5) ) PWM_setDC(PWM_CH5, 100);
+ else PWM_setDC(PWM_CH5, 0);
+
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_PWM_FREQ:
+ //---------------------------
+ {
+ // Get frequency data in [Hz]
+ temp32U = 0;
+
+ temp32U = uartBuffer[INT_BUF_1DATA];
+ temp32U <<= 8;
+ temp32U |= (unsigned int)uartBuffer[INT_BUF_1DATA + 1];
+
+ // check limit
+ if( PWM_updateFreq(temp32U) ) {
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ } else { // outside of supported limit
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_VAL_NOTVALID);
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_PWM_DC:
+ //---------------------------
+ {
+ if( PWM_setDC((int)uartBuffer[INT_BUF_1DATA], (int)uartBuffer[INT_BUF_1DATA + 1]) ) {
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ } else { // outside of supported limit
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_VAL_NOTVALID);
+ }
+ break;
+
+ }
+
+
+ //---------------------------
+ case MBED_WRITE_RS232:
+ //---------------------------
+ {
+ if( RS232_sendData( (char *)&uartBuffer[INT_BUF_1DATA], uartBuffer[INT_BUF_NUM] ) ) {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ } else {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_VAL_NOTVALID);
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_READ_RS232:
+ //---------------------------
+ {
+ RS232_receiveData( ptrTempChar, &temp32 );
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = temp32;
+ // copy data over to uart buffer
+ for( i = 0; i < temp32; i++) {
+ uartBuffer[INT_BUF_1DATA + i] = *ptrTempChar;
+ ptrTempChar++;
+ }
+ UART_handler.bytesToWrite = 3 + temp32;
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_RTSRS232:
+ //---------------------------
+ {
+ RS232_setRTS( (int)uartBuffer[INT_BUF_1DATA] );
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_GET_CTSRS232:
+ //---------------------------
+ {
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = RS232_getCTS();
+ UART_handler.bytesToWrite = 4;
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_WRITE_CAN:
+ //---------------------------
+ {
+ // Get CAN-ID
+ temp32 = 0;
+
+ temp32 = uartBuffer[INT_BUF_1DATA];
+ temp32 <<= 8;
+ temp32 |= (int)uartBuffer[INT_BUF_1DATA + 1];
+
+ if( CAN_send( temp32, uartBuffer[INT_BUF_1DATA + 2], &uartBuffer[INT_BUF_1DATA + 3] ) ) {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ } else {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_VAL_NOTVALID);
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_READ_CAN:
+ //---------------------------
+ {
+ // Get CAN-ID
+ temp32 = 0;
+
+ temp32 = uartBuffer[INT_BUF_1DATA];
+ temp32 <<= 8;
+ temp32 |= (int)uartBuffer[INT_BUF_1DATA + 1];
+
+ if( CAN_get( &temp32, &uartBuffer[INT_BUF_1DATA + 2], &uartBuffer[INT_BUF_1DATA + 3] ) ) {
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 3 + uartBuffer[INT_BUF_1DATA + 2]; //
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & (temp32 >> 8) ); // CAN-ID high byte
+ uartBuffer[INT_BUF_1DATA + 1] = (char)(0x000000FF & temp32 ); // CAN-ID low byte
+
+ UART_handler.bytesToWrite = 6 + uartBuffer[INT_BUF_1DATA + 2]; //
+ } else {
+ // Generate acknowledge, no new data frame
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 3; //
+ uartBuffer[INT_BUF_1DATA] = 0; // CAN-ID high byte
+ uartBuffer[INT_BUF_1DATA + 1] = 0 ; // CAN-ID low byte
+ uartBuffer[INT_BUF_1DATA + 2] = 0 ; // 0 Data frames
+ UART_handler.bytesToWrite = 6; //
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_READ_ADC:
+ //---------------------------
+ {
+ // Get ADC value of channel indicated in uartBuffer[]
+ temp32U = (unsigned int)ANA_getFiltered( (int)uartBuffer[INT_BUF_1DATA] );
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 3;
+ // uartBuffer[INT_BUF_1DATA] = KEEP channel number
+ uartBuffer[INT_BUF_1DATA + 1] = (char)(0x000000FF & (temp32U >> 8) ); // high byte
+ uartBuffer[INT_BUF_1DATA + 2] = (char)(0x000000FF & temp32U ); // low byte
+
+ UART_handler.bytesToWrite = 6 ; //
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_RELAY:
+ //---------------------------
+ {
+ if( uartBuffer[INT_BUF_1DATA] ) {
+ DIDO_setRelayON();
+ } else {
+ DIDO_setRelayOFF();
+ }
+
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_DO1:
+ //---------------------------
+ {
+ if( uartBuffer[INT_BUF_1DATA] ) {
+ DIDO_setDO1ON();
+ } else {
+ DIDO_setDO1OFF();
+ }
+
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_SET_DO2:
+ //---------------------------
+ {
+ if( uartBuffer[INT_BUF_1DATA] ) {
+ DIDO_setDO2ON();
+ } else {
+ DIDO_setDO2OFF();
+ }
+
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ break;
+ }
+
+ //---------------------------
+ case MBED_GET_DI:
+ //---------------------------
+ {
+ temp32U = 0;
+
+ if( DIDO_getDI1() ) {
+ temp32U |= (1 << 0);
+ }
+
+ if( DIDO_getDI2() ) {
+ temp32U |= (1 << 1);
+ }
+
+ if( DIDO_getDI3() ) {
+ temp32U |= (1 << 2);
+ }
+
+ if( DIDO_getDI4() ) {
+ temp32U |= (1 << 3);
+ }
+
+ if( DIDO_getDI5() ) {
+ temp32U |= (1 << 4);
+ }
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x000000FF & temp32U );
+ UART_handler.bytesToWrite = 4 ; //
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_WRITE_RS485:
+ //---------------------------
+ {
+ if( RS485_sendData( (char *)&uartBuffer[INT_BUF_1DATA], (int)uartBuffer[INT_BUF_NUM] ) ) {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_ACK);
+ } else {
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_VAL_NOTVALID);
+ }
+
+ break;
+ }
+
+
+ //---------------------------
+ case MBED_READ_RS485:
+ //---------------------------
+ {
+ RS485_receiveData( ptrTempChar, (int *)&uartBuffer[INT_BUF_NUM] );
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_MBED;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ // copy data over to uart buffer
+ for( i = 0; i < uartBuffer[INT_BUF_NUM]; i++) {
+ uartBuffer[INT_BUF_1DATA + i] = *ptrTempChar;
+ ptrTempChar++;
+ }
+ UART_handler.bytesToWrite = 3 + uartBuffer[INT_BUF_NUM];
+
+ break;
+ }
+
+
+ //-----------------
+ default:
+ //-----------------
+ {
+ // Command not supported
+ INT_generateACKFrame(INT_ID_MBED, INT_COM_COM_NOTSUPP);
+ }
+
+ }//switch
+
+}
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/mbed_unit.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,61 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+
+
+
+// Global commands 0 - 20 are defined in interpret.h
+// Commands 21 - 127 are HW-unit commands
+typedef enum
+{
+ MBED_SET_RPM_LEVEL_LOW = 21, // 21: setRPMLevelLow
+ MBED_SET_RPM_LEVEL_HIGH, // 22: setRPMLevelLow
+ MBED_SET_PWM_PORT, // 23: setPWMPort
+ MBED_SET_PWM_FREQ, // 24: setPWMFreq
+ MBED_SET_PWM_DC, // 25: setPWMDutyCycle
+ MBED_WRITE_RS232, // 26: writeRS232
+ MBED_READ_RS232, // 27: readRS232
+ MBED_SET_RTSRS232, // 28: setRTSRS232
+ MBED_GET_CTSRS232, // 29: getCTSRS232
+ MBED_WRITE_CAN, // 30: writeCAN
+ MBED_READ_CAN, // 31: readCAN
+ MBED_READ_ADC, // 32: readADC
+ MBED_SET_RELAY, // 33: setRelay
+ MBED_SET_DO1, // 34: setDO1
+ MBED_SET_DO2, // 35: setDO2
+ MBED_GET_DI, // 36: getDI
+ MBED_WRITE_RS485, // 37: writeRS485
+ MBED_READ_RS485, // 38: readRS485
+ //----------------
+ CNT_eMBED_command
+}eMBED_command;
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void MBED_init( void );
+void MBED_deviceID_process( void );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/pt100.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,115 @@
+#include "mbed.h"
+#include "uart.h"
+#include "interpret.h"
+#include "pt100.h"
+#include "MCP23017.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+MCP23017 *PT100_I2C;
+
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+unsigned char PT100_mirrowBits( unsigned char input);
+
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void PT100_init( void )
+{
+ PT100_I2C = new MCP23017( p9, p10, PT100_I2C_ADD);
+ PT100_I2C->config(0,0,0); // set to outputs, no pull-ups, not-inverted
+ PT100_I2C->write_mask(0, 0xFFFF); // set outputs low
+}
+
+
+
+// process commands
+void PT100_deviceID_process( void )
+{
+ unsigned short temp16U;
+
+ switch( uartBuffer[ INT_BUF_COMMAND ] )
+ {
+ //-----------------
+ case PT100_COM_SET:
+ //-----------------
+ {
+ // Get byte
+ temp16U = (unsigned short)PT100_mirrowBits( uartBuffer[ INT_BUF_1DATA ]);
+ // Write to PT100 HW
+ PT100_I2C->write_mask(temp16U, 0x00FF);
+ // Generate acknowledge
+ INT_generateACKFrame(INT_ID_PT100, INT_COM_ACK);
+
+ break;
+ }
+
+ //-----------------
+ case PT100_COM_GET:
+ //-----------------
+ {
+ temp16U = (unsigned short)PT100_mirrowBits( (unsigned char)(PT100_I2C->read_mask(0x00FF)));
+
+ // Generate acknowledge
+ uartBuffer[INT_BUF_DEVICEID] = INT_ID_PT100;
+ uartBuffer[INT_BUF_COMMAND] = INT_COM_ACK;
+ uartBuffer[INT_BUF_NUM] = 1;
+ uartBuffer[INT_BUF_1DATA] = (char)(0x00FF & temp16U);
+ UART_handler.bytesToWrite = 4;
+
+ break;
+ }
+
+ //-----------------
+ default:
+ //-----------------
+ {
+ // Command not supported
+ INT_generateACKFrame(INT_ID_PT100, INT_COM_COM_NOTSUPP);
+ }
+ }//switch
+
+}
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+unsigned char PT100_mirrowBits( unsigned char input)
+{
+ char i;
+ unsigned char tempChar = 0;
+
+ for( i = 0; i < 8; i++)
+ {
+ if( input & (1 << i) )
+ {
+ tempChar |= (1 << 7 - i);
+ }
+
+ }
+
+ return tempChar;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/pt100.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define PT100_I2C_ADD ( I2C_BASE_ADDRESS + (0 << 1) ) // I2C_BASE_ADDRESS is defined in MCP23017
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+// Global commands 0 - 20 are defined in interpret.h
+// Commands 21 - 127 are HW-unit commands
+typedef enum
+{
+ PT100_COM_SET = 21, // 21: set state
+ PT100_COM_GET, // 22: get state
+ //----------------
+ CNT_ePT100_command
+}ePT100_command;
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void PT100_init( void );
+void PT100_deviceID_process( void );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/pwm.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,136 @@
+#include "mbed.h"
+#include "pwm.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+PwmOut PWM0(p26);
+PwmOut PWM1(p25);
+PwmOut PWM2(p24);
+PwmOut PWM3(p23);
+PwmOut PWM4(p22);
+PwmOut PWM5(p21);
+
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+static int PWM_calcDutyCycle( unsigned char DutyCyclePerc );
+static void PWM_updateAllDC( void );
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static int PWMPeriode_us = 0; // [us] actual periode time of pwm signal
+static unsigned char PWMDutyCycle[CNT_ePWM_channel]; // [%] Scale: 1 DutyCycle ratio of each channel
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void PWM_init( void )
+{
+ int i;
+
+ for( i = 0; i < CNT_ePWM_channel; i++ )
+ {
+ PWMDutyCycle[i] = 0;
+ }
+
+ // Update Freq and duty cycle
+ PWM_updateFreq( PWM_INIT_FREQ );
+}
+
+
+// Return:
+// 0: freq_Hz is outside of limit
+// 1: frequency was updated
+int PWM_updateFreq( unsigned int freq_Hz )
+{
+ float tempFloat;
+
+ // check limit
+ if( (freq_Hz < PWM_FREQ_MIN) || (freq_Hz > PWM_FREQ_MAX) )
+ {
+ return 0;
+ }
+
+ // convert to period time in us
+ tempFloat = 1.0 / (float)(freq_Hz);
+ tempFloat *= 1000000.0;
+
+ // Save period to global variable, update PWM and update duty cycle
+ PWMPeriode_us = (int)tempFloat;
+ PWM0.period_us(PWMPeriode_us); // periode effects all 6 channels
+ PWM_updateAllDC();
+
+ return 1;
+}
+
+
+// Return:
+// 0: channel or dutyCycle is outside of limit
+// 1: duty cycle was updated
+int PWM_setDC( int channel, int dutyCycle )
+{
+ // Check duty cycle and channel limits
+ if( channel >= CNT_ePWM_channel )
+ {
+ return 0;
+ }
+
+ if( dutyCycle < 0 || dutyCycle > PWM_DC_MAX )
+ {
+ return 0;
+ }
+
+ // update buffer array of channel and update duty cycle register of all channel
+ PWMDutyCycle[channel] = dutyCycle;
+ PWM_updateAllDC();
+
+ return 1;
+}
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+static void PWM_updateAllDC( void )
+{
+ // update duty cycle of all channels
+ PWM0.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH0] ) );
+ PWM1.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH1] ) );
+ PWM2.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH2] ) );
+ PWM3.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH3] ) );
+ PWM4.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH4] ) );
+ PWM5.pulsewidth_us( PWM_calcDutyCycle( PWMDutyCycle[PWM_CH5] ) );
+}
+
+
+// Calculate duty cycle register value with respect to period time
+static int PWM_calcDutyCycle( unsigned char DutyCyclePerc )
+{
+ if( DutyCyclePerc == 0 )
+ {
+ return 0;
+ }
+
+ if( DutyCyclePerc >= 100 )
+ {
+ return PWMPeriode_us + 1;
+ }
+
+ return (int)( (float)PWMPeriode_us * ( (float)DutyCyclePerc / 100.0) );
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/pwm.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,51 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define PWM_INIT_FREQ ( 1000 )
+#define PWM_FREQ_MIN ( 1 )
+#define PWM_FREQ_MAX ( 5000 )
+#define PWM_DC_MAX ( 100 )
+
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+
+typedef enum
+{
+ PWM_CH0,
+ PWM_CH1,
+ PWM_CH2,
+ PWM_CH3,
+ PWM_CH4,
+ PWM_CH5,
+ //-------------------
+ CNT_ePWM_channel
+}ePWM_channel;
+
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void PWM_init( void );
+int PWM_updateFreq( unsigned int freq_Hz );
+int PWM_setDC( int channel, int dutyCycle );
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/rs232.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,154 @@
+#include "mbed.h"
+#include "rs232.h"
+
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+Serial rs232(p13, p14); // TXD, RXD
+Timeout rs232Timeout;
+DigitalOut rs232RTS(p12); // RTS
+DigitalIn rs232CTS(p11); // CTS
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+static void RS232_reset( void );
+static void RS232_rxCallback( void );
+static void RS232_rxTimeout( void );
+
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+static char RS232Buffer[RS232_BUFFER_LENGTH];
+static sRS232_handler RS232_handler;
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void RS232_init( void )
+{
+ rs232RTS = 0;
+ rs232.baud(RS232_BAUDRATE);
+ rs232.format(RS232_BITS, Serial::None, RS232_STOPBIT );
+ RS232_reset();
+ rs232.attach( &RS232_rxCallback, Serial::RxIrq ); // call RS232_rx() on every RX interrupt
+}
+
+
+
+// Return 1: Sending was successfull
+// Return 0: Could not send data, eithter to many bytes or zero bytes
+int RS232_sendData( char *ptrData, int NumBytes )
+{
+ int i;
+
+ if( (NumBytes == 0) || (NumBytes >= RS232_BUFFER_LENGTH ) )
+ {
+ return 0;
+ }
+
+ // Send data
+ for( i = 0; i < NumBytes; i++ )
+ {
+ while( !rs232.writeable() );
+ rs232.putc(*ptrData);
+ ptrData++;
+ }//for
+
+ return 1;
+}
+
+
+// Return 1: New data available, get pointer to buffer and number of bytes to read
+// Return 0: No new data available
+int RS232_receiveData( char *& ptrData, int *ptrNumBytes )
+{
+ // Dummy operation to avoid compiler warning
+ ptrData++;
+
+ if( RS232_handler.mode != RS232_MODE_RX_READY )
+ {
+ *ptrNumBytes = 0;
+ return 0;
+ }
+
+ *ptrNumBytes = RS232_handler.bytesToRead;
+ ptrData = &RS232Buffer[0];
+
+ RS232_reset();
+ return 1;
+}
+
+
+
+void RS232_setRTS( int level)
+{
+ if( level )
+ {
+ rs232RTS = 0;
+ }
+ else
+ {
+ rs232RTS = 1;
+ }
+
+}
+
+
+int RS232_getCTS( void )
+{
+ return rs232CTS;
+}
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+static void RS232_reset( void )
+{
+ RS232_handler.ptrReadPositon = &RS232Buffer[0];
+ RS232_handler.bytesToRead = 0;
+ RS232_handler.mode = RS232_MODE_LISTEN;
+}
+
+
+// Function is called on RX interrupt
+void RS232_rxCallback( void )
+{
+ char tempChar;
+
+ tempChar = rs232.getc();
+
+ if( (RS232_handler.mode != RS232_MODE_LISTEN) || (RS232_handler.bytesToRead >= RS232_BUFFER_LENGTH) )
+ {
+ return;
+ }
+
+ // Restart timeout timer
+ rs232Timeout.attach_us( &RS232_rxTimeout, RS232_RX_TIMEOUT_US );
+ // Save received byte
+ *RS232_handler.ptrReadPositon = tempChar;
+ RS232_handler.ptrReadPositon++;
+ RS232_handler.bytesToRead++;
+}
+
+
+void RS232_rxTimeout( void )
+{
+ // Disable timeout
+ rs232Timeout.detach();
+ RS232_handler.mode = RS232_MODE_RX_READY; // Transmission is ready
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/rs232.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,61 @@
+#include "mbed.h"
+
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define RS232_BUFFER_LENGTH 256
+#define RS232_RX_TIMEOUT_US 50000
+#define RS232_BAUDRATE 9600
+#define RS232_BITS 8
+#define RS232_STOPBIT 1
+
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+typedef enum
+{
+ RS232_MODE_LISTEN,
+ RS232_MODE_RX_READY,
+ //-----------------
+ CNT_eRS232_mode
+}eRS232_mode;
+
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+typedef struct
+{
+ eRS232_mode mode; // mode of RS232 hardware
+ char *ptrReadPositon; // actual read position in buffer
+ int bytesToRead; // Number of received bytes
+}sRS232_handler;
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void RS232_init( void ); // Init hardware and internal buffer
+
+
+int RS232_receiveData( char *& ptrData, int *ptrNumBytes ); // "char *&" = reference to pointer !!
+ // return pointer to buffer and number of received bytes
+ // Return 1: New data available, get pointer to buffer and number of bytes to read
+ // Return 0: No new data available
+int RS232_sendData( char *ptrData, int NumBytes ); // send data NumBytes bytes from source pointer: ptrData
+ // Return 1: Sending was successfull
+ // Return 0: Could not send data, eithter to many bytes, zero bytes or UART is still listining
+
+void RS232_setRTS( int level);
+int RS232_getCTS( void );
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/uart.cpp Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,156 @@
+#include "mbed.h"
+#include "uart.h"
+
+
+//---------------------------------------
+// Hardware recources
+//---------------------------------------
+Serial uartPC(USBTX, USBRX);
+Timeout uartTimeout;
+
+
+
+//---------------------------------------
+// Prototypes
+//---------------------------------------
+void UART_calcCRC16( void );
+void UART_initStructure( void );
+void UART_rxCallback( void );
+void UART_rxTimeout( void );
+
+//---------------------------------------
+// Internal variables
+//---------------------------------------
+char uartBuffer[UART_BUFFER_LENGTH];
+
+
+
+//---------------------------------------
+// External variables
+//---------------------------------------
+sUART_handler UART_handler;
+
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+
+void UART_init( void )
+{
+ uartPC.baud(UART_BAUDRATE);
+ uartPC.format(UART_BITS, Serial::None, UART_STOPBIT );
+ UART_reset();
+ uartPC.attach( &UART_rxCallback, Serial::RxIrq ); // call UART_rx() on every RX interrupt
+}
+
+
+void UART_reset( void )
+{
+ UART_handler.ptrBuffer = &uartBuffer[0];
+ UART_handler.ptrReadPositon = &uartBuffer[0];
+ UART_handler.ptrWritePosition = &uartBuffer[0];
+ UART_handler.bytesToRead = 0;
+ UART_handler.bytesToWrite = 0;
+ UART_handler.mode = UART_MODE_LISTEN;
+}
+
+
+// Only send, if UART is not listining because the same buffer is used for RX and TX
+// Return 1: Sending was successfull
+// Return 0: Could not send data, eithter to many bytes, zero bytes or UART is still listining
+int UART_sendData( void )
+{
+ int i;
+
+ // 2013-07-04 SJ: Remove check for UART_MODE_RX_READY because UART_reset() is called on UART_newFrame
+ // if( (UART_handler.bytesToWrite > 0) && (UART_handler.mode == UART_MODE_RX_READY) && (UART_handler.bytesToWrite < UART_BUFFER_LENGTH - 2 ) )
+ if( (UART_handler.bytesToWrite > 0) && (UART_handler.bytesToWrite < UART_BUFFER_LENGTH - 2 ) )
+ {
+ // Calc and add CRC16 to buffer
+ UART_calcCRC16();
+ // Send data
+ for( i = 0; i < UART_handler.bytesToWrite; i++ ) {
+ while( !uartPC.writeable() );
+ uartPC.putc(uartBuffer[i]);
+ }//for
+ // Reset UART function, ready to receive again
+ UART_reset();
+
+ return 1;
+ }//if
+ else {
+ return 0;
+ }
+
+}
+
+
+int UART_newFrame( void )
+{
+ if( UART_handler.mode == UART_MODE_RX_READY )
+ {
+ // 2013-07-04 SJ:
+ #warning UART: This also resets the read pointer position!!!
+ UART_reset();
+ return 1;
+ }
+ else
+ {
+ return 0;
+ }
+}
+
+
+// Return 0: CRC16 check failed
+// Return 1: CRC16 check passed
+int UART_checkReceivedCRC( void )
+{
+ // calculate CRC16 of received stream and compare with received CRC16
+
+ return 1;
+}
+
+
+
+//---------------------------------------
+// Internal Functions
+//---------------------------------------
+
+// Calculate CRC16 and add to buffer
+void UART_calcCRC16( void )
+{
+
+
+}
+
+
+// Function is called on RX interrupt
+void UART_rxCallback( void )
+{
+ char tempChar;
+
+ tempChar = uartPC.getc();
+
+ // Only save data, if not in blocked mode
+ if( UART_handler.mode == UART_MODE_LISTEN ) {
+ if( UART_handler.bytesToRead < UART_BUFFER_LENGTH ) { // no buffer overflow
+ // Restart timeout timer
+ uartTimeout.attach_us( &UART_rxTimeout, UART_RX_TIMEOUT_US );
+ // Save received byte
+ *UART_handler.ptrReadPositon = tempChar;
+ UART_handler.ptrReadPositon++;
+ UART_handler.bytesToRead++;
+ }
+ }// if
+}
+
+
+void UART_rxTimeout( void )
+{
+ // Disable timeout
+ uartTimeout.detach();
+ UART_handler.ptrReadPositon = &uartBuffer[0];
+ UART_handler.mode = UART_MODE_RX_READY; // Transmission is ready
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/310-TMC3-TestHW/uart.h Fri May 09 11:30:55 2014 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+
+
+//---------------------------------------
+// Definitions
+//---------------------------------------
+#define UART_BUFFER_LENGTH 512
+#define UART_RX_TIMEOUT_US 1000
+#define UART_BAUDRATE 115200
+#define UART_BITS 8
+#define UART_STOPBIT 1
+
+//---------------------------------------
+// Enums
+//---------------------------------------
+typedef enum {
+ UART_MODE_LISTEN,
+ UART_MODE_RX_READY,
+ //-----------------
+ CNT_eUART_mode
+} eUART_mode;
+
+
+//---------------------------------------
+// Structures
+//---------------------------------------
+typedef struct {
+ eUART_mode mode; // mode of UART hardware
+ char *ptrBuffer; // start address of buffer
+ char *ptrReadPositon; // actual read position in buffer
+ char *ptrWritePosition; // actual write position in buffer
+ char bytesToRead; // Number of received bytes
+ char bytesToWrite; // Number of bytes to send
+} sUART_handler;
+
+
+
+//---------------------------------------
+// Global Variables
+//---------------------------------------
+extern sUART_handler UART_handler;
+extern char uartBuffer[UART_BUFFER_LENGTH];
+
+
+//---------------------------------------
+// Global Functions
+//---------------------------------------
+void UART_init( void );
+void UART_reset( void ); // clear all UART registers, --> restart
+int UART_newFrame( void ); // check for new received frame
+int UART_checkReceivedCRC( void ); // check received CRC16
+int UART_sendData( void ); // send data saved in buffer
\ No newline at end of file