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@26:c7959f1fd09a, 2015-03-08 (annotated)

Committer:
vsluiter
Date:
Sun Mar 08 21:53:00 2015 +0000
Revision:
26:c7959f1fd09a
Parent:
25:829af6f3429f
Child:
27:93c0e4ae943e
Trying to change baudrates; does not work, for some reason the xbus master stays running at 115200. Only changes for bluetooth?

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 25:829af6f3429f 63 _Rbuffer local_Rb; //to prevent issues when updating
vsluiter 1:5e22bf1a3817 64 DigitalOut led(LED_PIN);
vsluiter 1:5e22bf1a3817 65 DigitalOut et1100_ss(ET1100_SS);
vsluiter 1:5e22bf1a3817 66 DigitalIn et1100_miso(ET1100_MISO);
vsluiter 1:5e22bf1a3817 67 SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK);
vsluiter 18:6629e8c5d59e 68 MODSERIAL xbus_serial(PTC4,PTC3);
vsluiter 18:6629e8c5d59e 69 xbus_t xbus_master;
vsluiter 25:829af6f3429f 70 MODSERIAL pc(USBTX,USBRX);
vsluiter 16:bfc7ea6bd1af 71
vsluiter 22:3f3a9f55054c 72 DigitalOut ploep(PTA13);
vsluiter 22:3f3a9f55054c 73 #define PLOEP do{ploep = !(ploep);}while(0);
vsluiter 19:8ead12aec8d5 74
vsluiter 1:5e22bf1a3817 75 /* Private function prototypes -----------------------------------------------*/
vsluiter 1:5e22bf1a3817 76 /* Private functions ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 77
vsluiter 1:5e22bf1a3817 78 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 79 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 80 \param index
vsluiter 1:5e22bf1a3817 81 \param subindex
vsluiter 1:5e22bf1a3817 82 */
vsluiter 1:5e22bf1a3817 83 void ESC_objecthandler(uint16 index, uint8 subindex);
vsluiter 1:5e22bf1a3817 84 void TXPDO_update(void);
vsluiter 1:5e22bf1a3817 85 void RXPDO_update(void);
vsluiter 1:5e22bf1a3817 86 void DIG_process(void);
vsluiter 5:6d75f432a41f 87 void sample(void);
vsluiter 1:5e22bf1a3817 88
vsluiter 1:5e22bf1a3817 89 void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 90 {
vsluiter 1:5e22bf1a3817 91 uint8 dummy8;
vsluiter 1:5e22bf1a3817 92 uint16 dummy16;
vsluiter 1:5e22bf1a3817 93 switch (index)
vsluiter 1:5e22bf1a3817 94 {
vsluiter 1:5e22bf1a3817 95 case 0x8000:
vsluiter 1:5e22bf1a3817 96 switch (subindex)
vsluiter 1:5e22bf1a3817 97 {
vsluiter 1:5e22bf1a3817 98 case 0x01:
vsluiter 26:c7959f1fd09a 99 {
vsluiter 26:c7959f1fd09a 100 uint32_t rates[] = {460800,230400,115200,76800,57600,38400,28800,19200,14400,9600};
vsluiter 26:c7959f1fd09a 101 if(Eb.setting8 < (sizeof(rates)/sizeof(uint32_t)) )
vsluiter 26:c7959f1fd09a 102 {
vsluiter 26:c7959f1fd09a 103 XbusSetBaudRate(Eb.setting8);
vsluiter 26:c7959f1fd09a 104 XbusReset();
vsluiter 26:c7959f1fd09a 105 xbus_serial.baud(rates[Eb.setting8]);
vsluiter 26:c7959f1fd09a 106 XbusInitializeXbusMaster();
vsluiter 26:c7959f1fd09a 107
vsluiter 26:c7959f1fd09a 108 }
vsluiter 1:5e22bf1a3817 109 break;
vsluiter 26:c7959f1fd09a 110 }
vsluiter 1:5e22bf1a3817 111 case 0x02:
vsluiter 5:6d75f432a41f 112 dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
vsluiter 1:5e22bf1a3817 113 break;
vsluiter 1:5e22bf1a3817 114 }
vsluiter 1:5e22bf1a3817 115 break;
vsluiter 1:5e22bf1a3817 116 }
vsluiter 1:5e22bf1a3817 117 }
vsluiter 1:5e22bf1a3817 118
vsluiter 1:5e22bf1a3817 119 void TXPDO_update(void)
vsluiter 1:5e22bf1a3817 120 {
vsluiter 1:5e22bf1a3817 121 ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 122 }
vsluiter 1:5e22bf1a3817 123
vsluiter 1:5e22bf1a3817 124 void RXPDO_update(void)
vsluiter 1:5e22bf1a3817 125 {
vsluiter 1:5e22bf1a3817 126 ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 127 }
vsluiter 1:5e22bf1a3817 128
vsluiter 1:5e22bf1a3817 129 void APP_safeoutput(void)
vsluiter 1:5e22bf1a3817 130 {
vsluiter 1:5e22bf1a3817 131 asm("nop");
vsluiter 1:5e22bf1a3817 132 //Wb.dout = 0;
vsluiter 1:5e22bf1a3817 133 //DOUTPORT = (Wb.dout >> 4) & 0xf0;
vsluiter 1:5e22bf1a3817 134 }
vsluiter 1:5e22bf1a3817 135
vsluiter 1:5e22bf1a3817 136 void DIG_process(void)
vsluiter 1:5e22bf1a3817 137 {
vsluiter 16:bfc7ea6bd1af 138 uint8_t correct_offset;
vsluiter 1:5e22bf1a3817 139 if (APPstate & APPSTATE_OUTPUT) //output enabled
vsluiter 1:5e22bf1a3817 140 {
vsluiter 1:5e22bf1a3817 141 if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
vsluiter 1:5e22bf1a3817 142 {
vsluiter 1:5e22bf1a3817 143 ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
vsluiter 8:09dcef3ed467 144 RXPDO_update();
vsluiter 1:5e22bf1a3817 145 // dummy output point
vsluiter 5:6d75f432a41f 146 correct_offset = Wb.correct_offset;
vsluiter 5:6d75f432a41f 147 if(correct_offset & 0x01) {
vsluiter 8:09dcef3ed467 148 // led.write(1);
vsluiter 14:e3c49b75fee9 149 asm("nop");
vsluiter 8:09dcef3ed467 150 }
vsluiter 8:09dcef3ed467 151 // else
vsluiter 8:09dcef3ed467 152 // led.write(0);
vsluiter 1:5e22bf1a3817 153 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 154 }
vsluiter 1:5e22bf1a3817 155
vsluiter 5:6d75f432a41f 156 if (!wd_cnt) {
vsluiter 1:5e22bf1a3817 157 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 158 // watchdog, invalid outputs
vsluiter 1:5e22bf1a3817 159 ESC_ALerror(ALERR_WATCHDOG);
vsluiter 1:5e22bf1a3817 160 // goto safe-op with error bit set
vsluiter 1:5e22bf1a3817 161 ESC_ALstatus(ESCsafeop | ESCerror);
vsluiter 1:5e22bf1a3817 162 }
vsluiter 1:5e22bf1a3817 163 }
vsluiter 1:5e22bf1a3817 164 else
vsluiter 1:5e22bf1a3817 165 {
vsluiter 1:5e22bf1a3817 166 //wd_ok = 1;
vsluiter 1:5e22bf1a3817 167 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 168 }
vsluiter 1:5e22bf1a3817 169 if (APPstate) //input or output enabled
vsluiter 5:6d75f432a41f 170 {
vsluiter 25:829af6f3429f 171 //Rb.timestamp = ESCvar.Time;
vsluiter 1:5e22bf1a3817 172 //just some dummy data to test
vsluiter 4:bb72df6dce33 173 //Rb.counter++;
vsluiter 4:bb72df6dce33 174 //Rb.diginput = diginput;
vsluiter 4:bb72df6dce33 175 //Rb.analog[0] = 1;
vsluiter 4:bb72df6dce33 176 //Rb.analog[1] = 2;
vsluiter 14:e3c49b75fee9 177
vsluiter 25:829af6f3429f 178 memcpy(&Rb, &local_Rb, sizeof(Rb));
vsluiter 1:5e22bf1a3817 179 TXPDO_update();
vsluiter 5:6d75f432a41f 180 }
vsluiter 1:5e22bf1a3817 181 }
vsluiter 1:5e22bf1a3817 182
vsluiter 21:6150ca891301 183 //Watch out, this is an uggly fix; for odd numbers of num_bytes, still the trailing byte will be used too.
vsluiter 21:6150ca891301 184 //No memory protection what so ever.
vsluiter 21:6150ca891301 185 void memcpy_byteswap(uint8_t * dest, uint8_t * source, uint16_t num_bytes)
vsluiter 21:6150ca891301 186 {
vsluiter 21:6150ca891301 187 for( int i = 0 ; i < num_bytes ; i+=2 )
vsluiter 21:6150ca891301 188 {
vsluiter 21:6150ca891301 189 dest[i] = source[i+1];
vsluiter 21:6150ca891301 190 dest[i+1] = source[i];
vsluiter 21:6150ca891301 191 }
vsluiter 21:6150ca891301 192 }
vsluiter 17:c5946a0fde83 193
vsluiter 1:5e22bf1a3817 194 int main(void)
vsluiter 1:5e22bf1a3817 195 {
vsluiter 25:829af6f3429f 196
vsluiter 1:5e22bf1a3817 197 /*!< At this stage the microcontroller clock setting is already configured,
vsluiter 1:5e22bf1a3817 198 this is done through SystemInit() function which is called from startup
vsluiter 1:5e22bf1a3817 199 file (startup_stm32f0xx.s) before to branch to application main.
vsluiter 1:5e22bf1a3817 200 To reconfigure the default setting of SystemInit() function, refer to
vsluiter 1:5e22bf1a3817 201 system_stm32f0xx.c file
vsluiter 1:5e22bf1a3817 202 */
vsluiter 1:5e22bf1a3817 203 cpuinit();
vsluiter 1:5e22bf1a3817 204 TXPDOsize = sizeTXPDO();
vsluiter 1:5e22bf1a3817 205 RXPDOsize = sizeRXPDO();
vsluiter 1:5e22bf1a3817 206 wait_ms(200);
vsluiter 1:5e22bf1a3817 207 /*initialize configuration*/
vsluiter 5:6d75f432a41f 208 //Eb.setting16 = 0xABCD;
vsluiter 5:6d75f432a41f 209 //Eb.setting8 = 111;
vsluiter 1:5e22bf1a3817 210 // wait until ESC is started up
vsluiter 1:5e22bf1a3817 211 while ((ESCvar.DLstatus & 0x0001) == 0)
vsluiter 1:5e22bf1a3817 212 ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 213
vsluiter 1:5e22bf1a3817 214 // reset ESC to init state
vsluiter 1:5e22bf1a3817 215 ESC_ALstatus(ESCinit);
vsluiter 1:5e22bf1a3817 216 ESC_ALerror(ALERR_NONE);
vsluiter 1:5e22bf1a3817 217 ESC_stopmbx();
vsluiter 1:5e22bf1a3817 218 ESC_stopinput();
vsluiter 1:5e22bf1a3817 219 ESC_stopoutput();
vsluiter 25:829af6f3429f 220
vsluiter 25:829af6f3429f 221 // pc.baud(115200);
vsluiter 1:5e22bf1a3817 222 // application run loop
vsluiter 1:5e22bf1a3817 223 while (1)
vsluiter 1:5e22bf1a3817 224 {
vsluiter 20:ad13d4f5fd98 225 while(xbus_serial.readable())
vsluiter 20:ad13d4f5fd98 226 {
vsluiter 22:3f3a9f55054c 227 PLOEP;
vsluiter 20:ad13d4f5fd98 228 XbusReceiveState(&xbus_master, xbus_serial.getc());
vsluiter 20:ad13d4f5fd98 229 if(xbus_master.rx.checksum_ok)
vsluiter 20:ad13d4f5fd98 230 {
vsluiter 20:ad13d4f5fd98 231 if(xbus_master.rx.buffer[2] == 0x32)
vsluiter 20:ad13d4f5fd98 232 {
vsluiter 25:829af6f3429f 233 memcpy_byteswap((uint8_t *)&local_Rb.timestamp ,&xbus_master.rx.buffer[4], 2);
vsluiter 25:829af6f3429f 234 memcpy_byteswap((uint8_t *)&local_Rb.first.acc[0],&xbus_master.rx.buffer[6],60);
vsluiter 25:829af6f3429f 235 //pc.printf("%x %x\n",Rb.timestamp, *((uint16_t *)(&xbus_master.rx.buffer[4])));
vsluiter 20:ad13d4f5fd98 236 }
vsluiter 20:ad13d4f5fd98 237 xbus_master.rx.checksum_ok = 0;
vsluiter 20:ad13d4f5fd98 238 }
vsluiter 18:6629e8c5d59e 239 }
vsluiter 1:5e22bf1a3817 240 ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 241 ESC_ALevent();
vsluiter 1:5e22bf1a3817 242 ESC_state();
vsluiter 1:5e22bf1a3817 243 if (ESC_mbxprocess())
vsluiter 1:5e22bf1a3817 244 {
vsluiter 1:5e22bf1a3817 245 ESC_coeprocess();
vsluiter 1:5e22bf1a3817 246 ESC_xoeprocess();
vsluiter 1:5e22bf1a3817 247 }
vsluiter 1:5e22bf1a3817 248 DIG_process();
vsluiter 1:5e22bf1a3817 249 }
vsluiter 1:5e22bf1a3817 250 }
vsluiter 1:5e22bf1a3817 251
vsluiter 1:5e22bf1a3817 252 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 253 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 254 \param index
vsluiter 1:5e22bf1a3817 255 \param subindex
vsluiter 1:5e22bf1a3817 256 */
vsluiter 1:5e22bf1a3817 257
vsluiter 1:5e22bf1a3817 258
vsluiter 1:5e22bf1a3817 259 #ifdef USE_FULL_ASSERT
vsluiter 1:5e22bf1a3817 260
vsluiter 1:5e22bf1a3817 261 /**
vsluiter 1:5e22bf1a3817 262 * @brief Reports the name of the source file and the source line number
vsluiter 1:5e22bf1a3817 263 * where the assert_param error has occurred.
vsluiter 1:5e22bf1a3817 264 * @param file: pointer to the source file name
vsluiter 1:5e22bf1a3817 265 * @param line: assert_param error line source number
vsluiter 1:5e22bf1a3817 266 * @retval None
vsluiter 1:5e22bf1a3817 267 */
vsluiter 1:5e22bf1a3817 268 void assert_failed(uint8_t* file, uint32_t line)
vsluiter 1:5e22bf1a3817 269 {
vsluiter 1:5e22bf1a3817 270 /* User can add his own implementation to report the file name and line number,
vsluiter 1:5e22bf1a3817 271 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
vsluiter 1:5e22bf1a3817 272
vsluiter 1:5e22bf1a3817 273 /* Infinite loop */
vsluiter 1:5e22bf1a3817 274 while (1)
vsluiter 1:5e22bf1a3817 275 {
vsluiter 1:5e22bf1a3817 276 }
vsluiter 1:5e22bf1a3817 277 }
vsluiter 1:5e22bf1a3817 278 #endif
vsluiter 1:5e22bf1a3817 279
vsluiter 1:5e22bf1a3817 280 /**
vsluiter 1:5e22bf1a3817 281 * @}
vsluiter 1:5e22bf1a3817 282 */
vsluiter 1:5e22bf1a3817 283
vsluiter 1:5e22bf1a3817 284 /**
vsluiter 1:5e22bf1a3817 285 * @}
vsluiter 1:5e22bf1a3817 286 */
vsluiter 1:5e22bf1a3817 287
vsluiter 1:5e22bf1a3817 288 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
vsluiter 1:5e22bf1a3817 289