First Last / Mbed 2 deprecated EtherCAT-XbusMaster

EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master

Dependencies:   MODSERIAL mbed KL25Z_ClockControl

Fork of EtherCAT by First Last

soes.cpp@23:2b2cdba08259, 2015-03-06 (annotated)

Committer:
vsluiter
Date:
Fri Mar 06 11:07:58 2015 +0000
Revision:
23:2b2cdba08259
Parent:
22:3f3a9f55054c
Child:
24:fa1c5af49650
NOT WORIKING, tried to get timestamp into this version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 1:5e22bf1a3817 1 /*
vsluiter 1:5e22bf1a3817 2 * SOES Simple Open EtherCAT Slave
vsluiter 1:5e22bf1a3817 3 *
vsluiter 1:5e22bf1a3817 4 * File : soes.c
vsluiter 1:5e22bf1a3817 5 * Version : 0.9.2
vsluiter 1:5e22bf1a3817 6 * Date : 22-02-2010
vsluiter 1:5e22bf1a3817 7 * Copyright (C) 2007-2010 Arthur Ketels
vsluiter 1:5e22bf1a3817 8 *
vsluiter 1:5e22bf1a3817 9 * SOES is free software; you can redistribute it and/or modify it under
vsluiter 1:5e22bf1a3817 10 * the terms of the GNU General Public License version 2 as published by the Free
vsluiter 1:5e22bf1a3817 11 * Software Foundation.
vsluiter 1:5e22bf1a3817 12 *
vsluiter 1:5e22bf1a3817 13 * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
vsluiter 1:5e22bf1a3817 14 * WARRANTY; without even the implied warranty of MERCHANTABILITY or
vsluiter 1:5e22bf1a3817 15 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
vsluiter 1:5e22bf1a3817 16 * for more details.
vsluiter 1:5e22bf1a3817 17 *
vsluiter 1:5e22bf1a3817 18 * As a special exception, if other files instantiate templates or use macros
vsluiter 1:5e22bf1a3817 19 * or inline functions from this file, or you compile this file and link it
vsluiter 1:5e22bf1a3817 20 * with other works to produce a work based on this file, this file does not
vsluiter 1:5e22bf1a3817 21 * by itself cause the resulting work to be covered by the GNU General Public
vsluiter 1:5e22bf1a3817 22 * License. However the source code for this file must still be made available
vsluiter 1:5e22bf1a3817 23 * in accordance with section (3) of the GNU General Public License.
vsluiter 1:5e22bf1a3817 24 *
vsluiter 1:5e22bf1a3817 25 * This exception does not invalidate any other reasons why a work based on
vsluiter 1:5e22bf1a3817 26 * this file might be covered by the GNU General Public License.
vsluiter 1:5e22bf1a3817 27 *
vsluiter 1:5e22bf1a3817 28 * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
vsluiter 1:5e22bf1a3817 29 * property of, and protected by Beckhoff Automation GmbH.
vsluiter 1:5e22bf1a3817 30 */
vsluiter 1:5e22bf1a3817 31
vsluiter 1:5e22bf1a3817 32 /****************************************************
vsluiter 1:5e22bf1a3817 33 Chip type : STM32F051R8
vsluiter 1:5e22bf1a3817 34 Clock frequency : 48 MHz
vsluiter 1:5e22bf1a3817 35 *****************************************************/
vsluiter 1:5e22bf1a3817 36
vsluiter 1:5e22bf1a3817 37 /* Includes ------------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 38 #include "mbed.h"
vsluiter 1:5e22bf1a3817 39 #include "cpuinit.h"
vsluiter 1:5e22bf1a3817 40 #include "utypes.h"
vsluiter 1:5e22bf1a3817 41 #include "esc.h"
vsluiter 12:cac4e7c2bd0f 42 #include "MODSERIAL.h"
vsluiter 17:c5946a0fde83 43 #include "xbus.h"
vsluiter 1:5e22bf1a3817 44
vsluiter 1:5e22bf1a3817 45 /* Private typedef -----------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 46 /* Private define ------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 47 #define wd_reset 1000
vsluiter 1:5e22bf1a3817 48
vsluiter 1:5e22bf1a3817 49 /* Private macro -------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 50 /* Private variables ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 51 _ESCvar ESCvar;
vsluiter 1:5e22bf1a3817 52 uint8 APPstate;
vsluiter 1:5e22bf1a3817 53 _MBX MBX[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 54 _MBXcontrol MBXcontrol[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 55 uint8 MBXrun=0;
vsluiter 1:5e22bf1a3817 56 uint16 SM2_sml,SM3_sml;
vsluiter 1:5e22bf1a3817 57 _Rbuffer Rb;
vsluiter 1:5e22bf1a3817 58 _Wbuffer Wb;
vsluiter 11:166353137b95 59 _Ebuffer Eb; //EEprom
vsluiter 1:5e22bf1a3817 60 uint8 TXPDOsize,RXPDOsize;
vsluiter 1:5e22bf1a3817 61 uint16 wd_ok = 1, wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 62
vsluiter 18:6629e8c5d59e 63 uint8_t copy_new_data = 0;
vsluiter 18:6629e8c5d59e 64 uint8_t copydata;
vsluiter 18:6629e8c5d59e 65
vsluiter 1:5e22bf1a3817 66 DigitalOut led(LED_PIN);
vsluiter 1:5e22bf1a3817 67 DigitalOut et1100_ss(ET1100_SS);
vsluiter 1:5e22bf1a3817 68 DigitalIn et1100_miso(ET1100_MISO);
vsluiter 1:5e22bf1a3817 69 SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK);
vsluiter 18:6629e8c5d59e 70 MODSERIAL xbus_serial(PTC4,PTC3);
vsluiter 18:6629e8c5d59e 71 xbus_t xbus_master;
vsluiter 21:6150ca891301 72 //MODSERIAL pc(USBTX,USBRX);
vsluiter 16:bfc7ea6bd1af 73
vsluiter 22:3f3a9f55054c 74 DigitalOut ploep(PTA13);
vsluiter 22:3f3a9f55054c 75 #define PLOEP do{ploep = !(ploep);}while(0);
vsluiter 19:8ead12aec8d5 76
vsluiter 1:5e22bf1a3817 77 /* Private function prototypes -----------------------------------------------*/
vsluiter 1:5e22bf1a3817 78 /* Private functions ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 79
vsluiter 1:5e22bf1a3817 80 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 81 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 82 \param index
vsluiter 1:5e22bf1a3817 83 \param subindex
vsluiter 1:5e22bf1a3817 84 */
vsluiter 1:5e22bf1a3817 85 void ESC_objecthandler(uint16 index, uint8 subindex);
vsluiter 1:5e22bf1a3817 86 void TXPDO_update(void);
vsluiter 1:5e22bf1a3817 87 void RXPDO_update(void);
vsluiter 1:5e22bf1a3817 88 void DIG_process(void);
vsluiter 5:6d75f432a41f 89 void sample(void);
vsluiter 1:5e22bf1a3817 90
vsluiter 1:5e22bf1a3817 91 void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 92 {
vsluiter 1:5e22bf1a3817 93 uint8 dummy8;
vsluiter 1:5e22bf1a3817 94 uint16 dummy16;
vsluiter 1:5e22bf1a3817 95 switch (index)
vsluiter 1:5e22bf1a3817 96 {
vsluiter 1:5e22bf1a3817 97 case 0x8000:
vsluiter 1:5e22bf1a3817 98 switch (subindex)
vsluiter 1:5e22bf1a3817 99 {
vsluiter 1:5e22bf1a3817 100 case 0x01:
vsluiter 5:6d75f432a41f 101 dummy8 = 0;//Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8);
vsluiter 1:5e22bf1a3817 102 break;
vsluiter 1:5e22bf1a3817 103 case 0x02:
vsluiter 5:6d75f432a41f 104 dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
vsluiter 1:5e22bf1a3817 105 break;
vsluiter 1:5e22bf1a3817 106 }
vsluiter 1:5e22bf1a3817 107 break;
vsluiter 1:5e22bf1a3817 108 }
vsluiter 1:5e22bf1a3817 109 }
vsluiter 1:5e22bf1a3817 110
vsluiter 1:5e22bf1a3817 111 void TXPDO_update(void)
vsluiter 1:5e22bf1a3817 112 {
vsluiter 1:5e22bf1a3817 113 ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 114 }
vsluiter 1:5e22bf1a3817 115
vsluiter 1:5e22bf1a3817 116 void RXPDO_update(void)
vsluiter 1:5e22bf1a3817 117 {
vsluiter 1:5e22bf1a3817 118 ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 119 }
vsluiter 1:5e22bf1a3817 120
vsluiter 1:5e22bf1a3817 121 void APP_safeoutput(void)
vsluiter 1:5e22bf1a3817 122 {
vsluiter 1:5e22bf1a3817 123 asm("nop");
vsluiter 1:5e22bf1a3817 124 //Wb.dout = 0;
vsluiter 1:5e22bf1a3817 125 //DOUTPORT = (Wb.dout >> 4) & 0xf0;
vsluiter 1:5e22bf1a3817 126 }
vsluiter 1:5e22bf1a3817 127
vsluiter 1:5e22bf1a3817 128 void DIG_process(void)
vsluiter 1:5e22bf1a3817 129 {
vsluiter 16:bfc7ea6bd1af 130 uint8_t correct_offset;
vsluiter 1:5e22bf1a3817 131 if (APPstate & APPSTATE_OUTPUT) //output enabled
vsluiter 1:5e22bf1a3817 132 {
vsluiter 1:5e22bf1a3817 133 if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
vsluiter 1:5e22bf1a3817 134 {
vsluiter 1:5e22bf1a3817 135 ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
vsluiter 8:09dcef3ed467 136 RXPDO_update();
vsluiter 1:5e22bf1a3817 137 // dummy output point
vsluiter 5:6d75f432a41f 138 correct_offset = Wb.correct_offset;
vsluiter 5:6d75f432a41f 139 if(correct_offset & 0x01) {
vsluiter 8:09dcef3ed467 140 // led.write(1);
vsluiter 14:e3c49b75fee9 141 asm("nop");
vsluiter 8:09dcef3ed467 142 }
vsluiter 8:09dcef3ed467 143 // else
vsluiter 8:09dcef3ed467 144 // led.write(0);
vsluiter 1:5e22bf1a3817 145 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 146 }
vsluiter 1:5e22bf1a3817 147
vsluiter 5:6d75f432a41f 148 if (!wd_cnt) {
vsluiter 1:5e22bf1a3817 149 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 150 // watchdog, invalid outputs
vsluiter 1:5e22bf1a3817 151 ESC_ALerror(ALERR_WATCHDOG);
vsluiter 1:5e22bf1a3817 152 // goto safe-op with error bit set
vsluiter 1:5e22bf1a3817 153 ESC_ALstatus(ESCsafeop | ESCerror);
vsluiter 1:5e22bf1a3817 154 }
vsluiter 1:5e22bf1a3817 155 }
vsluiter 1:5e22bf1a3817 156 else
vsluiter 1:5e22bf1a3817 157 {
vsluiter 1:5e22bf1a3817 158 //wd_ok = 1;
vsluiter 1:5e22bf1a3817 159 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 160 }
vsluiter 1:5e22bf1a3817 161 if (APPstate) //input or output enabled
vsluiter 5:6d75f432a41f 162 {
vsluiter 1:5e22bf1a3817 163 Rb.timestamp = ESCvar.Time;
vsluiter 1:5e22bf1a3817 164 //just some dummy data to test
vsluiter 4:bb72df6dce33 165 //Rb.counter++;
vsluiter 4:bb72df6dce33 166 //Rb.diginput = diginput;
vsluiter 4:bb72df6dce33 167 //Rb.analog[0] = 1;
vsluiter 4:bb72df6dce33 168 //Rb.analog[1] = 2;
vsluiter 14:e3c49b75fee9 169
vsluiter 1:5e22bf1a3817 170
vsluiter 1:5e22bf1a3817 171 TXPDO_update();
vsluiter 5:6d75f432a41f 172 }
vsluiter 1:5e22bf1a3817 173 }
vsluiter 1:5e22bf1a3817 174
vsluiter 21:6150ca891301 175 //Watch out, this is an uggly fix; for odd numbers of num_bytes, still the trailing byte will be used too.
vsluiter 21:6150ca891301 176 //No memory protection what so ever.
vsluiter 21:6150ca891301 177 void memcpy_byteswap(uint8_t * dest, uint8_t * source, uint16_t num_bytes)
vsluiter 21:6150ca891301 178 {
vsluiter 21:6150ca891301 179 for( int i = 0 ; i < num_bytes ; i+=2 )
vsluiter 21:6150ca891301 180 {
vsluiter 21:6150ca891301 181 dest[i] = source[i+1];
vsluiter 21:6150ca891301 182 dest[i+1] = source[i];
vsluiter 21:6150ca891301 183 }
vsluiter 21:6150ca891301 184 }
vsluiter 17:c5946a0fde83 185
vsluiter 1:5e22bf1a3817 186 int main(void)
vsluiter 1:5e22bf1a3817 187 {
vsluiter 1:5e22bf1a3817 188 /*!< At this stage the microcontroller clock setting is already configured,
vsluiter 1:5e22bf1a3817 189 this is done through SystemInit() function which is called from startup
vsluiter 1:5e22bf1a3817 190 file (startup_stm32f0xx.s) before to branch to application main.
vsluiter 1:5e22bf1a3817 191 To reconfigure the default setting of SystemInit() function, refer to
vsluiter 1:5e22bf1a3817 192 system_stm32f0xx.c file
vsluiter 1:5e22bf1a3817 193 */
vsluiter 1:5e22bf1a3817 194 cpuinit();
vsluiter 1:5e22bf1a3817 195 TXPDOsize = sizeTXPDO();
vsluiter 1:5e22bf1a3817 196 RXPDOsize = sizeRXPDO();
vsluiter 1:5e22bf1a3817 197 wait_ms(200);
vsluiter 1:5e22bf1a3817 198 /*initialize configuration*/
vsluiter 5:6d75f432a41f 199 //Eb.setting16 = 0xABCD;
vsluiter 5:6d75f432a41f 200 //Eb.setting8 = 111;
vsluiter 1:5e22bf1a3817 201 // wait until ESC is started up
vsluiter 1:5e22bf1a3817 202 while ((ESCvar.DLstatus & 0x0001) == 0)
vsluiter 1:5e22bf1a3817 203 ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 204
vsluiter 1:5e22bf1a3817 205 // reset ESC to init state
vsluiter 1:5e22bf1a3817 206 ESC_ALstatus(ESCinit);
vsluiter 1:5e22bf1a3817 207 ESC_ALerror(ALERR_NONE);
vsluiter 1:5e22bf1a3817 208 ESC_stopmbx();
vsluiter 1:5e22bf1a3817 209 ESC_stopinput();
vsluiter 1:5e22bf1a3817 210 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 211
vsluiter 1:5e22bf1a3817 212 // application run loop
vsluiter 1:5e22bf1a3817 213 while (1)
vsluiter 1:5e22bf1a3817 214 {
vsluiter 20:ad13d4f5fd98 215 while(xbus_serial.readable())
vsluiter 20:ad13d4f5fd98 216 {
vsluiter 22:3f3a9f55054c 217 PLOEP;
vsluiter 20:ad13d4f5fd98 218 XbusReceiveState(&xbus_master, xbus_serial.getc());
vsluiter 20:ad13d4f5fd98 219 if(xbus_master.rx.checksum_ok)
vsluiter 20:ad13d4f5fd98 220 {
vsluiter 20:ad13d4f5fd98 221 if(xbus_master.rx.buffer[2] == 0x32)
vsluiter 20:ad13d4f5fd98 222 {
vsluiter 21:6150ca891301 223 memcpy_byteswap((uint8_t *)&Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
vsluiter 23:2b2cdba08259 224 //memcpy_byteswap((uint8_t *)&Rb.timestamp, &xbus_master.rx.buffer[2],2);
vsluiter 21:6150ca891301 225 //pc.printf("%u , %u\n", Rb.first.acc[0] , *((uint16_t *)(&xbus_master.rx.buffer[6])) );
vsluiter 20:ad13d4f5fd98 226 }
vsluiter 20:ad13d4f5fd98 227 xbus_master.rx.checksum_ok = 0;
vsluiter 20:ad13d4f5fd98 228 }
vsluiter 18:6629e8c5d59e 229 }
vsluiter 1:5e22bf1a3817 230 ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 231 ESC_ALevent();
vsluiter 1:5e22bf1a3817 232 ESC_state();
vsluiter 1:5e22bf1a3817 233 if (ESC_mbxprocess())
vsluiter 1:5e22bf1a3817 234 {
vsluiter 1:5e22bf1a3817 235 ESC_coeprocess();
vsluiter 1:5e22bf1a3817 236 ESC_xoeprocess();
vsluiter 1:5e22bf1a3817 237 }
vsluiter 1:5e22bf1a3817 238 DIG_process();
vsluiter 1:5e22bf1a3817 239 }
vsluiter 1:5e22bf1a3817 240 }
vsluiter 1:5e22bf1a3817 241
vsluiter 1:5e22bf1a3817 242 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 243 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 244 \param index
vsluiter 1:5e22bf1a3817 245 \param subindex
vsluiter 1:5e22bf1a3817 246 */
vsluiter 1:5e22bf1a3817 247
vsluiter 1:5e22bf1a3817 248
vsluiter 1:5e22bf1a3817 249 #ifdef USE_FULL_ASSERT
vsluiter 1:5e22bf1a3817 250
vsluiter 1:5e22bf1a3817 251 /**
vsluiter 1:5e22bf1a3817 252 * @brief Reports the name of the source file and the source line number
vsluiter 1:5e22bf1a3817 253 * where the assert_param error has occurred.
vsluiter 1:5e22bf1a3817 254 * @param file: pointer to the source file name
vsluiter 1:5e22bf1a3817 255 * @param line: assert_param error line source number
vsluiter 1:5e22bf1a3817 256 * @retval None
vsluiter 1:5e22bf1a3817 257 */
vsluiter 1:5e22bf1a3817 258 void assert_failed(uint8_t* file, uint32_t line)
vsluiter 1:5e22bf1a3817 259 {
vsluiter 1:5e22bf1a3817 260 /* User can add his own implementation to report the file name and line number,
vsluiter 1:5e22bf1a3817 261 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
vsluiter 1:5e22bf1a3817 262
vsluiter 1:5e22bf1a3817 263 /* Infinite loop */
vsluiter 1:5e22bf1a3817 264 while (1)
vsluiter 1:5e22bf1a3817 265 {
vsluiter 1:5e22bf1a3817 266 }
vsluiter 1:5e22bf1a3817 267 }
vsluiter 1:5e22bf1a3817 268 #endif
vsluiter 1:5e22bf1a3817 269
vsluiter 1:5e22bf1a3817 270 /**
vsluiter 1:5e22bf1a3817 271 * @}
vsluiter 1:5e22bf1a3817 272 */
vsluiter 1:5e22bf1a3817 273
vsluiter 1:5e22bf1a3817 274 /**
vsluiter 1:5e22bf1a3817 275 * @}
vsluiter 1:5e22bf1a3817 276 */
vsluiter 1:5e22bf1a3817 277
vsluiter 1:5e22bf1a3817 278 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
vsluiter 1:5e22bf1a3817 279