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

xbus.cpp@18:6629e8c5d59e, 2015-03-05 (annotated)

Committer:
vsluiter
Date:
Thu Mar 05 23:08:58 2015 +0000
Revision:
18:6629e8c5d59e
Parent:
17:c5946a0fde83
Child:
26:c7959f1fd09a
Compiling, but no data copied

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 13:5e4dcbd44786 1 #include "xbus.h"
vsluiter 13:5e4dcbd44786 2
vsluiter 13:5e4dcbd44786 3 #define ARRAY(x) x, sizeof(x)
vsluiter 18:6629e8c5d59e 4
vsluiter 18:6629e8c5d59e 5 extern MODSERIAL xbus_serial;
vsluiter 18:6629e8c5d59e 6
vsluiter 16:bfc7ea6bd1af 7 uint8_t XbusImuMsgGoToMeasurement[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 8 0xFF,
vsluiter 16:bfc7ea6bd1af 9 0x10,
vsluiter 16:bfc7ea6bd1af 10 0x00,
vsluiter 16:bfc7ea6bd1af 11 0xF1
vsluiter 16:bfc7ea6bd1af 12 };
vsluiter 13:5e4dcbd44786 13
vsluiter 13:5e4dcbd44786 14 uint8_t XbusImuMsgGoToConfig[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 15 0xFF,
vsluiter 16:bfc7ea6bd1af 16 0x30,
vsluiter 16:bfc7ea6bd1af 17 0x00,
vsluiter 16:bfc7ea6bd1af 18 0xD1
vsluiter 16:bfc7ea6bd1af 19 };
vsluiter 13:5e4dcbd44786 20
vsluiter 16:bfc7ea6bd1af 21 uint8_t XbusImuMsgSetPeriod[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 22 0xFF,
vsluiter 16:bfc7ea6bd1af 23 0x04, /* MID: SetPeriod */
vsluiter 16:bfc7ea6bd1af 24 0x02,
vsluiter 16:bfc7ea6bd1af 25 0x04, /* MSB time */
vsluiter 16:bfc7ea6bd1af 26 0x80, /* LSB time */ /*time in 8.68us*/ /*0480 eq. 10ms*/
vsluiter 16:bfc7ea6bd1af 27 0x77
vsluiter 16:bfc7ea6bd1af 28 };
vsluiter 13:5e4dcbd44786 29
vsluiter 16:bfc7ea6bd1af 30 uint8_t XbusImuMsgSetOutputMode[] = { 0xFA,
vsluiter 16:bfc7ea6bd1af 31 0xFF,
vsluiter 16:bfc7ea6bd1af 32 0xD0, /* MID: SetOutpuMode */
vsluiter 16:bfc7ea6bd1af 33 0x02,
vsluiter 16:bfc7ea6bd1af 34 0x40, /* MSB */
vsluiter 16:bfc7ea6bd1af 35 0x00, /* LSB */ /*4000 eq. raw data mode*/
vsluiter 16:bfc7ea6bd1af 36 0xEF
vsluiter 16:bfc7ea6bd1af 37 };
vsluiter 13:5e4dcbd44786 38
vsluiter 16:bfc7ea6bd1af 39 uint8_t XbusImuMsgSetSyncIn_SetSync[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 40 0xFF,
vsluiter 16:bfc7ea6bd1af 41 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 42 0x03,
vsluiter 16:bfc7ea6bd1af 43 0x00, /* SyncInMode*/
vsluiter 16:bfc7ea6bd1af 44 0x00, /* Reserved */
vsluiter 16:bfc7ea6bd1af 45 0x01, /* Sample ADC, RisingEdge*/
vsluiter 16:bfc7ea6bd1af 46 0x27
vsluiter 16:bfc7ea6bd1af 47 };
vsluiter 13:5e4dcbd44786 48
vsluiter 16:bfc7ea6bd1af 49 uint8_t XbusImuMsgSetSyncIn_SetSkip[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 50 0xFF,
vsluiter 16:bfc7ea6bd1af 51 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 52 0x03,
vsluiter 16:bfc7ea6bd1af 53 0x01, /* SkipFactor*/
vsluiter 16:bfc7ea6bd1af 54 0x00, /* MSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 55 0x00, /* LSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 56 0x27
vsluiter 16:bfc7ea6bd1af 57 };
vsluiter 13:5e4dcbd44786 58
vsluiter 16:bfc7ea6bd1af 59 uint8_t XbusImuMsgSetSyncIn_SetOffs[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 60 0xFF,
vsluiter 16:bfc7ea6bd1af 61 0xD6, /* MID: SetSyncIn */
vsluiter 16:bfc7ea6bd1af 62 0x05,
vsluiter 16:bfc7ea6bd1af 63 0x02, /* Offset*/
vsluiter 16:bfc7ea6bd1af 64 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 65 0x01, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 66 0x06, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 67 0xB9, /* Bit 7..0 */ /*minimum value: 264*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 68 0x64
vsluiter 16:bfc7ea6bd1af 69 };
vsluiter 13:5e4dcbd44786 70
vsluiter 16:bfc7ea6bd1af 71 uint8_t XbusImuMsgSetSyncOut_SetSync[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 72 0xFF,
vsluiter 16:bfc7ea6bd1af 73 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 74 0x03,
vsluiter 16:bfc7ea6bd1af 75 0x00, /* SyncOutMode*/
vsluiter 16:bfc7ea6bd1af 76 0x00, /* Reserved */
vsluiter 16:bfc7ea6bd1af 77 0x12, /* Postitive Pulse, Pulse Mode*/
vsluiter 16:bfc7ea6bd1af 78 0x14
vsluiter 16:bfc7ea6bd1af 79 };
vsluiter 13:5e4dcbd44786 80
vsluiter 16:bfc7ea6bd1af 81 uint8_t XbusImuMsgSetSyncOut_SetSkip[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 82 0xFF,
vsluiter 16:bfc7ea6bd1af 83 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 84 0x03,
vsluiter 16:bfc7ea6bd1af 85 0x01, /* SkipFactor*/
vsluiter 16:bfc7ea6bd1af 86 0x00, /* MSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 87 0x00, /* LSB SkipFactor */
vsluiter 16:bfc7ea6bd1af 88 0x25
vsluiter 16:bfc7ea6bd1af 89 };
vsluiter 13:5e4dcbd44786 90
vsluiter 16:bfc7ea6bd1af 91 uint8_t XbusImuMsgSetSyncOut_SetOffs[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 92 0xFF,
vsluiter 16:bfc7ea6bd1af 93 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 94 0x05,
vsluiter 16:bfc7ea6bd1af 95 0x02, /* Offset*/
vsluiter 16:bfc7ea6bd1af 96 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 97 0x00, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 98 0xE6, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 99 0x75, /* Bit 7..0 */ /*minimum value: 513*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 100 0xC7
vsluiter 16:bfc7ea6bd1af 101 };
vsluiter 13:5e4dcbd44786 102
vsluiter 16:bfc7ea6bd1af 103 uint8_t XbusImuMsgSetSyncOut_SetWidth[] = {0xFA,
vsluiter 16:bfc7ea6bd1af 104 0xFF,
vsluiter 16:bfc7ea6bd1af 105 0xD8, /* MID: SetSyncOut */
vsluiter 16:bfc7ea6bd1af 106 0x05,
vsluiter 16:bfc7ea6bd1af 107 0x03, /* Width*/
vsluiter 16:bfc7ea6bd1af 108 0x00, /* Bit 31..24 */
vsluiter 16:bfc7ea6bd1af 109 0x00, /* Bit 23..16 */
vsluiter 16:bfc7ea6bd1af 110 0xE6, /* Bit 15..8 */
vsluiter 16:bfc7ea6bd1af 111 0x75, /* Bit 7..0 */ /*minimum value: 1700*33.9ns*/ /*E675 eq. 2ms*/
vsluiter 16:bfc7ea6bd1af 112 0xC6
vsluiter 16:bfc7ea6bd1af 113 };
vsluiter 13:5e4dcbd44786 114
vsluiter 17:c5946a0fde83 115 static void XbusSendArray(uint8_t *array)
vsluiter 13:5e4dcbd44786 116 {
vsluiter 17:c5946a0fde83 117 for(int i = 0; i < array[3]+5 ; i++ ) { //make use of len
vsluiter 18:6629e8c5d59e 118 xbus_serial.putc(array[i]);
vsluiter 16:bfc7ea6bd1af 119 }
vsluiter 16:bfc7ea6bd1af 120 wait_ms(10);
vsluiter 13:5e4dcbd44786 121 }
vsluiter 13:5e4dcbd44786 122
vsluiter 13:5e4dcbd44786 123 void XbusInitializeXbusMaster(void)
vsluiter 13:5e4dcbd44786 124 {
vsluiter 17:c5946a0fde83 125 uint8_t msg[30];
vsluiter 17:c5946a0fde83 126 uint8_t data[10];
vsluiter 17:c5946a0fde83 127
vsluiter 17:c5946a0fde83 128 //XbusCreateMessage(0xFF,0x40,0,msg,msg);//Reset
vsluiter 17:c5946a0fde83 129 //XbusSendArray(msg);
vsluiter 17:c5946a0fde83 130 //wait_ms(1000);
vsluiter 17:c5946a0fde83 131
vsluiter 17:c5946a0fde83 132 XbusCreateMessage(0xFF,0x30,0,msg,msg);//GoToConfig
vsluiter 17:c5946a0fde83 133 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 134
vsluiter 17:c5946a0fde83 135
vsluiter 17:c5946a0fde83 136 data[0] = 0x04;
vsluiter 17:c5946a0fde83 137 data[1] = 0x80;
vsluiter 17:c5946a0fde83 138 XbusCreateMessage(0xFF,0x04,2,data,msg);//SetPeriod
vsluiter 17:c5946a0fde83 139 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 140
vsluiter 17:c5946a0fde83 141 data[0] = 0x40;
vsluiter 17:c5946a0fde83 142 data[1] = 0x00;
vsluiter 17:c5946a0fde83 143 for (int i = 0 ; i<3 ; i++)
vsluiter 17:c5946a0fde83 144 {
vsluiter 17:c5946a0fde83 145 XbusCreateMessage(i+1,0xD0,2,data,msg);//Set Output Data Format
vsluiter 17:c5946a0fde83 146 XbusSendArray(msg);
vsluiter 17:c5946a0fde83 147 }
vsluiter 17:c5946a0fde83 148 wait_ms(10);
vsluiter 17:c5946a0fde83 149 XbusCreateMessage(0xFF,0x10,0,msg,msg);//GoToMeasurement
vsluiter 17:c5946a0fde83 150 XbusSendArray(msg);
vsluiter 13:5e4dcbd44786 151 }
vsluiter 13:5e4dcbd44786 152
vsluiter 18:6629e8c5d59e 153 void XbusReceiveState(xbus_t * xbus, uint8_t rxdata)
vsluiter 13:5e4dcbd44786 154 {
vsluiter 16:bfc7ea6bd1af 155 switch(xbus->rx.state) {
vsluiter 16:bfc7ea6bd1af 156 case XBUS_IDLE: {
vsluiter 16:bfc7ea6bd1af 157 if(rxdata == 0xFA) {
vsluiter 13:5e4dcbd44786 158 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 159 xbus->rx.buffer[0] = 0xFA;
vsluiter 13:5e4dcbd44786 160 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 161 xbus->rx.state = XBUS_BID;
vsluiter 13:5e4dcbd44786 162 }
vsluiter 13:5e4dcbd44786 163 break;
vsluiter 13:5e4dcbd44786 164 }
vsluiter 16:bfc7ea6bd1af 165 case XBUS_BID: {
vsluiter 13:5e4dcbd44786 166 xbus->rx.counter = 1;
vsluiter 13:5e4dcbd44786 167 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 168 xbus->rx.checksum = rxdata;
vsluiter 13:5e4dcbd44786 169 xbus->rx.state = XBUS_MID;
vsluiter 13:5e4dcbd44786 170 break;
vsluiter 13:5e4dcbd44786 171 }
vsluiter 16:bfc7ea6bd1af 172 case XBUS_MID: {
vsluiter 13:5e4dcbd44786 173 xbus->rx.counter = 2;
vsluiter 13:5e4dcbd44786 174 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 175 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 176 xbus->rx.state = XBUS_LEN;
vsluiter 13:5e4dcbd44786 177 break;
vsluiter 13:5e4dcbd44786 178 }
vsluiter 16:bfc7ea6bd1af 179 case XBUS_LEN: {
vsluiter 13:5e4dcbd44786 180 if(rxdata > XBUS_BUFFER_LENGTH - 4) // if message longer than buffer can contain
vsluiter 13:5e4dcbd44786 181 xbus->rx.state = XBUS_IDLE; // EXLEN not supported!
vsluiter 16:bfc7ea6bd1af 182 else {
vsluiter 13:5e4dcbd44786 183 xbus->rx.counter = 3;
vsluiter 13:5e4dcbd44786 184 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 185 xbus->rx.checksum = xbus->rx.checksum + rxdata;
vsluiter 13:5e4dcbd44786 186 if(rxdata == 0) // no data sent
vsluiter 13:5e4dcbd44786 187 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 188 else
vsluiter 13:5e4dcbd44786 189 xbus->rx.state = XBUS_DATA;
vsluiter 13:5e4dcbd44786 190 }
vsluiter 13:5e4dcbd44786 191 break;
vsluiter 13:5e4dcbd44786 192 }
vsluiter 16:bfc7ea6bd1af 193 case XBUS_DATA: {
vsluiter 13:5e4dcbd44786 194 xbus->rx.checksum += rxdata;
vsluiter 13:5e4dcbd44786 195 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 196 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 197 if(xbus->rx.counter == (xbus->rx.buffer[3] + 3) ) // if all data received (calculated from LEN
vsluiter 13:5e4dcbd44786 198 xbus->rx.state = XBUS_CS; // go to checksum
vsluiter 13:5e4dcbd44786 199 break;
vsluiter 13:5e4dcbd44786 200 }
vsluiter 16:bfc7ea6bd1af 201 case XBUS_CS: {
vsluiter 16:bfc7ea6bd1af 202 volatile uint16_t cs_calc;
vsluiter 13:5e4dcbd44786 203 xbus->rx.checksum_ok = 0;
vsluiter 13:5e4dcbd44786 204 xbus->rx.message_complete = 1;
vsluiter 13:5e4dcbd44786 205 xbus->rx.counter++;
vsluiter 13:5e4dcbd44786 206 xbus->rx.buffer[xbus->rx.counter] = rxdata;
vsluiter 13:5e4dcbd44786 207 //xbus->rx.checksum = 255 - xbus->rx.checksum;
vsluiter 16:bfc7ea6bd1af 208 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 209 cs_calc = xbus->rx.checksum + rxdata;
vsluiter 16:bfc7ea6bd1af 210 if( (cs_calc & 0x00FF) == 0)
vsluiter 13:5e4dcbd44786 211 xbus->rx.checksum_ok = 1;
vsluiter 16:bfc7ea6bd1af 212 else
vsluiter 16:bfc7ea6bd1af 213 asm("nop");
vsluiter 13:5e4dcbd44786 214 break;
vsluiter 13:5e4dcbd44786 215 }
vsluiter 16:bfc7ea6bd1af 216 default: {
vsluiter 13:5e4dcbd44786 217 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 218 break;
vsluiter 13:5e4dcbd44786 219 }
vsluiter 13:5e4dcbd44786 220 }
vsluiter 13:5e4dcbd44786 221 }
vsluiter 13:5e4dcbd44786 222
vsluiter 13:5e4dcbd44786 223
vsluiter 18:6629e8c5d59e 224 void XbusSetupReceiver(xbus_t * xbus)
vsluiter 13:5e4dcbd44786 225 {
vsluiter 16:bfc7ea6bd1af 226 //xbus_pc.uart = &XBUS_UART_PC;
vsluiter 13:5e4dcbd44786 227 xbus->rx.message_complete = 0;
vsluiter 13:5e4dcbd44786 228 xbus->rx.state = XBUS_IDLE;
vsluiter 13:5e4dcbd44786 229 xbus->rx.counter = 0;
vsluiter 13:5e4dcbd44786 230 }
vsluiter 13:5e4dcbd44786 231
vsluiter 17:c5946a0fde83 232 void XbusCreateMessage(uint8_t bid, uint8_t mid, uint8_t message_size, uint8_t *message, uint8_t *buffer )
vsluiter 17:c5946a0fde83 233 {
vsluiter 17:c5946a0fde83 234 buffer[0] = 0xFA;
vsluiter 17:c5946a0fde83 235 buffer[1] = bid;
vsluiter 17:c5946a0fde83 236 buffer[2] = mid;
vsluiter 17:c5946a0fde83 237 buffer[3] = message_size;
vsluiter 17:c5946a0fde83 238 if(message_size > 0)
vsluiter 17:c5946a0fde83 239 {
vsluiter 17:c5946a0fde83 240 for( int i = 0; i< message_size ; i++)
vsluiter 17:c5946a0fde83 241 {
vsluiter 17:c5946a0fde83 242 buffer[i+4] = message[i];
vsluiter 17:c5946a0fde83 243 }
vsluiter 17:c5946a0fde83 244 }
vsluiter 17:c5946a0fde83 245 buffer[message_size + 4] = XbusCreateChecksum(buffer, message_size + 5);
vsluiter 17:c5946a0fde83 246
vsluiter 17:c5946a0fde83 247 }
vsluiter 17:c5946a0fde83 248
vsluiter 13:5e4dcbd44786 249 /*Calculate xbus checksum from received message*/
vsluiter 13:5e4dcbd44786 250 uint8_t XbusCreateChecksum(uint8_t * array, uint8_t arraysize)
vsluiter 13:5e4dcbd44786 251 {
vsluiter 16:bfc7ea6bd1af 252 uint8_t counter;
vsluiter 16:bfc7ea6bd1af 253 uint16_t temp =0;
vsluiter 16:bfc7ea6bd1af 254 uint8_t checksum;
vsluiter 16:bfc7ea6bd1af 255 for(counter = 1; counter < (arraysize-1) ; counter++) { //start at BID, end before checksum
vsluiter 16:bfc7ea6bd1af 256 temp += array[counter];
vsluiter 16:bfc7ea6bd1af 257 }
vsluiter 16:bfc7ea6bd1af 258 checksum = (uint8_t)(0x100 - temp);
vsluiter 16:bfc7ea6bd1af 259 //checksum++;
vsluiter 16:bfc7ea6bd1af 260 return checksum;
vsluiter 13:5e4dcbd44786 261 }