Yang Zhang
/
EasyCAT_lib
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EasyCAT.h
- Committer:
- neeyoo
- Date:
- 2021-10-04
- Revision:
- 4:66867fae2256
- Parent:
- 0:7816b38c99cc
File content as of revision 4:66867fae2256:
//********************************************************************************************
// *
// AB&T Tecnologie Informatiche - Ivrea Italy *
// http://www.bausano.net *
// https://www.ethercat.org/en/products/791FFAA126AD43859920EA64384AD4FD.htm *
// *
//********************************************************************************************
// *
// This software is distributed as an example, in the hope that it could be useful, *
// WITHOUT ANY WARRANTY, even the implied warranty of FITNESS FOR A PARTICULAR PURPOSE *
// *
//********************************************************************************************
//----- EasyCAT library for mbed boards 170912 ----------------------------------------------
//----- Derived from the AB&T EasyCAT Arduino shield library V 1.5 --------------------------
//----- Tested with the STM32 NUCLEO-F767ZI board -------------------------------------------
#ifndef EasyCAT_H
#define EasyCAT_H
//****** PDO configuration parameters ********************************************************
// Here we can define how many I/O bytes our EasyCAT can exchange
// We can use STANDARD MODE or CUSTOM MODE
// !!! Warning: CUSTOM MODE is recommended only for advanced users !!!
// In STANDARD MODE the EasyCAT exchanges a fixed number of bytes
// in input and in output
// The number of bytes in input are equal to the number of bytes in output
// Valid values are 16, 32, 64, 128
//
// The configuration EEPROM on board of the EasyCAT must be
// loaded with the corresponding bin file, provided by AB&T
//
// The EasyCAT is shipped configured for 32+32 bytes I.E. with
// the "EasyCAT_32_32.bin" file loaded into the configuration EEPROM
//-- BYTE_NUM ----------- Byte exchanged ------ Config EEPROM file
//#define BYTE_NUM 16 // 16 + 16 EasyCAT_16_16.bin
//#define BYTE_NUM 32 // 32 + 32 EasyCAT_32_32.bin
//#define BYTE_NUM 64 // 64 + 64 EasyCAT_64_64.bin
//#define BYTE_NUM 128 // 128 + 128 EasyCAT_128_128.bin
// In CUSTOM MODE, recommended only for advanced users, the EasyCAT exchanges
// a configurable number of bytes, between 0 and 128, in input and in output
// The number of bytes in input and in output can be different
//
// The configuration EEPROM on board of the EasyCAT must be
// loaded with a suitable bin file, provided by the user
// or with the "EasyCAT_configurable.bin" file provided by AB&T
// Comment all the above BYTE_NUM #define for the STANDARD MODE
// and define here the custom number of exchanged bytes
//----- CUSTOM_MODE example -------
//
#define CUST_BYTE_NUM_OUT 0 // total number of bytes in output
#define CUST_BYTE_NUM_IN 60 // total number of bytes in input
// We can also customize names and data types for the PDOs
// see the example in this file (look for tag "Custom data types example")
//*************************************************************************************
//-- the preprocessor calculates the parameters necessary to transfer out data ---
// define TOT_BYTE_NUM_OUT as the total
// number of byte you need to
// transfer in output (between 0 and 128)
// this must match your ESI XML
#ifdef BYTE_NUM
#define TOT_BYTE_NUM_OUT BYTE_NUM // bytes in output
#else
#define TOT_BYTE_NUM_OUT CUST_BYTE_NUM_OUT // any number between 0 and 128
#endif
#if ((TOT_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes in output
#define TOT_BYTE_NUM_ROUND_OUT ((TOT_BYTE_NUM_OUT | 0x03) + 1)
#else // rounded to 4 (long)
#define TOT_BYTE_NUM_ROUND_OUT TOT_BYTE_NUM_OUT //
#endif //
#if TOT_BYTE_NUM_OUT > 64 // if we have more then 64 bytes
// we have to split the transfer in two
#define SEC_BYTE_NUM_OUT (TOT_BYTE_NUM_OUT - 64) // number of bytes of the second transfer
#if ((SEC_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes of the second transfer
#define SEC_BYTE_NUM_ROUND_OUT ((SEC_BYTE_NUM_OUT | 0x03) + 1)
#else // rounded to 4 (long)
#define SEC_BYTE_NUM_ROUND_OUT SEC_BYTE_NUM_OUT//
#endif //
#define SEC_LONG_NUM_OUT SEC_BYTE_NUM_ROUND_OUT/4// number of long of the second transfer
#define FST_BYTE_NUM_OUT 64 // number of bytes of the first transfer
#define FST_BYTE_NUM_ROUND_OUT 64 // number of bytes of the first transfer
// rounded to 4 (long)
#define FST_LONG_NUM_OUT 16 // number of long of the second transfer
#else // if we have 64 bytes max we tranfert
// them in just one round
#define FST_BYTE_NUM_OUT TOT_BYTE_NUM_OUT // number of bytes of the first and only transfer
#if ((FST_BYTE_NUM_OUT & 0x03) != 0x00) // number of bytes of the first and only transfer
#define FST_BYTE_NUM_ROUND_OUT ((FST_BYTE_NUM_OUT | 0x03) + 1)
#else // rounded to 4 (long)
#define FST_BYTE_NUM_ROUND_OUT FST_BYTE_NUM_OUT
#endif
#define FST_LONG_NUM_OUT FST_BYTE_NUM_ROUND_OUT/4// number of long of the first and only transfer
#define SEC_BYTE_NUM_OUT 0 // we don't use the second round
#define SEC_BYTE_NUM_ROUND_OUT 0 //
#define SEC_LONG_NUM_OUT 0 //
#endif
//-- the preprocessor calculates the parameters necessary to transfer in data ---
// define TOT_BYTE_NUM_IN the total
// number of byte you need to
// transfer in input (between 0 and 128)
#ifdef BYTE_NUM
#define TOT_BYTE_NUM_IN BYTE_NUM // bytes in input
#else
#define TOT_BYTE_NUM_IN CUST_BYTE_NUM_IN // any number between 0 and 128
#endif
#if ((TOT_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes in output
#define TOT_BYTE_NUM_ROUND_IN ((TOT_BYTE_NUM_IN | 0x03) + 1)
#else // rounded to 4 (long)
#define TOT_BYTE_NUM_ROUND_IN TOT_BYTE_NUM_IN //
#endif //
#if TOT_BYTE_NUM_IN > 64 // if we have more then 64 bytes
// we have to split the transfer in two
#define SEC_BYTE_NUM_IN (TOT_BYTE_NUM_IN - 64) // number of bytes of the second transfer
#if ((SEC_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes of the second transfer
#define SEC_BYTE_NUM_ROUND_IN ((SEC_BYTE_NUM_IN | 0x03) + 1)
#else // rounded to 4 (long)
#define SEC_BYTE_NUM_ROUND_IN SEC_BYTE_NUM_IN //
#endif //
#define SEC_LONG_NUM_IN SEC_BYTE_NUM_ROUND_IN/4 // number of long of the second transfer
#define FST_BYTE_NUM_IN 64 // number of bytes of the first transfer
#define FST_BYTE_NUM_ROUND_IN 64 // number of bytes of the first transfer
// rounded to 4 (long)
#define FST_LONG_NUM_IN 16 // number of long of the second transfer
#else // if we have 64 bytes max we tranfert
// them in just one round
#define FST_BYTE_NUM_IN TOT_BYTE_NUM_IN // number of bytes of the first and only transfer
#if ((FST_BYTE_NUM_IN & 0x03) != 0x00) // number of bytes of the first and only transfer
#define FST_BYTE_NUM_ROUND_IN ((FST_BYTE_NUM_IN | 0x03) + 1)
#else // rounded to 4 (long)
#define FST_BYTE_NUM_ROUND_IN FST_BYTE_NUM_IN
#endif
#define FST_LONG_NUM_IN FST_BYTE_NUM_ROUND_IN/4 // number of long of the first and only transfer
#define SEC_BYTE_NUM_IN 0 // we don't use the second round
#define SEC_BYTE_NUM_ROUND_IN 0 //
#define SEC_LONG_NUM_IN 0 //
#endif
//---------------------------------------------------------------------------------
//----------------- sanity check -------------------------------------------------------
#ifdef BYTE_NUM // STANDARD MODE and CUSTOM MODE
// cannot be defined at the same time
#ifdef CUST_BYTE_NUM_OUT
#error "BYTE_NUM and CUST_BYTE_NUM_OUT cannot be defined at the same time !!!!"
#error "define them correctly in file EasyCAT.h"
#endif
#ifdef CUST_BYTE_NUM_IN
#error "BYTE_NUM and CUST_BYTE_NUM_IN cannot be defined at the same time !!!!"
#error "define them correctly in file EasyCAT.h"
#endif
#endif
#ifdef BYTE_NUM //--- for BYTE_NUM we accept only 16 32 64 128 --
#if ((BYTE_NUM !=16) && (BYTE_NUM !=32) && (BYTE_NUM !=64) && (BYTE_NUM !=128))
#error "BYTE_NUM must be 16, 32, 64 or 128 !!! define it correctly in file EasyCAT.h"
#endif
#else
//--- CUST_BYTE_NUM_OUT and CUST_BYTE_NUM_IN --------
// must be max 128
#if (CUST_BYTE_NUM_OUT > 128)
#error "CUST_BYTE_NUM_OUT must be max 128 !!! define it correctly in file EasyCAT.h"
#endif
#if (CUST_BYTE_NUM_IN > 128)
#error "CUST_BYTE_NUM_IN must be max 128 !!! define it correctly in file EasyCAT.h"
#endif
#endif
//*************************************************************************************************
//---- LAN9252 registers --------------------------------------------------------------------------
//---- access to EtherCAT registers -------------------
#define ECAT_CSR_DATA 0x0300 // EtherCAT CSR Interface Data Register
#define ECAT_CSR_CMD 0x0304 // EtherCAT CSR Interface Command Register
//---- access to EtherCAT process RAM -----------------
#define ECAT_PRAM_RD_ADDR_LEN 0x0308 // EtherCAT Process RAM Read Address and Length Register
#define ECAT_PRAM_RD_CMD 0x030C // EtherCAT Process RAM Read Command Register
#define ECAT_PRAM_WR_ADDR_LEN 0x0310 // EtherCAT Process RAM Write Address and Length Register
#define ECAT_PRAM_WR_CMD 0x0314 // EtherCAT Process RAM Write Command Register
#define ECAT_PRAM_RD_DATA 0x0000 // EtherCAT Process RAM Read Data FIFO
#define ECAT_PRAM_WR_DATA 0x0020 // EtherCAT Process RAM Write Data FIFO
//---- EtherCAT registers -----------------------------
#define AL_STATUS 0x0130 // AL status
#define WDOG_STATUS 0x0440 // watch dog status
#define AL_EVENT_MASK 0x0204 // AL event interrupt mask
//---- LAN9252 registers ------------------------------
#define HW_CFG 0x0074 // hardware configuration register
#define BYTE_TEST 0x0064 // byte order test register
#define RESET_CTL 0x01F8 // reset register
#define ID_REV 0x0050 // chip ID and revision
#define IRQ_CFG 0x0054 // interrupt configuration
#define INT_EN 0x005C // interrupt enable
//---- LAN9252 flags ------------------------------------------------------------------------------
#define ECAT_CSR_BUSY 0x80
#define PRAM_ABORT 0x40000000
#define PRAM_BUSY 0x80
#define PRAM_AVAIL 0x01
#define READY 0x08
#define DIGITAL_RST 0x00000001
//---- EtherCAT flags -----------------------------------------------------------------------------
// EtherCAT state machine
#define ESM_INIT 0x01 // init
#define ESM_PREOP 0x02 // pre-operational
#define ESM_BOOT 0x03 // bootstrap
#define ESM_SAFEOP 0x04 // safe-operational
#define ESM_OP 0x08 // operational
//--- ESC commands --------------------------------------------------------------------------------
#define ESC_WRITE 0x80
#define ESC_READ 0xC0
//---- SPI ----------------------------------------------------------------------------------------
#define COMM_SPI_READ 0x03
#define COMM_SPI_WRITE 0x02
#define DUMMY_BYTE 0xFF
//---- typedef ------------------------------------------------------------------------------------
typedef union
{
unsigned short Word;
unsigned char Byte[2];
} UWORD;
typedef union
{
unsigned long Long;
unsigned short Word[2];
unsigned char Byte[4];
} ULONG;
typedef union //-- output buffer -----------------
{ //
uint8_t Byte [TOT_BYTE_NUM_ROUND_OUT]; //
#if CUST_BYTE_NUM_OUT > 0 //----- Custom data types example -----
//
struct // Here we can define our custom
{ // data types and names for the outputs
//
uint8_t Control; // The total number of bytes declared
float PreZone1; // in this structure must be equal
float CommZone1; // to the value assigned to CUST_BYTE_NUM_OUT
float RampZone1; //
float PreZone2; // In this case 1+ 4+4+4+ 4+4+4+ 4+4+4+ 4+4+4 = 49
float CommZone2; //
float RampZone2; //
float PreZone3; //
float CommZone3; //
float RampZone3; //
float PreZone4; //
float CommZone4; //
float RampZone4; //
}Cust; //
//
#endif //
} PROCBUFFER_OUT; //
typedef union //-- input buffer ------------------
{ //
uint8_t Byte [TOT_BYTE_NUM_ROUND_IN]; //
#if CUST_BYTE_NUM_IN > 0 //----- Custom data types example ------
//
struct // Here we can define our custom
{ // data types and names for the inputs
int32_t centerXL;
int32_t centerYL;
int32_t forceL;
int32_t yawL;
int32_t pitchL;
int32_t rollL;
int32_t centerXR;
int32_t centerYR;
int32_t forceR;
int32_t yawR;
int32_t pitchR;
int32_t rollR;
int32_t yawH;
int32_t pitchH;
int32_t rollH; //
}Cust; //
//
#endif //
} PROCBUFFER_IN; //
typedef enum
{
ASYNC,
DC_SYNC,
SM_SYNC
}SyncMode;
//-------------------------------------------------------------------------------------------------
class EasyCAT
{
public:
EasyCAT(); // default constructor
EasyCAT(PinName SCS);
EasyCAT(SyncMode Sync);
EasyCAT(PinName SCS, SyncMode Sync);
unsigned char MainTask(); // EtherCAT main task
// must be called cyclically by the application
bool Init(); // EasyCAT board initialization
PROCBUFFER_OUT BufferOut; // output process data buffer
PROCBUFFER_IN BufferIn; // input process data buffer
private:
void SPIWriteRegisterDirect (unsigned short Address, unsigned long DataOut);
unsigned long SPIReadRegisterDirect (unsigned short Address, unsigned char Len);
void SPIWriteRegisterIndirect (unsigned long DataOut, unsigned short Address, unsigned char Len);
unsigned long SPIReadRegisterIndirect (unsigned short Address, unsigned char Len);
void SPIReadProcRamFifo();
void SPIWriteProcRamFifo();
PinName SCS_;
SyncMode Sync_;
};
#endif