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

Changes

RevisionDateWhoCommit message
42:ef78d11f2bd7 2015-09-11 vsluiter Also implemented samplecounter default tip
41:e307b3dcab55 2015-09-11 vsluiter Fixed error with copying bytes. Now working quaternions, still have to implement timestamp
40:0528d79e63f2 2015-09-11 vsluiter Changed data (Rb) to also hold timestamp
39:8c5329c37de1 2015-09-11 vsluiter Changed to samplecounter behind EVERY IMU, I thought there was one total samplecounter.
38:d56ed19956d7 2015-09-11 vsluiter Software version incremented to 0.0.2
37:d00717883d98 2015-09-11 vsluiter Changed memcopy for right naming, changed PDO names in objectlist
36:8e6ac6082e97 2015-09-11 vsluiter Updated xsens settings, SetOutputMode to orientation, added SetOutputSettings so quatrernion mode is chosen.
35:32659533e0ef 2015-09-11 vsluiter Changed objects to get quaternions. No implementation change yet
34:e0db42d338c1 2015-03-10 vsluiter Forked kl25z clock control
33:b4844666684f 2015-03-10 vsluiter Woooooooorrrrrrrrrrkkkkkkkkiiiiiiiiinnnnnnnnnggggggggg!
32:1f6a705cd794 2015-03-10 vsluiter Receiving data! Still garbled (endianness?)
31:d0532aa7f631 2015-03-10 vsluiter Changed CoE objects to REAL32
30:8cf6fbc953b5 2015-03-10 vsluiter Trying to get it working by using a smaller PDO set; still in preop
29:95ef6b54ec8e 2015-03-10 vsluiter Slave not getting to SAFEOP
28:8505285f65ed 2015-03-10 vsluiter Changed to other serial port; Only UART0 runs of PLL Clock!
27:93c0e4ae943e 2015-03-09 vsluiter Set to communicate at 230400. Somehow messes up timing, as messages aren't interpretted correctly anymore. Issue with serial transceiver, or interrupt handling?
26:c7959f1fd09a 2015-03-08 vsluiter Trying to change baudrates; does not work, for some reason the xbus master stays running at 115200. Only changes for bluetooth?
25:829af6f3429f 2015-03-08 vsluiter Fixed several issues;; - timestamp was overwritten with EtherCAT timestamp; - Now only updating if in "AppState".;
24:fa1c5af49650 2015-03-06 vsluiter Timestamp object available, but not useful data (yet?)
23:2b2cdba08259 2015-03-06 vsluiter NOT WORIKING, tried to get timestamp into this version
22:3f3a9f55054c 2015-03-06 vsluiter Did a check on byte-level timing, and it seems that every byte is handled immediately after it has been received (used PLOEP toggle function + oscilloscope )
21:6150ca891301 2015-03-06 vsluiter Seems to be working! Need to add the sample counter. ; Had to remove some debugging code (still available as commented code) to get the EtherCAT process to run continuously.
20:ad13d4f5fd98 2015-03-06 vsluiter Receiver working, but data on EtherCAT side is garbled. Just changed to signed values.
19:8ead12aec8d5 2015-03-06 vsluiter Trying serial based on interrupt. Not working (PTA13 not toggling). Now converting to getc()'s
18:6629e8c5d59e 2015-03-05 vsluiter Compiling, but no data copied
17:c5946a0fde83 2015-03-05 vsluiter BusMaster working. Added code to copy sensor data, not tested yet.
16:bfc7ea6bd1af 2015-03-03 vsluiter Fixed compilation errors, now compiling correctly;
15:b8d72679e644 2015-03-03 vsluiter Changed objects for EtherCAT PDO mapping
14:e3c49b75fee9 2015-03-03 vsluiter Removed balanceboard code from soes.cpp
13:5e4dcbd44786 2015-03-03 vsluiter Changed xbus to cpp in order to interface with MODSERIAL object, added initialization code for xbusmaster;
12:cac4e7c2bd0f 2015-03-03 vsluiter Made first changes to objlist and cpu_init, copied some xbus software
11:166353137b95 2015-03-02 vsluiter Ready to publish;
10:4e9069e5d698 2014-12-12 vsluiter Corrected CoP measurement and corrected grf value;
9:33673e05639f 2014-12-12 vsluiter Added GRF;
8:09dcef3ed467 2014-12-12 vsluiter WORKING!! With correction of offsets.
7:8c15bbc49f64 2014-12-11 vsluiter Checked objects, seem OK
6:3ccb89a58ff8 2014-12-11 vsluiter Restored settings object
5:6d75f432a41f 2014-12-11 vsluiter Not working; changed both inputs, processing and CoE ;
4:bb72df6dce33 2014-12-11 vsluiter All unused analog inputs are now outputs
3:3761315146ec 2014-12-11 vsluiter Added ESI and hex file
2:3dd1240eb938 2014-12-11 vsluiter Working EtherCAT slave on KL25Z;
1:5e22bf1a3817 2014-12-11 vsluiter Working slave;
0:a8daa9348a67 2014-11-17 vsluiter changed esc_hw