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@12:cac4e7c2bd0f, 2015-03-03 (annotated)

Committer:
vsluiter
Date:
Tue Mar 03 10:58:20 2015 +0000
Revision:
12:cac4e7c2bd0f
Parent:
11:166353137b95
Child:
14:e3c49b75fee9
Made first changes to objlist and cpu_init, copied some xbus software

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 1:5e22bf1a3817 43
vsluiter 1:5e22bf1a3817 44 /* Private typedef -----------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 45 /* Private define ------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 46 #define wd_reset 1000
vsluiter 1:5e22bf1a3817 47
vsluiter 1:5e22bf1a3817 48 /* Private macro -------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 49 /* Private variables ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 50 _ESCvar ESCvar;
vsluiter 1:5e22bf1a3817 51 uint8 APPstate;
vsluiter 1:5e22bf1a3817 52 _MBX MBX[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 53 _MBXcontrol MBXcontrol[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 54 uint8 MBXrun=0;
vsluiter 1:5e22bf1a3817 55 uint16 SM2_sml,SM3_sml;
vsluiter 1:5e22bf1a3817 56 _Rbuffer Rb;
vsluiter 1:5e22bf1a3817 57 _Wbuffer Wb;
vsluiter 11:166353137b95 58 _Ebuffer Eb; //EEprom
vsluiter 1:5e22bf1a3817 59 uint8 TXPDOsize,RXPDOsize;
vsluiter 1:5e22bf1a3817 60 uint16 wd_ok = 1, wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 61
vsluiter 1:5e22bf1a3817 62 DigitalOut led(LED_PIN);
vsluiter 1:5e22bf1a3817 63 DigitalOut et1100_ss(ET1100_SS);
vsluiter 1:5e22bf1a3817 64 DigitalIn et1100_miso(ET1100_MISO);
vsluiter 1:5e22bf1a3817 65 SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK);
vsluiter 12:cac4e7c2bd0f 66 MODSERIAL xbus(PTA1,PTA2);
vsluiter 1:5e22bf1a3817 67 /* Private function prototypes -----------------------------------------------*/
vsluiter 1:5e22bf1a3817 68 /* Private functions ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 69
vsluiter 1:5e22bf1a3817 70 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 71 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 72 \param index
vsluiter 1:5e22bf1a3817 73 \param subindex
vsluiter 1:5e22bf1a3817 74 */
vsluiter 1:5e22bf1a3817 75 void ESC_objecthandler(uint16 index, uint8 subindex);
vsluiter 1:5e22bf1a3817 76 void TXPDO_update(void);
vsluiter 1:5e22bf1a3817 77 void RXPDO_update(void);
vsluiter 1:5e22bf1a3817 78 void DIG_process(void);
vsluiter 5:6d75f432a41f 79 void sample(void);
vsluiter 1:5e22bf1a3817 80
vsluiter 1:5e22bf1a3817 81 void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 82 {
vsluiter 1:5e22bf1a3817 83 uint8 dummy8;
vsluiter 1:5e22bf1a3817 84 uint16 dummy16;
vsluiter 1:5e22bf1a3817 85 switch (index)
vsluiter 1:5e22bf1a3817 86 {
vsluiter 1:5e22bf1a3817 87 case 0x8000:
vsluiter 1:5e22bf1a3817 88 switch (subindex)
vsluiter 1:5e22bf1a3817 89 {
vsluiter 1:5e22bf1a3817 90 case 0x01:
vsluiter 5:6d75f432a41f 91 dummy8 = 0;//Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8);
vsluiter 1:5e22bf1a3817 92 break;
vsluiter 1:5e22bf1a3817 93 case 0x02:
vsluiter 5:6d75f432a41f 94 dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
vsluiter 1:5e22bf1a3817 95 break;
vsluiter 1:5e22bf1a3817 96 }
vsluiter 1:5e22bf1a3817 97 break;
vsluiter 1:5e22bf1a3817 98 }
vsluiter 1:5e22bf1a3817 99 }
vsluiter 1:5e22bf1a3817 100
vsluiter 1:5e22bf1a3817 101 void TXPDO_update(void)
vsluiter 1:5e22bf1a3817 102 {
vsluiter 1:5e22bf1a3817 103 ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 104 }
vsluiter 1:5e22bf1a3817 105
vsluiter 1:5e22bf1a3817 106 void RXPDO_update(void)
vsluiter 1:5e22bf1a3817 107 {
vsluiter 1:5e22bf1a3817 108 ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 109 }
vsluiter 1:5e22bf1a3817 110
vsluiter 1:5e22bf1a3817 111 void APP_safeoutput(void)
vsluiter 1:5e22bf1a3817 112 {
vsluiter 1:5e22bf1a3817 113 asm("nop");
vsluiter 1:5e22bf1a3817 114 //Wb.dout = 0;
vsluiter 1:5e22bf1a3817 115 //DOUTPORT = (Wb.dout >> 4) & 0xf0;
vsluiter 1:5e22bf1a3817 116 }
vsluiter 1:5e22bf1a3817 117
vsluiter 1:5e22bf1a3817 118 void DIG_process(void)
vsluiter 1:5e22bf1a3817 119 {
vsluiter 1:5e22bf1a3817 120 if (APPstate & APPSTATE_OUTPUT) //output enabled
vsluiter 1:5e22bf1a3817 121 {
vsluiter 1:5e22bf1a3817 122 if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
vsluiter 1:5e22bf1a3817 123 {
vsluiter 1:5e22bf1a3817 124 ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
vsluiter 8:09dcef3ed467 125 RXPDO_update();
vsluiter 1:5e22bf1a3817 126 // dummy output point
vsluiter 5:6d75f432a41f 127 correct_offset = Wb.correct_offset;
vsluiter 5:6d75f432a41f 128 if(correct_offset & 0x01) {
vsluiter 8:09dcef3ed467 129 // led.write(1);
vsluiter 8:09dcef3ed467 130 FrontLeft_offset = rawFrontLeft;
vsluiter 8:09dcef3ed467 131 FrontRight_offset = rawFrontRight;
vsluiter 8:09dcef3ed467 132 BackLeft_offset = rawBackLeft;
vsluiter 8:09dcef3ed467 133 BackRight_offset = rawBackRight;
vsluiter 8:09dcef3ed467 134 }
vsluiter 8:09dcef3ed467 135 // else
vsluiter 8:09dcef3ed467 136 // led.write(0);
vsluiter 1:5e22bf1a3817 137 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 138 }
vsluiter 1:5e22bf1a3817 139
vsluiter 5:6d75f432a41f 140 if (!wd_cnt) {
vsluiter 1:5e22bf1a3817 141 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 142 // watchdog, invalid outputs
vsluiter 1:5e22bf1a3817 143 ESC_ALerror(ALERR_WATCHDOG);
vsluiter 1:5e22bf1a3817 144 // goto safe-op with error bit set
vsluiter 1:5e22bf1a3817 145 ESC_ALstatus(ESCsafeop | ESCerror);
vsluiter 1:5e22bf1a3817 146 }
vsluiter 1:5e22bf1a3817 147 }
vsluiter 1:5e22bf1a3817 148 else
vsluiter 1:5e22bf1a3817 149 {
vsluiter 1:5e22bf1a3817 150 //wd_ok = 1;
vsluiter 1:5e22bf1a3817 151 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 152 }
vsluiter 1:5e22bf1a3817 153 if (APPstate) //input or output enabled
vsluiter 5:6d75f432a41f 154 {
vsluiter 5:6d75f432a41f 155 float fl,fr,br,bl,copx,copy;
vsluiter 10:4e9069e5d698 156 float total_f;
vsluiter 1:5e22bf1a3817 157 Rb.timestamp = ESCvar.Time;
vsluiter 1:5e22bf1a3817 158 //just some dummy data to test
vsluiter 4:bb72df6dce33 159 //Rb.counter++;
vsluiter 4:bb72df6dce33 160 //Rb.diginput = diginput;
vsluiter 4:bb72df6dce33 161 //Rb.analog[0] = 1;
vsluiter 4:bb72df6dce33 162 //Rb.analog[1] = 2;
vsluiter 5:6d75f432a41f 163 fr = rawFrontRight - FrontRight_offset;
vsluiter 5:6d75f432a41f 164 fl = rawFrontLeft - FrontLeft_offset;
vsluiter 5:6d75f432a41f 165 br = rawBackRight - BackRight_offset;
vsluiter 5:6d75f432a41f 166 bl = rawBackLeft - BackLeft_offset;
vsluiter 10:4e9069e5d698 167 total_f = fr+fl+br+bl;
vsluiter 10:4e9069e5d698 168 copx = (((fl+bl)-(fr+br))/total_f)*BALANCE_WIDTH;
vsluiter 10:4e9069e5d698 169 copy = (((fr+fl)-(br+bl))/total_f)*BALANCE_HEIGHT;
vsluiter 10:4e9069e5d698 170 grf = (total_f)*(4096*(1<<4)*(1./1100.0));
vsluiter 5:6d75f432a41f 171 Rb.CoPx = copx;
vsluiter 5:6d75f432a41f 172 Rb.CoPy = copy;
vsluiter 9:33673e05639f 173 Rb.grf = grf;
vsluiter 5:6d75f432a41f 174 Rb.FrontRight = rawFrontRight;
vsluiter 5:6d75f432a41f 175 Rb.FrontLeft = rawFrontLeft;
vsluiter 5:6d75f432a41f 176 Rb.BackRight = rawBackRight;
vsluiter 5:6d75f432a41f 177 Rb.BackLeft = rawBackLeft;
vsluiter 1:5e22bf1a3817 178
vsluiter 1:5e22bf1a3817 179 TXPDO_update();
vsluiter 5:6d75f432a41f 180 }
vsluiter 1:5e22bf1a3817 181 }
vsluiter 1:5e22bf1a3817 182
vsluiter 5:6d75f432a41f 183 void sample(void)
vsluiter 5:6d75f432a41f 184 {
vsluiter 5:6d75f432a41f 185 rawFrontLeft = adcFrontLeft;
vsluiter 5:6d75f432a41f 186 rawFrontRight = adcFrontRight;
vsluiter 5:6d75f432a41f 187 rawBackLeft = adcBackLeft;
vsluiter 5:6d75f432a41f 188 rawBackRight = adcBackRight;
vsluiter 5:6d75f432a41f 189
vsluiter 5:6d75f432a41f 190 }
vsluiter 1:5e22bf1a3817 191 int main(void)
vsluiter 1:5e22bf1a3817 192 {
vsluiter 1:5e22bf1a3817 193 /*!< At this stage the microcontroller clock setting is already configured,
vsluiter 1:5e22bf1a3817 194 this is done through SystemInit() function which is called from startup
vsluiter 1:5e22bf1a3817 195 file (startup_stm32f0xx.s) before to branch to application main.
vsluiter 1:5e22bf1a3817 196 To reconfigure the default setting of SystemInit() function, refer to
vsluiter 1:5e22bf1a3817 197 system_stm32f0xx.c file
vsluiter 1:5e22bf1a3817 198 */
vsluiter 5:6d75f432a41f 199 Ticker adc_sampler;
vsluiter 1:5e22bf1a3817 200 cpuinit();
vsluiter 5:6d75f432a41f 201 adc_sampler.attach(sample,0.001);
vsluiter 1:5e22bf1a3817 202 TXPDOsize = sizeTXPDO();
vsluiter 1:5e22bf1a3817 203 RXPDOsize = sizeRXPDO();
vsluiter 1:5e22bf1a3817 204 wait_ms(200);
vsluiter 1:5e22bf1a3817 205 /*initialize configuration*/
vsluiter 5:6d75f432a41f 206 //Eb.setting16 = 0xABCD;
vsluiter 5:6d75f432a41f 207 //Eb.setting8 = 111;
vsluiter 1:5e22bf1a3817 208 // wait until ESC is started up
vsluiter 1:5e22bf1a3817 209 while ((ESCvar.DLstatus & 0x0001) == 0)
vsluiter 1:5e22bf1a3817 210 ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 211
vsluiter 1:5e22bf1a3817 212 // reset ESC to init state
vsluiter 1:5e22bf1a3817 213 ESC_ALstatus(ESCinit);
vsluiter 1:5e22bf1a3817 214 ESC_ALerror(ALERR_NONE);
vsluiter 1:5e22bf1a3817 215 ESC_stopmbx();
vsluiter 1:5e22bf1a3817 216 ESC_stopinput();
vsluiter 1:5e22bf1a3817 217 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 218
vsluiter 1:5e22bf1a3817 219 // application run loop
vsluiter 1:5e22bf1a3817 220 while (1)
vsluiter 1:5e22bf1a3817 221 {
vsluiter 1:5e22bf1a3817 222 ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 223 ESC_ALevent();
vsluiter 1:5e22bf1a3817 224 ESC_state();
vsluiter 1:5e22bf1a3817 225 if (ESC_mbxprocess())
vsluiter 1:5e22bf1a3817 226 {
vsluiter 1:5e22bf1a3817 227 ESC_coeprocess();
vsluiter 1:5e22bf1a3817 228 ESC_xoeprocess();
vsluiter 1:5e22bf1a3817 229 }
vsluiter 1:5e22bf1a3817 230 DIG_process();
vsluiter 1:5e22bf1a3817 231 }
vsluiter 1:5e22bf1a3817 232 }
vsluiter 1:5e22bf1a3817 233
vsluiter 1:5e22bf1a3817 234 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 235 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 236 \param index
vsluiter 1:5e22bf1a3817 237 \param subindex
vsluiter 1:5e22bf1a3817 238 */
vsluiter 1:5e22bf1a3817 239
vsluiter 1:5e22bf1a3817 240
vsluiter 1:5e22bf1a3817 241 #ifdef USE_FULL_ASSERT
vsluiter 1:5e22bf1a3817 242
vsluiter 1:5e22bf1a3817 243 /**
vsluiter 1:5e22bf1a3817 244 * @brief Reports the name of the source file and the source line number
vsluiter 1:5e22bf1a3817 245 * where the assert_param error has occurred.
vsluiter 1:5e22bf1a3817 246 * @param file: pointer to the source file name
vsluiter 1:5e22bf1a3817 247 * @param line: assert_param error line source number
vsluiter 1:5e22bf1a3817 248 * @retval None
vsluiter 1:5e22bf1a3817 249 */
vsluiter 1:5e22bf1a3817 250 void assert_failed(uint8_t* file, uint32_t line)
vsluiter 1:5e22bf1a3817 251 {
vsluiter 1:5e22bf1a3817 252 /* User can add his own implementation to report the file name and line number,
vsluiter 1:5e22bf1a3817 253 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
vsluiter 1:5e22bf1a3817 254
vsluiter 1:5e22bf1a3817 255 /* Infinite loop */
vsluiter 1:5e22bf1a3817 256 while (1)
vsluiter 1:5e22bf1a3817 257 {
vsluiter 1:5e22bf1a3817 258 }
vsluiter 1:5e22bf1a3817 259 }
vsluiter 1:5e22bf1a3817 260 #endif
vsluiter 1:5e22bf1a3817 261
vsluiter 1:5e22bf1a3817 262 /**
vsluiter 1:5e22bf1a3817 263 * @}
vsluiter 1:5e22bf1a3817 264 */
vsluiter 1:5e22bf1a3817 265
vsluiter 1:5e22bf1a3817 266 /**
vsluiter 1:5e22bf1a3817 267 * @}
vsluiter 1:5e22bf1a3817 268 */
vsluiter 1:5e22bf1a3817 269
vsluiter 1:5e22bf1a3817 270 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
vsluiter 1:5e22bf1a3817 271