First Last / Mbed 2 deprecated EtherCAT

EtherCAT slave based on SOES

Dependencies:   mbed

soes.cpp@1:5e22bf1a3817, 2014-12-11 (annotated)

Committer:
vsluiter
Date:
Thu Dec 11 21:16:00 2014 +0000
Revision:
1:5e22bf1a3817
Child:
2:3dd1240eb938
Working slave;

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 1:5e22bf1a3817 42
vsluiter 1:5e22bf1a3817 43 /* Private typedef -----------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 44 /* Private define ------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 45 #define wd_reset 1000
vsluiter 1:5e22bf1a3817 46
vsluiter 1:5e22bf1a3817 47 /* Private macro -------------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 48 /* Private variables ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 49 _ESCvar ESCvar;
vsluiter 1:5e22bf1a3817 50 uint8 APPstate;
vsluiter 1:5e22bf1a3817 51 _MBX MBX[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 52 _MBXcontrol MBXcontrol[MBXBUFFERS];
vsluiter 1:5e22bf1a3817 53 uint8 MBXrun=0;
vsluiter 1:5e22bf1a3817 54 uint16 SM2_sml,SM3_sml;
vsluiter 1:5e22bf1a3817 55 _Rbuffer Rb;
vsluiter 1:5e22bf1a3817 56 _Wbuffer Wb;
vsluiter 1:5e22bf1a3817 57 _Ebuffer Eb; //EEprom
vsluiter 1:5e22bf1a3817 58 uint8 TXPDOsize,RXPDOsize;
vsluiter 1:5e22bf1a3817 59 uint16 wd_ok = 1, wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 60 volatile uint8 digoutput;
vsluiter 1:5e22bf1a3817 61 volatile uint8 diginput;
vsluiter 1:5e22bf1a3817 62
vsluiter 1:5e22bf1a3817 63 Serial shoe_serial(SHOE_SERIAL_TX,SHOE_SERIAL_RX);
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 1:5e22bf1a3817 68
vsluiter 1:5e22bf1a3817 69 /* Private function prototypes -----------------------------------------------*/
vsluiter 1:5e22bf1a3817 70 /* Private functions ---------------------------------------------------------*/
vsluiter 1:5e22bf1a3817 71
vsluiter 1:5e22bf1a3817 72 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 73 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 74 \param index
vsluiter 1:5e22bf1a3817 75 \param subindex
vsluiter 1:5e22bf1a3817 76 */
vsluiter 1:5e22bf1a3817 77 void ESC_objecthandler(uint16 index, uint8 subindex);
vsluiter 1:5e22bf1a3817 78 void TXPDO_update(void);
vsluiter 1:5e22bf1a3817 79 void RXPDO_update(void);
vsluiter 1:5e22bf1a3817 80 void DIG_process(void);
vsluiter 1:5e22bf1a3817 81 /*
vsluiter 1:5e22bf1a3817 82 void _delay_ms(uint16 number_of_ms)
vsluiter 1:5e22bf1a3817 83 {
vsluiter 1:5e22bf1a3817 84 volatile uint16_t cpu_counter = 0;
vsluiter 1:5e22bf1a3817 85 uint16_t ms_counter;
vsluiter 1:5e22bf1a3817 86 for(ms_counter = 0 ; ms_counter < number_of_ms ; ms_counter++)
vsluiter 1:5e22bf1a3817 87 {
vsluiter 1:5e22bf1a3817 88 cpu_counter = 48000; //48MHz processor
vsluiter 1:5e22bf1a3817 89 while(cpu_counter >0)
vsluiter 1:5e22bf1a3817 90 cpu_counter--;
vsluiter 1:5e22bf1a3817 91 }
vsluiter 1:5e22bf1a3817 92 }*/
vsluiter 1:5e22bf1a3817 93
vsluiter 1:5e22bf1a3817 94 void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 95 {
vsluiter 1:5e22bf1a3817 96 uint8 dummy8;
vsluiter 1:5e22bf1a3817 97 uint16 dummy16;
vsluiter 1:5e22bf1a3817 98 switch (index)
vsluiter 1:5e22bf1a3817 99 {
vsluiter 1:5e22bf1a3817 100 case 0x8000:
vsluiter 1:5e22bf1a3817 101 switch (subindex)
vsluiter 1:5e22bf1a3817 102 {
vsluiter 1:5e22bf1a3817 103 case 0x01:
vsluiter 1:5e22bf1a3817 104 dummy8 = Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8);
vsluiter 1:5e22bf1a3817 105 break;
vsluiter 1:5e22bf1a3817 106 case 0x02:
vsluiter 1:5e22bf1a3817 107 dummy16 = Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
vsluiter 1:5e22bf1a3817 108 break;
vsluiter 1:5e22bf1a3817 109 }
vsluiter 1:5e22bf1a3817 110 break;
vsluiter 1:5e22bf1a3817 111 }
vsluiter 1:5e22bf1a3817 112 }
vsluiter 1:5e22bf1a3817 113
vsluiter 1:5e22bf1a3817 114 void TXPDO_update(void)
vsluiter 1:5e22bf1a3817 115 {
vsluiter 1:5e22bf1a3817 116 ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 117 }
vsluiter 1:5e22bf1a3817 118
vsluiter 1:5e22bf1a3817 119 void RXPDO_update(void)
vsluiter 1:5e22bf1a3817 120 {
vsluiter 1:5e22bf1a3817 121 ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 122 }
vsluiter 1:5e22bf1a3817 123
vsluiter 1:5e22bf1a3817 124 void APP_safeoutput(void)
vsluiter 1:5e22bf1a3817 125 {
vsluiter 1:5e22bf1a3817 126 asm("nop");
vsluiter 1:5e22bf1a3817 127 //Wb.dout = 0;
vsluiter 1:5e22bf1a3817 128 //DOUTPORT = (Wb.dout >> 4) & 0xf0;
vsluiter 1:5e22bf1a3817 129 }
vsluiter 1:5e22bf1a3817 130
vsluiter 1:5e22bf1a3817 131 void DIG_process(void)
vsluiter 1:5e22bf1a3817 132 {
vsluiter 1:5e22bf1a3817 133 if (APPstate & APPSTATE_OUTPUT) //output enabled
vsluiter 1:5e22bf1a3817 134 {
vsluiter 1:5e22bf1a3817 135 if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
vsluiter 1:5e22bf1a3817 136 {
vsluiter 1:5e22bf1a3817 137 ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
vsluiter 1:5e22bf1a3817 138 RXPDO_update();
vsluiter 1:5e22bf1a3817 139 // dummy output point
vsluiter 1:5e22bf1a3817 140 digoutput = Wb.digoutput;
vsluiter 1:5e22bf1a3817 141 if(digoutput & 0x01)
vsluiter 1:5e22bf1a3817 142 led.write(1);
vsluiter 1:5e22bf1a3817 143 else
vsluiter 1:5e22bf1a3817 144 led.write(0);
vsluiter 1:5e22bf1a3817 145 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 146 }
vsluiter 1:5e22bf1a3817 147
vsluiter 1:5e22bf1a3817 148 if (!wd_cnt)
vsluiter 1:5e22bf1a3817 149 {
vsluiter 1:5e22bf1a3817 150 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 151 // watchdog, invalid outputs
vsluiter 1:5e22bf1a3817 152 ESC_ALerror(ALERR_WATCHDOG);
vsluiter 1:5e22bf1a3817 153 // goto safe-op with error bit set
vsluiter 1:5e22bf1a3817 154 ESC_ALstatus(ESCsafeop | ESCerror);
vsluiter 1:5e22bf1a3817 155 }
vsluiter 1:5e22bf1a3817 156 }
vsluiter 1:5e22bf1a3817 157 else
vsluiter 1:5e22bf1a3817 158 {
vsluiter 1:5e22bf1a3817 159 //wd_ok = 1;
vsluiter 1:5e22bf1a3817 160 wd_cnt = wd_reset;
vsluiter 1:5e22bf1a3817 161 }
vsluiter 1:5e22bf1a3817 162 if (APPstate) //input or output enabled
vsluiter 1:5e22bf1a3817 163 {
vsluiter 1:5e22bf1a3817 164 Rb.timestamp = ESCvar.Time;
vsluiter 1:5e22bf1a3817 165 //just some dummy data to test
vsluiter 1:5e22bf1a3817 166 Rb.counter++;
vsluiter 1:5e22bf1a3817 167 Rb.diginput = diginput;
vsluiter 1:5e22bf1a3817 168 Rb.analog[0] = 1;
vsluiter 1:5e22bf1a3817 169 Rb.analog[1] = 2;
vsluiter 1:5e22bf1a3817 170 Rb.analog[2] = 3;
vsluiter 1:5e22bf1a3817 171 Rb.analog[3] = 4;
vsluiter 1:5e22bf1a3817 172 Rb.analog[4] = 5;
vsluiter 1:5e22bf1a3817 173 Rb.analog[5] = 6;
vsluiter 1:5e22bf1a3817 174 Rb.analog[6] = 7;
vsluiter 1:5e22bf1a3817 175 Rb.analog[7] = 8;
vsluiter 1:5e22bf1a3817 176
vsluiter 1:5e22bf1a3817 177 TXPDO_update();
vsluiter 1:5e22bf1a3817 178 }
vsluiter 1:5e22bf1a3817 179 }
vsluiter 1:5e22bf1a3817 180
vsluiter 1:5e22bf1a3817 181
vsluiter 1:5e22bf1a3817 182 int main(void)
vsluiter 1:5e22bf1a3817 183 {
vsluiter 1:5e22bf1a3817 184 /*!< At this stage the microcontroller clock setting is already configured,
vsluiter 1:5e22bf1a3817 185 this is done through SystemInit() function which is called from startup
vsluiter 1:5e22bf1a3817 186 file (startup_stm32f0xx.s) before to branch to application main.
vsluiter 1:5e22bf1a3817 187 To reconfigure the default setting of SystemInit() function, refer to
vsluiter 1:5e22bf1a3817 188 system_stm32f0xx.c file
vsluiter 1:5e22bf1a3817 189 */
vsluiter 1:5e22bf1a3817 190 cpuinit();
vsluiter 1:5e22bf1a3817 191 TXPDOsize = sizeTXPDO();
vsluiter 1:5e22bf1a3817 192 RXPDOsize = sizeRXPDO();
vsluiter 1:5e22bf1a3817 193 wait_ms(200);
vsluiter 1:5e22bf1a3817 194 /*initialize configuration*/
vsluiter 1:5e22bf1a3817 195 Eb.setting16 = 0xABCD;
vsluiter 1:5e22bf1a3817 196 Eb.setting8 = 111;
vsluiter 1:5e22bf1a3817 197 // wait until ESC is started up
vsluiter 1:5e22bf1a3817 198 while ((ESCvar.DLstatus & 0x0001) == 0)
vsluiter 1:5e22bf1a3817 199 ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 200
vsluiter 1:5e22bf1a3817 201 // reset ESC to init state
vsluiter 1:5e22bf1a3817 202 ESC_ALstatus(ESCinit);
vsluiter 1:5e22bf1a3817 203 ESC_ALerror(ALERR_NONE);
vsluiter 1:5e22bf1a3817 204 ESC_stopmbx();
vsluiter 1:5e22bf1a3817 205 ESC_stopinput();
vsluiter 1:5e22bf1a3817 206 ESC_stopoutput();
vsluiter 1:5e22bf1a3817 207
vsluiter 1:5e22bf1a3817 208 // application run loop
vsluiter 1:5e22bf1a3817 209 while (1)
vsluiter 1:5e22bf1a3817 210 {
vsluiter 1:5e22bf1a3817 211 ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
vsluiter 1:5e22bf1a3817 212 ESC_ALevent();
vsluiter 1:5e22bf1a3817 213 ESC_state();
vsluiter 1:5e22bf1a3817 214 if (ESC_mbxprocess())
vsluiter 1:5e22bf1a3817 215 {
vsluiter 1:5e22bf1a3817 216 ESC_coeprocess();
vsluiter 1:5e22bf1a3817 217 ESC_xoeprocess();
vsluiter 1:5e22bf1a3817 218 }
vsluiter 1:5e22bf1a3817 219 DIG_process();
vsluiter 1:5e22bf1a3817 220 }
vsluiter 1:5e22bf1a3817 221 }
vsluiter 1:5e22bf1a3817 222
vsluiter 1:5e22bf1a3817 223 /** void ESC_objecthandler(uint16 index, uint8 subindex)
vsluiter 1:5e22bf1a3817 224 \brief Object handler, declared from esc.h, as extern function
vsluiter 1:5e22bf1a3817 225 \param index
vsluiter 1:5e22bf1a3817 226 \param subindex
vsluiter 1:5e22bf1a3817 227 */
vsluiter 1:5e22bf1a3817 228
vsluiter 1:5e22bf1a3817 229
vsluiter 1:5e22bf1a3817 230 #ifdef USE_FULL_ASSERT
vsluiter 1:5e22bf1a3817 231
vsluiter 1:5e22bf1a3817 232 /**
vsluiter 1:5e22bf1a3817 233 * @brief Reports the name of the source file and the source line number
vsluiter 1:5e22bf1a3817 234 * where the assert_param error has occurred.
vsluiter 1:5e22bf1a3817 235 * @param file: pointer to the source file name
vsluiter 1:5e22bf1a3817 236 * @param line: assert_param error line source number
vsluiter 1:5e22bf1a3817 237 * @retval None
vsluiter 1:5e22bf1a3817 238 */
vsluiter 1:5e22bf1a3817 239 void assert_failed(uint8_t* file, uint32_t line)
vsluiter 1:5e22bf1a3817 240 {
vsluiter 1:5e22bf1a3817 241 /* User can add his own implementation to report the file name and line number,
vsluiter 1:5e22bf1a3817 242 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
vsluiter 1:5e22bf1a3817 243
vsluiter 1:5e22bf1a3817 244 /* Infinite loop */
vsluiter 1:5e22bf1a3817 245 while (1)
vsluiter 1:5e22bf1a3817 246 {
vsluiter 1:5e22bf1a3817 247 }
vsluiter 1:5e22bf1a3817 248 }
vsluiter 1:5e22bf1a3817 249 #endif
vsluiter 1:5e22bf1a3817 250
vsluiter 1:5e22bf1a3817 251 /**
vsluiter 1:5e22bf1a3817 252 * @}
vsluiter 1:5e22bf1a3817 253 */
vsluiter 1:5e22bf1a3817 254
vsluiter 1:5e22bf1a3817 255 /**
vsluiter 1:5e22bf1a3817 256 * @}
vsluiter 1:5e22bf1a3817 257 */
vsluiter 1:5e22bf1a3817 258
vsluiter 1:5e22bf1a3817 259 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
vsluiter 1:5e22bf1a3817 260