Diff: soes.cpp

Revision:

1:5e22bf1a3817

Child:

2:3dd1240eb938

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/soes.cpp	Thu Dec 11 21:16:00 2014 +0000
@@ -0,0 +1,260 @@
+/*
+ * SOES Simple Open EtherCAT Slave
+ *
+ * File    : soes.c
+ * Version : 0.9.2
+ * Date    : 22-02-2010
+ * Copyright (C) 2007-2010 Arthur Ketels
+ *
+ * SOES is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the Free
+ * Software Foundation.
+ *
+ * SOES is distributed in the hope that it will be useful, but WITHOUT ANY
+ * WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * for more details.
+ *
+ * As a special exception, if other files instantiate templates or use macros
+ * or inline functions from this file, or you compile this file and link it
+ * with other works to produce a work based on this file, this file does not
+ * by itself cause the resulting work to be covered by the GNU General Public
+ * License. However the source code for this file must still be made available
+ * in accordance with section (3) of the GNU General Public License.
+ *
+ * This exception does not invalidate any other reasons why a work based on
+ * this file might be covered by the GNU General Public License.
+ *
+ * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
+ * property of, and protected by Beckhoff Automation GmbH.
+ */
+
+/****************************************************
+Chip type           : STM32F051R8
+Clock frequency     : 48 MHz
+*****************************************************/
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "cpuinit.h"
+#include "utypes.h"
+#include "esc.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define wd_reset 1000
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+_ESCvar         ESCvar;
+uint8			APPstate;
+_MBX            MBX[MBXBUFFERS];
+_MBXcontrol     MBXcontrol[MBXBUFFERS];
+uint8           MBXrun=0;
+uint16          SM2_sml,SM3_sml;
+_Rbuffer        Rb;
+_Wbuffer        Wb;
+_Ebuffer        Eb; //EEprom
+uint8           TXPDOsize,RXPDOsize;
+uint16          wd_ok = 1, wd_cnt = wd_reset;
+volatile uint8	digoutput;
+volatile uint8	diginput;
+
+Serial shoe_serial(SHOE_SERIAL_TX,SHOE_SERIAL_RX);
+DigitalOut led(LED_PIN);
+DigitalOut et1100_ss(ET1100_SS);
+DigitalIn  et1100_miso(ET1100_MISO);
+SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK);
+
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** void ESC_objecthandler(uint16 index, uint8 subindex)
+    \brief Object handler, declared from esc.h, as extern function
+    \param index
+    \param subindex
+*/
+void ESC_objecthandler(uint16 index, uint8 subindex);
+void TXPDO_update(void);
+void RXPDO_update(void);
+void DIG_process(void);
+/*
+void _delay_ms(uint16 number_of_ms)
+{
+    volatile uint16_t cpu_counter = 0;
+    uint16_t ms_counter;
+    for(ms_counter = 0 ; ms_counter < number_of_ms ; ms_counter++)
+    {
+        cpu_counter = 48000; //48MHz processor
+        while(cpu_counter >0)
+            cpu_counter--;
+    }
+}*/
+
+void ESC_objecthandler(uint16 index, uint8 subindex)
+{
+    uint8 dummy8;
+    uint16 dummy16;
+    switch (index)
+    {
+    case 0x8000:
+        switch (subindex)
+        {
+        case 0x01:
+            dummy8  = Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8);
+            break;
+        case 0x02:
+            dummy16 = Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16);
+            break;
+        }
+        break;
+    }
+}
+
+void TXPDO_update(void)
+{
+  ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent);
+}
+
+void RXPDO_update(void)
+{
+  ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent);
+}
+
+void APP_safeoutput(void)
+{
+  asm("nop");
+  //Wb.dout = 0;
+  //DOUTPORT = (Wb.dout >> 4) & 0xf0;
+}
+
+void DIG_process(void)
+{
+  if (APPstate & APPSTATE_OUTPUT) //output enabled
+    {
+        if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
+        {
+          ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
+            RXPDO_update();
+            // dummy output point
+            digoutput = Wb.digoutput;
+            if(digoutput & 0x01)
+                led.write(1);
+            else
+                led.write(0);
+            wd_cnt = wd_reset;
+        }
+
+      if (!wd_cnt)
+        {
+            ESC_stopoutput();
+            // watchdog, invalid outputs
+            ESC_ALerror(ALERR_WATCHDOG);
+            // goto safe-op with error bit set
+            ESC_ALstatus(ESCsafeop | ESCerror);
+        }
+    }
+    else
+    {
+        //wd_ok = 1;
+        wd_cnt = wd_reset;
+    }
+  if (APPstate) //input or output enabled
+    {
+        Rb.timestamp = ESCvar.Time;
+        //just some dummy data to test
+        Rb.counter++;
+        Rb.diginput = diginput;
+        Rb.analog[0] = 1;
+        Rb.analog[1] = 2;
+        Rb.analog[2] = 3;
+        Rb.analog[3] = 4;
+        Rb.analog[4] = 5;
+        Rb.analog[5] = 6;
+        Rb.analog[6] = 7;
+        Rb.analog[7] = 8;
+
+        TXPDO_update();
+    }
+}
+
+
+int main(void)
+{
+    /*!< At this stage the microcontroller clock setting is already configured,
+         this is done through SystemInit() function which is called from startup
+         file (startup_stm32f0xx.s) before to branch to application main.
+         To reconfigure the default setting of SystemInit() function, refer to
+         system_stm32f0xx.c file
+       */
+    cpuinit();
+	TXPDOsize = sizeTXPDO();
+	RXPDOsize = sizeRXPDO();
+    wait_ms(200);
+    /*initialize configuration*/
+    Eb.setting16 = 0xABCD;
+    Eb.setting8  = 111;
+    // wait until ESC is started up
+    while ((ESCvar.DLstatus & 0x0001) == 0)
+        ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent);
+
+// reset ESC to init state
+    ESC_ALstatus(ESCinit);
+    ESC_ALerror(ALERR_NONE);
+    ESC_stopmbx();
+    ESC_stopinput();
+    ESC_stopoutput();
+
+// application run loop
+    while (1)
+    {
+        ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent);
+        ESC_ALevent();
+        ESC_state();
+        if (ESC_mbxprocess())
+        {
+            ESC_coeprocess();
+            ESC_xoeprocess();
+        }
+        DIG_process();
+    }
+}
+
+/** void ESC_objecthandler(uint16 index, uint8 subindex)
+    \brief Object handler, declared from esc.h, as extern function
+    \param index
+    \param subindex
+*/
+
+
+#ifdef  USE_FULL_ASSERT
+
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t* file, uint32_t line)
+{
+    /* User can add his own implementation to report the file name and line number,
+       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+
+    /* Infinite loop */
+    while (1)
+    {
+    }
+}
+#endif
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+