EtherCAT slave that reads 3 Xsens IMU's connected to a Xbus Master
Dependencies: MODSERIAL mbed KL25Z_ClockControl
Fork of EtherCAT by
EtherCAT/cpuinit.h@42:ef78d11f2bd7, 2015-09-11 (annotated)
- Committer:
- vsluiter
- Date:
- Fri Sep 11 15:33:31 2015 +0000
- Revision:
- 42:ef78d11f2bd7
- Parent:
- 28:8505285f65ed
Also implemented samplecounter
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:a8daa9348a67 | 1 | /* |
vsluiter | 0:a8daa9348a67 | 2 | * SOES Simple Open EtherCAT Slave |
vsluiter | 0:a8daa9348a67 | 3 | * |
vsluiter | 0:a8daa9348a67 | 4 | * File : cpuinit.h |
vsluiter | 0:a8daa9348a67 | 5 | * Version : 0.9.2 |
vsluiter | 0:a8daa9348a67 | 6 | * Date : 22-02-2010 |
vsluiter | 0:a8daa9348a67 | 7 | * Copyright (C) 2007-2010 Arthur Ketels |
vsluiter | 0:a8daa9348a67 | 8 | * |
vsluiter | 0:a8daa9348a67 | 9 | * SOES is free software; you can redistribute it and/or modify it under |
vsluiter | 0:a8daa9348a67 | 10 | * the terms of the GNU General Public License version 2 as published by the Free |
vsluiter | 0:a8daa9348a67 | 11 | * Software Foundation. |
vsluiter | 0:a8daa9348a67 | 12 | * |
vsluiter | 0:a8daa9348a67 | 13 | * SOES is distributed in the hope that it will be useful, but WITHOUT ANY |
vsluiter | 0:a8daa9348a67 | 14 | * WARRANTY; without even the implied warranty of MERCHANTABILITY or |
vsluiter | 0:a8daa9348a67 | 15 | * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
vsluiter | 0:a8daa9348a67 | 16 | * for more details. |
vsluiter | 0:a8daa9348a67 | 17 | * |
vsluiter | 0:a8daa9348a67 | 18 | * As a special exception, if other files instantiate templates or use macros |
vsluiter | 0:a8daa9348a67 | 19 | * or inline functions from this file, or you compile this file and link it |
vsluiter | 0:a8daa9348a67 | 20 | * with other works to produce a work based on this file, this file does not |
vsluiter | 0:a8daa9348a67 | 21 | * by itself cause the resulting work to be covered by the GNU General Public |
vsluiter | 0:a8daa9348a67 | 22 | * License. However the source code for this file must still be made available |
vsluiter | 0:a8daa9348a67 | 23 | * in accordance with section (3) of the GNU General Public License. |
vsluiter | 0:a8daa9348a67 | 24 | * |
vsluiter | 0:a8daa9348a67 | 25 | * This exception does not invalidate any other reasons why a work based on |
vsluiter | 0:a8daa9348a67 | 26 | * this file might be covered by the GNU General Public License. |
vsluiter | 0:a8daa9348a67 | 27 | * |
vsluiter | 0:a8daa9348a67 | 28 | * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual |
vsluiter | 0:a8daa9348a67 | 29 | * property of, and protected by Beckhoff Automation GmbH. |
vsluiter | 0:a8daa9348a67 | 30 | */ |
vsluiter | 1:5e22bf1a3817 | 31 | #ifndef __CPUINIT_H__ |
vsluiter | 1:5e22bf1a3817 | 32 | #define __CPUINIT_H__ |
vsluiter | 1:5e22bf1a3817 | 33 | #include "mbed.h" |
vsluiter | 12:cac4e7c2bd0f | 34 | #include "MODSERIAL.h" |
vsluiter | 13:5e4dcbd44786 | 35 | #include "xbus.h" |
vsluiter | 28:8505285f65ed | 36 | #include "kl25z_clock.h" |
vsluiter | 1:5e22bf1a3817 | 37 | |
vsluiter | 0:a8daa9348a67 | 38 | extern void cpuinit(void); |
vsluiter | 0:a8daa9348a67 | 39 | |
vsluiter | 2:3dd1240eb938 | 40 | #define ET1100_MOSI PTD2 |
vsluiter | 2:3dd1240eb938 | 41 | #define ET1100_MISO PTD3 |
vsluiter | 2:3dd1240eb938 | 42 | #define ET1100_SCK PTD1 |
vsluiter | 2:3dd1240eb938 | 43 | #define ET1100_SS PTD0 |
vsluiter | 8:09dcef3ed467 | 44 | #define LED_PIN PTB18 |
vsluiter | 17:c5946a0fde83 | 45 | |
vsluiter | 5:6d75f432a41f | 46 | |
vsluiter | 1:5e22bf1a3817 | 47 | extern DigitalOut led; |
vsluiter | 1:5e22bf1a3817 | 48 | extern DigitalOut et1100_ss; |
vsluiter | 1:5e22bf1a3817 | 49 | extern DigitalIn et1100_miso; |
vsluiter | 1:5e22bf1a3817 | 50 | extern SPI et1100_spi; |
vsluiter | 18:6629e8c5d59e | 51 | |
vsluiter | 1:5e22bf1a3817 | 52 | #endif |