Name change of E7000
This commit is contained in:
Hakan Bastedt
6
Cards/EaserCAT-7000-DIO+I2C/Firmware/.gitignore
vendored
Executable file
6
Cards/EaserCAT-7000-DIO+I2C/Firmware/.gitignore
vendored
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@@ -0,0 +1,6 @@
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.pio
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.vscode/.browse.c_cpp.db*
|
||||
.vscode/c_cpp_properties.json
|
||||
.vscode/launch.json
|
||||
.vscode/ipch
|
||||
.vscode/settings.json
|
||||
139
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/c_cpp_properties.json
vendored
Executable file
139
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/c_cpp_properties.json
vendored
Executable file
@@ -0,0 +1,139 @@
|
||||
//
|
||||
// !!! WARNING !!! AUTO-GENERATED FILE!
|
||||
// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
|
||||
// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
|
||||
//
|
||||
{
|
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|
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{
|
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"name": "PlatformIO",
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|
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/MyMCP3221",
|
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi",
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes",
|
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/ADS1X15",
|
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"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/inc",
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|
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|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Src",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/STM32F4xx",
|
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|
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|
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|
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"C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
|
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"C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/PrivateInclude",
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/variants/STM32F4xx/F407V(E-G)T_F417V(E-G)T",
|
||||
"C:/Users/Hakan/.platformio/lib/RunningAverage",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/RGB_LED_TLC59731/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
|
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"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/USBDevice/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/src",
|
||||
""
|
||||
],
|
||||
"browse": {
|
||||
"limitSymbolsToIncludedHeaders": true,
|
||||
"path": [
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/include",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/src",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/MyMCP3221",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes-esi",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/lib/soes",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/ADS1X15",
|
||||
"Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/libdeps/genericSTM32F407VGT6/MCP3X21",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Wire/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SPI/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/avr",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino/stm32",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/inc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/inc/LL",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/USBDevice/inc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/inc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Inc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/STM32F4xx_HAL_Driver/Src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/STM32F4xx",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/ST/STM32_USB_Device_Library/Core/Src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/open-amp/lib/include",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/libmetal/lib/include",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Middlewares/OpenAMP/virtual_driver",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/Core/Include",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/system/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/Include",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-cmsis/CMSIS/DSP/PrivateInclude",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/cores/arduino",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/variants/STM32F4xx/F407V(E-G)T_F417V(E-G)T",
|
||||
"C:/Users/Hakan/.platformio/lib/RunningAverage",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/CMSIS_DSP/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/EEPROM/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/IWatchdog/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Keyboard/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Mouse/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/RGB_LED_TLC59731/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/Servo/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SoftwareSerial/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SrcWrapper/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/SubGhz/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/USBDevice/src",
|
||||
"C:/Users/Hakan/.platformio/packages/framework-arduinoststm32/libraries/VirtIO/src",
|
||||
""
|
||||
]
|
||||
},
|
||||
"defines": [
|
||||
"PLATFORMIO=60117",
|
||||
"STM32F407xx",
|
||||
"STM32F4",
|
||||
"NO_ECAT",
|
||||
"ADS1xxx",
|
||||
"STM32F4xx",
|
||||
"ARDUINO=10808",
|
||||
"ARDUINO_ARCH_STM32",
|
||||
"NDEBUG",
|
||||
"ARDUINO_GENERIC_F407VGTX",
|
||||
"BOARD_NAME=\"GENERIC_F407VGTX\"",
|
||||
"HAL_UART_MODULE_ENABLED",
|
||||
"USE_HAL_DRIVER",
|
||||
"USE_FULL_LL_DRIVER",
|
||||
"VARIANT_H=\"variant_generic.h\"",
|
||||
"VECT_TAB_OFFSET=0x0",
|
||||
""
|
||||
],
|
||||
"cStandard": "gnu17",
|
||||
"cppStandard": "gnu++17",
|
||||
"compilerPath": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gcc.exe",
|
||||
"compilerArgs": [
|
||||
"-mcpu=cortex-m4",
|
||||
"-mthumb",
|
||||
"-mfpu=fpv4-sp-d16",
|
||||
"-mfloat-abi=hard",
|
||||
""
|
||||
]
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
10
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/extensions.json
vendored
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10
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/extensions.json
vendored
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@@ -0,0 +1,10 @@
|
||||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
],
|
||||
"unwantedRecommendations": [
|
||||
"ms-vscode.cpptools-extension-pack"
|
||||
]
|
||||
}
|
||||
47
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/launch.json
vendored
Executable file
47
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/launch.json
vendored
Executable file
@@ -0,0 +1,47 @@
|
||||
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
|
||||
//
|
||||
// PlatformIO Debugging Solution
|
||||
//
|
||||
// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
|
||||
// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
|
||||
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug",
|
||||
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
|
||||
"projectEnvName": "genericSTM32F407VGT6",
|
||||
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
|
||||
"preLaunchTask": {
|
||||
"type": "PlatformIO",
|
||||
"task": "Pre-Debug"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug (skip Pre-Debug)",
|
||||
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
|
||||
"projectEnvName": "genericSTM32F407VGT6",
|
||||
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd"
|
||||
},
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug (without uploading)",
|
||||
"executable": "Z:/src/MyOwnEtherCATDevice/Cards/EaserCAT-7000-DIO+THCAD+I2C/Firmware/.pio/build/genericSTM32F407VGT6/firmware.elf",
|
||||
"projectEnvName": "genericSTM32F407VGT6",
|
||||
"toolchainBinDir": "C:/Users/Hakan/.platformio/packages/toolchain-gccarmnoneeabi/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"svdPath": "C:/Users/Hakan/.platformio/platforms/ststm32/misc/svd/STM32F40x.svd",
|
||||
"loadMode": "manual"
|
||||
}
|
||||
]
|
||||
}
|
||||
22
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/settings.json
vendored
Executable file
22
Cards/EaserCAT-7000-DIO+I2C/Firmware/.vscode/settings.json
vendored
Executable file
@@ -0,0 +1,22 @@
|
||||
{
|
||||
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|
||||
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|
||||
"compare": "cpp",
|
||||
"*.tpp": "cpp",
|
||||
"*.tcc": "cpp",
|
||||
"deque": "cpp",
|
||||
"string": "cpp",
|
||||
"unordered_map": "cpp",
|
||||
"vector": "cpp",
|
||||
"system_error": "cpp",
|
||||
"numeric": "cpp",
|
||||
"ostream": "cpp",
|
||||
"cmath": "cpp",
|
||||
"cstddef": "cpp",
|
||||
"array": "cpp",
|
||||
"string_view": "cpp",
|
||||
"initializer_list": "cpp"
|
||||
},
|
||||
"C_Cpp.errorSquiggles": "disabled",
|
||||
"cmake.configureOnOpen": false
|
||||
}
|
||||
39
Cards/EaserCAT-7000-DIO+I2C/Firmware/include/README
Executable file
39
Cards/EaserCAT-7000-DIO+I2C/Firmware/include/README
Executable file
@@ -0,0 +1,39 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
14
Cards/EaserCAT-7000-DIO+I2C/Firmware/include/extend32to64.h
Executable file
14
Cards/EaserCAT-7000-DIO+I2C/Firmware/include/extend32to64.h
Executable file
@@ -0,0 +1,14 @@
|
||||
#ifndef EXTEND32TO64
|
||||
#define EXTEND32TO54
|
||||
|
||||
#include <Arduino.h>
|
||||
|
||||
class extend32to64
|
||||
{
|
||||
public:
|
||||
int64_t previousTimeValue = 0;
|
||||
const uint64_t ONE_PERIOD = 4294967296; // almost UINT32_MAX;
|
||||
const uint64_t HALF_PERIOD = 2147483648; // Half of that
|
||||
int64_t extendTime(uint32_t in);
|
||||
};
|
||||
#endif
|
||||
285
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221/MyMCP3221.cpp
Executable file
285
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221/MyMCP3221.cpp
Executable file
@@ -0,0 +1,285 @@
|
||||
/*==============================================================================================================*
|
||||
|
||||
@file MyMCP3221.cpp
|
||||
@author Nadav Matalon
|
||||
@license MIT (c) 2016 Nadav Matalon
|
||||
|
||||
MCP3221 Driver (12-BIT Single Channel ADC with I2C Interface)
|
||||
|
||||
Ver. 1.0.0 - First release (16.10.16)
|
||||
|
||||
*==============================================================================================================*
|
||||
LICENSE
|
||||
*==============================================================================================================*
|
||||
|
||||
The MIT License (MIT)
|
||||
Copyright (c) 2016 Nadav Matalon
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
|
||||
documentation files (the "Software"), to deal in the Software without restriction, including without
|
||||
limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
the Software, and to permit persons to whom the Software is furnished to do so, subject to the following
|
||||
conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial
|
||||
portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT
|
||||
LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
||||
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
|
||||
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
*==============================================================================================================*/
|
||||
|
||||
#include "MyMCP3221.h"
|
||||
|
||||
/*==============================================================================================================*
|
||||
CONSTRUCTOR
|
||||
*==============================================================================================================*/
|
||||
|
||||
MyMCP3221::MyMCP3221(
|
||||
byte devAddr,
|
||||
TwoWire *Wire,
|
||||
unsigned int vRef,
|
||||
unsigned int res1,
|
||||
unsigned int res2,
|
||||
unsigned int alpha,
|
||||
voltage_input_t voltageInput,
|
||||
smoothing_t smoothingMethod,
|
||||
byte numSamples) :
|
||||
_Wire(Wire),
|
||||
_devAddr(devAddr),
|
||||
_vRef(vRef),
|
||||
_alpha(alpha),
|
||||
_voltageInput(voltageInput),
|
||||
_smoothing(smoothingMethod),
|
||||
_numSamples(numSamples)
|
||||
{
|
||||
memset(_samples, 0, sizeof(_samples));
|
||||
if (((res1 != 0) && (res2 != 0)) && (_voltageInput == VOLTAGE_INPUT_12V)) {
|
||||
_res1 = res1;
|
||||
_res2 = res2;
|
||||
} else if (_voltageInput == VOLTAGE_INPUT_5V) {
|
||||
_res1 = 0;
|
||||
_res2 = 0;
|
||||
} else {
|
||||
_res1 = DEFAULT_RES_1;
|
||||
_res2 = DEFAULT_RES_2;
|
||||
}
|
||||
_comBuffer = COM_SUCCESS;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
DESTRUCTOR
|
||||
*==============================================================================================================*/
|
||||
|
||||
MyMCP3221::~MyMCP3221() {}
|
||||
|
||||
/*==============================================================================================================*
|
||||
PING (0 = SUCCESS / 1, 2, ... = ERROR CODE)
|
||||
*==============================================================================================================*/
|
||||
|
||||
// See meaning of I2C Error Code values in README
|
||||
|
||||
byte MyMCP3221::ping() {
|
||||
_Wire->beginTransmission(_devAddr);
|
||||
return _comBuffer = _Wire->endTransmission();
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET VOLTAGE REFERENCE (2700mV - 5500mV)
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getVref() {
|
||||
return _vRef;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET VOLTAGE DIVIDER RESISTOR 1 (Ω)
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getRes1() {
|
||||
return _res1;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET VOLTAGE DIVIDER RESISTOR 2 (Ω)
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getRes2() {
|
||||
return _res2;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET ALPHA (RELEVANT ONLY FOR EMAVG SMOOTHING METHOD, RANGE: 1 - 256)
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getAlpha() {
|
||||
return _alpha;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET NUMBER OF SAMPLES (RELEVANT ONLY FOR ROLLING-AVAREGE SMOOTHING METHOD, RANGE: 1-20 SAMPLES)
|
||||
*==============================================================================================================*/
|
||||
|
||||
byte MyMCP3221::getNumSamples() {
|
||||
return _numSamples;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET VOLTAGE INPUT (0 = VOLTAGE_INPUT_5V / 1 = VOLTAGE_INPUT_12V)
|
||||
*==============================================================================================================*/
|
||||
|
||||
byte MyMCP3221::getVinput() {
|
||||
return _voltageInput;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET SMOOTHING METHOD (0 = NONE / 1 = ROLLING-AVAREGE / 2 = EMAVG)
|
||||
*==============================================================================================================*/
|
||||
|
||||
byte MyMCP3221::getSmoothing() {
|
||||
return _smoothing;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET DATA
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getData() {
|
||||
return (_smoothing == NO_SMOOTHING) ? getRawData() : smoothData(getRawData());
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET VOLTAGE (Vref 4.096V: 2700 - 4096mV)
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getVoltage() {
|
||||
if (_voltageInput == VOLTAGE_INPUT_5V) return round((_vRef / (float)DEFAULT_VREF) * getData());
|
||||
else return round(getData() * ((float)(_res1 + _res2) / _res2));
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET LATEST I2C COMMUNICATION RESULT (0 = OK / 1, 2, ... = ERROR)
|
||||
*==============================================================================================================*/
|
||||
|
||||
byte MyMCP3221::getComResult() {
|
||||
return _comBuffer;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET REFERENCE VOLTAGE (2700mV - 5500mV)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setVref(unsigned int newVref) { // PARAM RANGE: 2700-5500
|
||||
newVref = constrain(newVref, MIN_VREF, MAX_VREF);
|
||||
_vRef = newVref;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET VOLTAGE DIVIDER RESISTOR 1 (Ω)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setRes1(unsigned int newRes1) {
|
||||
_res1 = newRes1;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET VOLTAGE DIVIDER RESISTOR 2 (Ω)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setRes2(unsigned int newRes2) {
|
||||
_res2 = newRes2;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET ALPHA (RELEVANT ONLY FOR EMAVG SMOOTHING METHOD)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setAlpha(unsigned int newAlpha) { // PARAM RANGE: 1-256
|
||||
newAlpha = constrain(newAlpha, MIN_ALPHA, MAX_ALPHA);
|
||||
_alpha = newAlpha;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET NUMBER OF SAMPLES (RELEVANT ONLY FOR ROLLING-AVAREGE SMOOTHING METHOD)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setNumSamples(byte newNumSamples) { // PARAM RANGE: 1-20
|
||||
newNumSamples = constrain(newNumSamples, MIN_NUM_SAMPLES, MAX_NUM_SAMPLES);
|
||||
_numSamples = newNumSamples;
|
||||
for (byte i=0; i<MAX_NUM_SAMPLES; i++) _samples[i] = 0;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET VOLTAGE INPUT (NOTE: 12V INPUT READINGS REQUIRE A HARDWARE VOLTAGE DIVIDER)
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setVinput(voltage_input_t newVoltageInput) { // PARAMS: VOLTAGE_INPUT_5V / VOLTAGE_INPUT_12V
|
||||
_voltageInput = newVoltageInput;
|
||||
if (newVoltageInput == VOLTAGE_INPUT_12V) {
|
||||
if (!_res1) _res1 = DEFAULT_RES_1;
|
||||
if (!_res2) _res2 = DEFAULT_RES_2;
|
||||
}
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SET SMOOTHING METHOD
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::setSmoothing(smoothing_t newSmoothing) { // PARAMS: NO_SMOOTHING / ROLLING / EMAVG
|
||||
_smoothing = newSmoothing;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
RESET
|
||||
*==============================================================================================================*/
|
||||
|
||||
void MyMCP3221::reset() {
|
||||
setVref(DEFAULT_VREF);
|
||||
setAlpha(DEFAULT_ALPHA);
|
||||
setVinput(VOLTAGE_INPUT_5V);
|
||||
setSmoothing(EMAVG);
|
||||
setRes1(0);
|
||||
setRes2(0);
|
||||
setNumSamples(DEFAULT_NUM_SAMPLES);
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
GET RAW DATA
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::getRawData() {
|
||||
unsigned int rawData = 0;
|
||||
_Wire->requestFrom(_devAddr, DATA_BYTES);
|
||||
if (_Wire->available() == DATA_BYTES) rawData = (_Wire->read() << 8) | (_Wire->read());
|
||||
else ping();
|
||||
return rawData;
|
||||
}
|
||||
|
||||
/*==============================================================================================================*
|
||||
SMOOTH DATA
|
||||
*==============================================================================================================*/
|
||||
|
||||
unsigned int MyMCP3221::smoothData(unsigned int rawData) {
|
||||
unsigned int smoothedData;
|
||||
if (_smoothing == EMAVG) { // Exmponential Moving Average
|
||||
unsigned int emAvg = rawData;
|
||||
emAvg = (_alpha * (unsigned long)rawData + (MAX_ALPHA - _alpha) * (unsigned long)emAvg) / MAX_ALPHA;
|
||||
smoothedData = emAvg;
|
||||
} else { // Rolling-Average
|
||||
unsigned long sum = 0;
|
||||
if (_samples[_numSamples - 1] != 0) {
|
||||
for (byte i = 1; i<_numSamples; i++) _samples[i - 1] = _samples[i]; // drop last reading & rearrange array
|
||||
_samples[_numSamples - 1] = rawData; // add a new sample at the end of array
|
||||
for (byte j=0; j<_numSamples; j++) sum += _samples[j]; // aggregate all samples
|
||||
smoothedData = sum / _numSamples; // calculate average
|
||||
} else {
|
||||
for (byte i = 0; i<_numSamples; i++) _samples[i] = rawData;
|
||||
smoothedData = rawData;
|
||||
}
|
||||
}
|
||||
return smoothedData;
|
||||
}
|
||||
|
||||
207
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221/MyMCP3221.h
Executable file
207
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/MyMCP3221/MyMCP3221.h
Executable file
@@ -0,0 +1,207 @@
|
||||
/*==============================================================================================================*
|
||||
|
||||
@file MyMCP3221.h
|
||||
@author Nadav Matalon
|
||||
@license MIT (c) 2016 Nadav Matalon
|
||||
|
||||
MCP3221 Driver (12-BIT Single Channel ADC with I2C Interface)
|
||||
|
||||
Ver. 1.0.0 - First release (16.10.16)
|
||||
|
||||
*===============================================================================================================*
|
||||
INTRODUCTION
|
||||
*===============================================================================================================*
|
||||
|
||||
The MCP3221 is a 12-Bit Single Channel ADC with hardware I2C interface.
|
||||
|
||||
This library contains a complete driver for the MCP3221 allowing the user to get raw conversion data,
|
||||
smoothed conversion data (Rollong-Average or EMAVG), or voltage readings ranging 0-5V or 0-12V (the latter
|
||||
requires a voltage divider setup).
|
||||
|
||||
*===============================================================================================================*
|
||||
DEVICE HOOKUP
|
||||
*===============================================================================================================*
|
||||
|
||||
MCP3221
|
||||
-------
|
||||
VCC --| • |-- SCL
|
||||
| |
|
||||
GND --| |
|
||||
| |
|
||||
AIN --| |-- SDA
|
||||
-------
|
||||
|
||||
PIN 1 (VCC/VREF) - Serves as both Power Supply input and Voltage Reference for the ADC. Connect to the Arduino
|
||||
5V Output or any other equivalent power source (5.5V max). If using an external power source,
|
||||
remember to connect all GND's together
|
||||
PIN 2 (GND) - connect to Arduino GND
|
||||
PIN 3 (AIN) - Connect to Arduino's 3.3V Output or the middle pin of a 10K potentiometer (other two pins go to 5V & GND)
|
||||
PIN 4 (SDA) - Connect to Arduino's PIN A4 with a 2K2 (400MHz I2C Bus speed) or 10K (100MHz I2C Bus speed) pull-up resistor
|
||||
PIN 5 (SCL) - Connect to Arduino's PIN A5 with a 2K2 (400MHz I2C Bus speed) or 10K (100MHz I2C Bus speed) pull-up resistor
|
||||
DECOUPING: Minimal decoupling consists of a 0.1uF Ceramic Capacitor between the VCC & GND PINS. For improved
|
||||
performance, add a 1uF and a 10uF Ceramic Capacitors as well across these pins
|
||||
|
||||
*===============================================================================================================*
|
||||
VOLTAGE DIVIDER HOOKUP (OPTIONAL: FOR 12V READINGS)
|
||||
*===============================================================================================================*
|
||||
|
||||
12V
|
||||
| MCP3221
|
||||
| -------
|
||||
R1 | | | |
|
||||
| | | |
|
||||
| AIN | |
|
||||
|-----------| |
|
||||
| | |
|
||||
| | -------
|
||||
R2 | |
|
||||
|
|
||||
|
|
||||
GND
|
||||
|
||||
R1 - 10K Resistor
|
||||
R2 - 4K7 Resistor
|
||||
|
||||
*===============================================================================================================*
|
||||
I2C ADDRESSES
|
||||
*===============================================================================================================*
|
||||
|
||||
Each MCP3221 has 1 of 8 possible I2C addresses (factory hardwired & recognized by its specific
|
||||
part number & top marking on the package itself):
|
||||
|
||||
PART DEVICE I2C ADDRESS PART
|
||||
NUMBER (BIN) (HEX) (DEC) MARKING
|
||||
MCP3221A0T-E/OT 01001000 0x48 72 GE
|
||||
MCP3221A1T-E/OT 01001001 0x49 73 GH
|
||||
MCP3221A2T-E/OT 01001010 0x4A 74 GB
|
||||
MCP3221A3T-E/OT 01001000 0x4B 75 GC
|
||||
MCP3221A4T-E/OT 01001100 0x4C 76 GD
|
||||
MCP3221A5T-E/OT 01001101 0x4D 77 GA
|
||||
MCP3221A6T-E/OT 01001110 0x4E 78 GF
|
||||
MCP3221A7T-E/OT 01001111 0x4F 79 GG
|
||||
|
||||
*===============================================================================================================*
|
||||
DEVICE SETTING DEFAULTS
|
||||
*===============================================================================================================*
|
||||
|
||||
VOLTAGE REFERENCE: 4096mV // this value is equal to the voltage fed to VCC
|
||||
VOLTAGE INPUT: 5V // direct measurment of voltage at AIN pin (hw setup without voltage divider)
|
||||
VOLTAGE DIVIDER RESISTOR 1: 0R // value used when measuring voltage of up to 12V at AIN pin
|
||||
VOLTAGE DIVIDER RESISTOR 2: 0R // value used when measuring voltage of up to 12V at AIN pin
|
||||
NUMBER OF SAMPLES: 10 // used by Rolling-Average smoothing method (range: 1-20 Samples)
|
||||
ALPHA 178 // factor used by EMAVG smoothing method (range: 1-256)
|
||||
|
||||
*===============================================================================================================*
|
||||
BUG REPORTS
|
||||
*===============================================================================================================*
|
||||
|
||||
Please report any bugs/issues/suggestions at the Github Repo of this library at:
|
||||
https://github.com/nadavmatalon/MCP3221
|
||||
|
||||
*===============================================================================================================*
|
||||
LICENSE
|
||||
*===============================================================================================================*
|
||||
|
||||
The MIT License (MIT)
|
||||
Copyright (c) 2016 Nadav Matalon
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
|
||||
documentation files (the "Software"), to deal in the Software without restriction, including without
|
||||
limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
the Software, and to permit persons to whom the Software is furnished to do so, subject to the following
|
||||
conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial
|
||||
portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT
|
||||
LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
||||
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
|
||||
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
*==============================================================================================================*/
|
||||
|
||||
#ifndef MyMCP3221_h
|
||||
#define MyMCP3221_h
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
//#include "utility/MCP3221_PString.h"
|
||||
|
||||
namespace Mymcp3221 {
|
||||
|
||||
const byte DATA_BYTES = 2; // number of data bytes requested from the device
|
||||
const byte MIN_CON_TIME = 15; // single conversion time with a small overhead (in uS)
|
||||
const byte COM_SUCCESS = 0; // I2C communication success Code (No Error)
|
||||
const unsigned int MIN_VREF = 2700; // minimum Voltage Reference value in mV (same as VCC)
|
||||
const unsigned int MAX_VREF = 5500; // minimum Voltage Reference value in mV (same as VCC)
|
||||
const unsigned int DEFAULT_VREF = 4096; // default Voltage Reference value in mV (same as VCC)
|
||||
const unsigned int DEFAULT_RES_1 = 10000; // default Resistor 1 value (in Ω) of voltage divider for 12V readings
|
||||
const unsigned int DEFAULT_RES_2 = 4700; // default Resistor 2 value (in Ω) of voltage divider for 12V readings
|
||||
const unsigned int MIN_ALPHA = 1; // minimum value of alpha (slowest change) (for EMAVG)
|
||||
const unsigned int MAX_ALPHA = 256; // maximum value of alpha (raw change/no filter) (for EMAVG)
|
||||
const unsigned int DEFAULT_ALPHA = 178; // default value of alpha (for EMAVG)
|
||||
const byte MIN_NUM_SAMPLES = 1; // minimum number of samples (for Rolling-Average smoothing)
|
||||
const byte MAX_NUM_SAMPLES = 20; // maximum number of samples (for Rolling-Average smoothing)
|
||||
const byte DEFAULT_NUM_SAMPLES = 10; // default number of samples (for Rolling-Average smoothing)
|
||||
|
||||
typedef enum:byte {
|
||||
VOLTAGE_INPUT_5V = 0, // default
|
||||
VOLTAGE_INPUT_12V = 1
|
||||
} voltage_input_t;
|
||||
|
||||
typedef enum:byte {
|
||||
NO_SMOOTHING = 0,
|
||||
ROLLING_AVG = 1,
|
||||
EMAVG = 2 // Default
|
||||
} smoothing_t;
|
||||
|
||||
class MyMCP3221 {
|
||||
public:
|
||||
MyMCP3221(
|
||||
byte devAddr,
|
||||
TwoWire *Wire,
|
||||
unsigned int vRef = DEFAULT_VREF,
|
||||
unsigned int res1 = DEFAULT_RES_1,
|
||||
unsigned int res2 = DEFAULT_RES_2,
|
||||
unsigned int alpha = DEFAULT_ALPHA,
|
||||
voltage_input_t voltageInput = VOLTAGE_INPUT_5V,
|
||||
smoothing_t smoothingMethod = EMAVG,
|
||||
byte numSamples = DEFAULT_NUM_SAMPLES
|
||||
);
|
||||
~MyMCP3221();
|
||||
byte ping();
|
||||
unsigned int getVref();
|
||||
unsigned int getRes1();
|
||||
unsigned int getRes2();
|
||||
unsigned int getAlpha();
|
||||
byte getNumSamples();
|
||||
byte getVinput();
|
||||
byte getSmoothing();
|
||||
unsigned int getData();
|
||||
unsigned int getVoltage();
|
||||
byte getComResult();
|
||||
void setVref(unsigned int newVref);
|
||||
void setRes1(unsigned int newRes1);
|
||||
void setRes2(unsigned int newRes2);
|
||||
void setAlpha(unsigned int newAlpha);
|
||||
void setNumSamples(byte newNumSamples);
|
||||
void setVinput(voltage_input_t newVinput);
|
||||
void setSmoothing(smoothing_t newSmoothing);
|
||||
void reset();
|
||||
private:
|
||||
TwoWire *_Wire;
|
||||
byte _devAddr, _voltageInput, _smoothing, _numSamples, _comBuffer;
|
||||
unsigned int _vRef, _res1, _res2, _alpha;
|
||||
unsigned int _samples[MAX_NUM_SAMPLES];
|
||||
unsigned int getRawData();
|
||||
unsigned int smoothData(unsigned int rawData);
|
||||
// friend MyMCP3221_PString MyMCP3221ComStr(const MyMCP3221&);
|
||||
// friend MyMCP3221_PString MyMCP3221InfoStr(const MyMCP3221&);
|
||||
};
|
||||
}
|
||||
|
||||
using namespace Mymcp3221;
|
||||
|
||||
#endif
|
||||
46
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/README
Executable file
46
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/README
Executable file
@@ -0,0 +1,46 @@
|
||||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
965
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
Executable file
965
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/MetalMusings_EaserCAT_7000.xml
Executable file
@@ -0,0 +1,965 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<EtherCATInfo>
|
||||
<Vendor>
|
||||
<Id>3502166480</Id>
|
||||
<Name LcId="1033">MetalMusings</Name>
|
||||
</Vendor>
|
||||
<Descriptions>
|
||||
<Groups>
|
||||
<Group>
|
||||
<Type>MachineControl</Type>
|
||||
<Name LcId="1033">Plasma cutter</Name>
|
||||
</Group>
|
||||
</Groups>
|
||||
<Devices>
|
||||
<Device Physics="YY ">
|
||||
<Type ProductCode="#x7000" RevisionNo="#x2">EaserCAT 7000</Type>
|
||||
<Name LcId="1033">MetalMusings EaserCAT 7000</Name>
|
||||
<GroupType>MachineControl</GroupType>
|
||||
<Profile>
|
||||
<ProfileNo>5001</ProfileNo>
|
||||
<AddInfo>0</AddInfo>
|
||||
<Dictionary>
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name>DT1018</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Vendor ID</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>Product Code</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>48</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>3</SubIdx>
|
||||
<Name>Revision Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>4</SubIdx>
|
||||
<Name>Serial Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>112</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1600</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Output4</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1601</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>VoltageScale</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1602</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>VoltageOffset</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A00</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Input12</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A01</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>RawData</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A02</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>CalculatedVoltage</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A03</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Status</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C00ARR</Name>
|
||||
<BaseType>USINT</BaseType>
|
||||
<BitSize>32</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C00</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C00ARR</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>48</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>3</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C12ARR</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13ARR</Name>
|
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<BaseType>UINT</BaseType>
|
||||
<BitSize>64</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C13ARR</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UDINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(26)</Name>
|
||||
<BitSize>208</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(5)</Name>
|
||||
<BitSize>40</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>USINT</Name>
|
||||
<BitSize>8</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UINT</Name>
|
||||
<BitSize>16</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>REAL</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<Objects>
|
||||
<Object>
|
||||
<Index>#x1000</Index>
|
||||
<Name>Device Type</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>5001</DefaultValue>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
<Category>m</Category>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1008</Index>
|
||||
<Name>Device Name</Name>
|
||||
<Type>STRING(26)</Type>
|
||||
<BitSize>208</BitSize>
|
||||
<Info>
|
||||
<DefaultString>MetalMusings EaserCAT 7000</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1009</Index>
|
||||
<Name>Hardware Version</Name>
|
||||
<Type>STRING(5)</Type>
|
||||
<BitSize>40</BitSize>
|
||||
<Info>
|
||||
<DefaultString>0.0.1</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
<Category>o</Category>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x100A</Index>
|
||||
<Name>Software Version</Name>
|
||||
<Type>STRING(5)</Type>
|
||||
<BitSize>40</BitSize>
|
||||
<Info>
|
||||
<DefaultString>0.0.1</DefaultString>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1018</Index>
|
||||
<Name>Identity Object</Name>
|
||||
<Type>DT1018</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>4</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>Vendor ID</Name>
|
||||
<Info>
|
||||
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|
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|
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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<DataType>REAL</DataType>
|
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|
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|
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<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
||||
<Index>#x1602</Index>
|
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|
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<Entry>
|
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<Index>#x7002</Index>
|
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<SubIndex>#x0</SubIndex>
|
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|
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<Name>VoltageOffset</Name>
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<DataType>REAL</DataType>
|
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</Entry>
|
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</RxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
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<Index>#x1A00</Index>
|
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<Name>Input12</Name>
|
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<Entry>
|
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<Index>#x6000</Index>
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<SubIndex>#x0</SubIndex>
|
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|
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<Name>Input12</Name>
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|
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</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A01</Index>
|
||||
<Name>RawData</Name>
|
||||
<Entry>
|
||||
<Index>#x6001</Index>
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<SubIndex>#x0</SubIndex>
|
||||
<BitLen>32</BitLen>
|
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<Name>RawData</Name>
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<DataType>DINT</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A02</Index>
|
||||
<Name>CalculatedVoltage</Name>
|
||||
<Entry>
|
||||
<Index>#x6002</Index>
|
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<SubIndex>#x0</SubIndex>
|
||||
<BitLen>32</BitLen>
|
||||
<Name>CalculatedVoltage</Name>
|
||||
<DataType>REAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A03</Index>
|
||||
<Name>Status</Name>
|
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<Entry>
|
||||
<Index>#x6003</Index>
|
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<SubIndex>#x0</SubIndex>
|
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<BitLen>8</BitLen>
|
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<Name>Status</Name>
|
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<DataType>USINT</DataType>
|
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</Entry>
|
||||
</TxPdo>
|
||||
<Mailbox DataLinkLayer="true">
|
||||
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
|
||||
</Mailbox>
|
||||
<Dc>
|
||||
<OpMode>
|
||||
<Name>SM-Synchron</Name>
|
||||
<Desc>SM-Synchron</Desc>
|
||||
<AssignActivate>#x000</AssignActivate>
|
||||
</OpMode>
|
||||
<OpMode>
|
||||
<Name>DC</Name>
|
||||
<Desc>DC-Synchron</Desc>
|
||||
<AssignActivate>#x300</AssignActivate>
|
||||
</OpMode>
|
||||
</Dc>
|
||||
<Eeprom>
|
||||
<ByteSize>2048</ByteSize>
|
||||
<ConfigData>80060344640000</ConfigData>
|
||||
</Eeprom>
|
||||
</Device>
|
||||
</Devices>
|
||||
</Descriptions>
|
||||
</EtherCATInfo>
|
||||
42
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/ecat_options.h
Executable file
42
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/ecat_options.h
Executable file
@@ -0,0 +1,42 @@
|
||||
#ifndef __ECAT_OPTIONS_H__
|
||||
#define __ECAT_OPTIONS_H__
|
||||
|
||||
#define USE_FOE 0
|
||||
#define USE_EOE 0
|
||||
|
||||
#define MBXSIZE 512
|
||||
#define MBXSIZEBOOT 512
|
||||
#define MBXBUFFERS 3
|
||||
|
||||
#define MBX0_sma 0x1000
|
||||
#define MBX0_sml MBXSIZE
|
||||
#define MBX0_sme MBX0_sma+MBX0_sml-1
|
||||
#define MBX0_smc 0x26
|
||||
#define MBX1_sma MBX0_sma+MBX0_sml
|
||||
#define MBX1_sml MBXSIZE
|
||||
#define MBX1_sme MBX1_sma+MBX1_sml-1
|
||||
#define MBX1_smc 0x22
|
||||
|
||||
#define MBX0_sma_b 0x1000
|
||||
#define MBX0_sml_b MBXSIZEBOOT
|
||||
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
|
||||
#define MBX0_smc_b 0x26
|
||||
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
|
||||
#define MBX1_sml_b MBXSIZEBOOT
|
||||
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
|
||||
#define MBX1_smc_b 0x22
|
||||
|
||||
#define SM2_sma 0x1600
|
||||
#define SM2_smc 0x24
|
||||
#define SM2_act 1
|
||||
#define SM3_sma 0x1A00
|
||||
#define SM3_smc 0x20
|
||||
#define SM3_act 1
|
||||
|
||||
#define MAX_MAPPINGS_SM2 3
|
||||
#define MAX_MAPPINGS_SM3 4
|
||||
|
||||
#define MAX_RXPDO_SIZE 512
|
||||
#define MAX_TXPDO_SIZE 512
|
||||
|
||||
#endif /* __ECAT_OPTIONS_H__ */
|
||||
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/eeprom.bin
Executable file
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/eeprom.bin
Executable file
Binary file not shown.
65
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/eeprom.hex
Executable file
65
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/eeprom.hex
Executable file
@@ -0,0 +1,65 @@
|
||||
:2000000080060344640000000000000000001400D0D1BED0007000000200000001000000F9
|
||||
:20002000000000000000000000000000000000000010000200120002040000000000000096
|
||||
:200040000000000000000000000000000000000000000000000000000000000000000000A0
|
||||
:20006000000000000000000000000000000000000000000000000000000000000F00010070
|
||||
:200080000A002000040D456173657243415420373030300E4D616368696E65436F6E7472AD
|
||||
:2000A0006F6C06494D474342591A4D6574616C4D7573696E677320456173657243415420A9
|
||||
:2000C000373030301E001000020301040013000000000000000000001100000000000000FD
|
||||
:2000E000000000000000000028000200010203002900100000100002260001010012000249
|
||||
:20010000220001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFF49
|
||||
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
|
||||
:20014000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBF
|
||||
:20016000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9F
|
||||
:20018000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7F
|
||||
:2001A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5F
|
||||
:2001C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3F
|
||||
:2001E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1F
|
||||
:20020000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE
|
||||
:20022000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDE
|
||||
:20024000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBE
|
||||
:20026000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9E
|
||||
:20028000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7E
|
||||
:2002A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5E
|
||||
:2002C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3E
|
||||
:2002E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1E
|
||||
:20030000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD
|
||||
:20032000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDD
|
||||
:20034000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBD
|
||||
:20036000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9D
|
||||
:20038000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7D
|
||||
:2003A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5D
|
||||
:2003C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3D
|
||||
:2003E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1D
|
||||
:20040000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFC
|
||||
:20042000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDC
|
||||
:20044000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBC
|
||||
:20046000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9C
|
||||
:20048000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7C
|
||||
:2004A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5C
|
||||
:2004C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3C
|
||||
:2004E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1C
|
||||
:20050000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB
|
||||
:20052000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDB
|
||||
:20054000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBB
|
||||
:20056000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9B
|
||||
:20058000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7B
|
||||
:2005A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5B
|
||||
:2005C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3B
|
||||
:2005E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1B
|
||||
:20060000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA
|
||||
:20062000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDA
|
||||
:20064000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBA
|
||||
:20066000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9A
|
||||
:20068000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7A
|
||||
:2006A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5A
|
||||
:2006C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3A
|
||||
:2006E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1A
|
||||
:20070000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9
|
||||
:20072000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD9
|
||||
:20074000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFB9
|
||||
:20076000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF99
|
||||
:20078000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF79
|
||||
:2007A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF59
|
||||
:2007C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF39
|
||||
:2007E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF19
|
||||
:00000001FF
|
||||
193
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/esi.json
Executable file
193
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/esi.json
Executable file
@@ -0,0 +1,193 @@
|
||||
{
|
||||
"form": {
|
||||
"VendorName": "MetalMusings",
|
||||
"VendorID": "0xd0bed1d0",
|
||||
"ProductCode": "0x7000",
|
||||
"ProfileNo": "5001",
|
||||
"RevisionNumber": "0x002",
|
||||
"SerialNumber": "0x001",
|
||||
"HWversion": "0.0.1",
|
||||
"SWversion": "0.0.1",
|
||||
"EEPROMsize": "2048",
|
||||
"RxMailboxOffset": "0x1000",
|
||||
"TxMailboxOffset": "0x1200",
|
||||
"MailboxSize": "512",
|
||||
"SM2Offset": "0x1600",
|
||||
"SM3Offset": "0x1A00",
|
||||
"TextGroupType": "MachineControl",
|
||||
"TextGroupName5": "Plasma cutter",
|
||||
"ImageName": "IMGCBY",
|
||||
"TextDeviceType": "EaserCAT 7000",
|
||||
"TextDeviceName": "MetalMusings EaserCAT 7000",
|
||||
"Port0Physical": "Y",
|
||||
"Port1Physical": "Y",
|
||||
"Port2Physical": " ",
|
||||
"Port3Physical": " ",
|
||||
"ESC": "LAN9252",
|
||||
"SPImode": "3",
|
||||
"CoeDetailsEnableSDO": "EnableSDO",
|
||||
"CoeDetailsEnableSDOInfo": "EnableSDOInfo",
|
||||
"CoeDetailsEnablePDOAssign": "EnablePDOAssign",
|
||||
"CoeDetailsEnablePDOConfiguration": "EnablePDOConfiguration",
|
||||
"CoeDetailsEnableUploadAtStartup": "EnableUploadAtStartup",
|
||||
"CoeDetailsEnableSDOCompleteAccess": "EnableSDOCompleteAccess"
|
||||
},
|
||||
"od": {
|
||||
"sdo": {
|
||||
"2000": {
|
||||
"otype": "VAR",
|
||||
"name": "Scale",
|
||||
"access": "RO",
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"isSDOitem": true,
|
||||
"data": "&Obj.Scale"
|
||||
},
|
||||
"2001": {
|
||||
"otype": "VAR",
|
||||
"name": "Offset",
|
||||
"access": "RO",
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"isSDOitem": true,
|
||||
"data": "&Obj.Offset"
|
||||
},
|
||||
"A": {
|
||||
"otype": "RECORD",
|
||||
"name": "Error Settings",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "New record subitem",
|
||||
"dtype": "UNSIGNED8"
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"txpdo": {
|
||||
"600": {
|
||||
"otype": "VAR",
|
||||
"name": "EncFrequency",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.EncFrequency"
|
||||
},
|
||||
"6000": {
|
||||
"otype": "VAR",
|
||||
"name": "Input12",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.Input12"
|
||||
},
|
||||
"6001": {
|
||||
"otype": "VAR",
|
||||
"name": "RawData",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0",
|
||||
"data": "&Obj.RawData"
|
||||
},
|
||||
"6002": {
|
||||
"otype": "VAR",
|
||||
"name": "CalculatedVoltage",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.CalculatedVoltage"
|
||||
},
|
||||
"6003": {
|
||||
"otype": "VAR",
|
||||
"name": "Status",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "UNSIGNED8",
|
||||
"value": "0",
|
||||
"data": "&Obj.Status"
|
||||
}
|
||||
},
|
||||
"rxpdo": {
|
||||
"7000": {
|
||||
"otype": "VAR",
|
||||
"name": "Output4",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "UNSIGNED8",
|
||||
"value": "0",
|
||||
"data": "&Obj.Output4"
|
||||
},
|
||||
"7001": {
|
||||
"otype": "VAR",
|
||||
"name": "VoltageScale",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.VoltageScale"
|
||||
},
|
||||
"7002": {
|
||||
"otype": "VAR",
|
||||
"name": "VoltageOffset",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"value": "0",
|
||||
"data": "&Obj.VoltageOffset"
|
||||
},
|
||||
"60664": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition",
|
||||
"access": "RO",
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
],
|
||||
"dtype": "INTEGER32",
|
||||
"value": "0"
|
||||
}
|
||||
}
|
||||
},
|
||||
"dc": [
|
||||
{
|
||||
"Name": "SM-Synchron",
|
||||
"Description": "SM-Synchron",
|
||||
"AssignActivate": "#x000",
|
||||
"Sync0cycleTime": "0",
|
||||
"Sync0shiftTime": "0",
|
||||
"Sync1cycleTime": "0",
|
||||
"Sync1shiftTime": "0"
|
||||
},
|
||||
{
|
||||
"Name": "DC",
|
||||
"Description": "DC-Synchron",
|
||||
"AssignActivate": "#x300",
|
||||
"Sync0cycleTime": "0",
|
||||
"Sync0shiftTime": "0",
|
||||
"Sync1cycleTime": "0",
|
||||
"Sync1shiftTime": "0"
|
||||
}
|
||||
]
|
||||
}
|
||||
210
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/objectlist.c
Executable file
210
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/objectlist.c
Executable file
@@ -0,0 +1,210 @@
|
||||
#include "esc_coe.h"
|
||||
#include "utypes.h"
|
||||
#include <stddef.h>
|
||||
|
||||
|
||||
static const char acName1000[] = "Device Type";
|
||||
static const char acName1008[] = "Device Name";
|
||||
static const char acName1009[] = "Hardware Version";
|
||||
static const char acName100A[] = "Software Version";
|
||||
static const char acName1018[] = "Identity Object";
|
||||
static const char acName1018_00[] = "Max SubIndex";
|
||||
static const char acName1018_01[] = "Vendor ID";
|
||||
static const char acName1018_02[] = "Product Code";
|
||||
static const char acName1018_03[] = "Revision Number";
|
||||
static const char acName1018_04[] = "Serial Number";
|
||||
static const char acName1600[] = "Output4";
|
||||
static const char acName1600_00[] = "Max SubIndex";
|
||||
static const char acName1600_01[] = "Output4";
|
||||
static const char acName1601[] = "VoltageScale";
|
||||
static const char acName1601_00[] = "Max SubIndex";
|
||||
static const char acName1601_01[] = "VoltageScale";
|
||||
static const char acName1602[] = "VoltageOffset";
|
||||
static const char acName1602_00[] = "Max SubIndex";
|
||||
static const char acName1602_01[] = "VoltageOffset";
|
||||
static const char acName1A00[] = "Input12";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "Input12";
|
||||
static const char acName1A01[] = "RawData";
|
||||
static const char acName1A01_00[] = "Max SubIndex";
|
||||
static const char acName1A01_01[] = "RawData";
|
||||
static const char acName1A02[] = "CalculatedVoltage";
|
||||
static const char acName1A02_00[] = "Max SubIndex";
|
||||
static const char acName1A02_01[] = "CalculatedVoltage";
|
||||
static const char acName1A03[] = "Status";
|
||||
static const char acName1A03_00[] = "Max SubIndex";
|
||||
static const char acName1A03_01[] = "Status";
|
||||
static const char acName1C00[] = "Sync Manager Communication Type";
|
||||
static const char acName1C00_00[] = "Max SubIndex";
|
||||
static const char acName1C00_01[] = "Communications Type SM0";
|
||||
static const char acName1C00_02[] = "Communications Type SM1";
|
||||
static const char acName1C00_03[] = "Communications Type SM2";
|
||||
static const char acName1C00_04[] = "Communications Type SM3";
|
||||
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
||||
static const char acName1C12_00[] = "Max SubIndex";
|
||||
static const char acName1C12_01[] = "PDO Mapping";
|
||||
static const char acName1C12_02[] = "PDO Mapping";
|
||||
static const char acName1C12_03[] = "PDO Mapping";
|
||||
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
||||
static const char acName1C13_00[] = "Max SubIndex";
|
||||
static const char acName1C13_01[] = "PDO Mapping";
|
||||
static const char acName1C13_02[] = "PDO Mapping";
|
||||
static const char acName1C13_03[] = "PDO Mapping";
|
||||
static const char acName1C13_04[] = "PDO Mapping";
|
||||
static const char acName2000[] = "Scale";
|
||||
static const char acName2001[] = "Offset";
|
||||
static const char acName6000[] = "Input12";
|
||||
static const char acName6001[] = "RawData";
|
||||
static const char acName6002[] = "CalculatedVoltage";
|
||||
static const char acName6003[] = "Status";
|
||||
static const char acName7000[] = "Output4";
|
||||
static const char acName7001[] = "VoltageScale";
|
||||
static const char acName7002[] = "VoltageOffset";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 208, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 7000"},
|
||||
};
|
||||
const _objd SDO1009[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1009, 0, "0.0.1"},
|
||||
};
|
||||
const _objd SDO100A[] =
|
||||
{
|
||||
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName100A, 0, "0.0.1"},
|
||||
};
|
||||
const _objd SDO1018[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 3502166480, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 28672, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
|
||||
};
|
||||
const _objd SDO1600[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000008, NULL},
|
||||
};
|
||||
const _objd SDO1601[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
|
||||
};
|
||||
const _objd SDO1602[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
|
||||
};
|
||||
const _objd SDO1A00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
|
||||
};
|
||||
const _objd SDO1A01[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
|
||||
};
|
||||
const _objd SDO1A02[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
|
||||
};
|
||||
const _objd SDO1A03[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030008, NULL},
|
||||
};
|
||||
const _objd SDO1C00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
|
||||
};
|
||||
const _objd SDO1C12[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
|
||||
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
|
||||
};
|
||||
const _objd SDO2000[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2000, 0x00000000, &Obj.Scale},
|
||||
};
|
||||
const _objd SDO2001[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO, acName2001, 0x00000000, &Obj.Offset},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.Input12},
|
||||
};
|
||||
const _objd SDO6001[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.RawData},
|
||||
};
|
||||
const _objd SDO6002[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0x00000000, &Obj.CalculatedVoltage},
|
||||
};
|
||||
const _objd SDO6003[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6003, 0, &Obj.Status},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.Output4},
|
||||
};
|
||||
const _objd SDO7001[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.VoltageScale},
|
||||
};
|
||||
const _objd SDO7002[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.VoltageOffset},
|
||||
};
|
||||
|
||||
const _objectlist SDOobjects[] =
|
||||
{
|
||||
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
|
||||
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
|
||||
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
|
||||
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
|
||||
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
|
||||
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
|
||||
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
|
||||
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
|
||||
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
|
||||
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13},
|
||||
{0x2000, OTYPE_VAR, 0, 0, acName2000, SDO2000},
|
||||
{0x2001, OTYPE_VAR, 0, 0, acName2001, SDO2001},
|
||||
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
|
||||
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
|
||||
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
|
||||
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
|
||||
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
|
||||
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
|
||||
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
35
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/utypes.h
Executable file
35
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes-esi/utypes.h
Executable file
@@ -0,0 +1,35 @@
|
||||
#ifndef __UTYPES_H__
|
||||
#define __UTYPES_H__
|
||||
|
||||
#include "cc.h"
|
||||
|
||||
/* Object dictionary storage */
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Identity */
|
||||
|
||||
uint32_t serial;
|
||||
|
||||
/* Inputs */
|
||||
|
||||
int32_t Input12;
|
||||
int32_t RawData;
|
||||
float CalculatedVoltage;
|
||||
uint8_t Status;
|
||||
|
||||
/* Outputs */
|
||||
|
||||
uint8_t Output4;
|
||||
float VoltageScale;
|
||||
float VoltageOffset;
|
||||
|
||||
/* Parameters */
|
||||
|
||||
float Scale;
|
||||
float Offset;
|
||||
} _Objects;
|
||||
|
||||
extern _Objects Obj;
|
||||
|
||||
#endif /* __UTYPES_H__ */
|
||||
29
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/CMakeLists.txt
Executable file
29
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/CMakeLists.txt
Executable file
@@ -0,0 +1,29 @@
|
||||
|
||||
# NOTE: add headers to make them show up in an IDE
|
||||
add_library (soes
|
||||
esc.c
|
||||
esc.h
|
||||
esc_coe.c
|
||||
esc_coe.h
|
||||
esc_foe.c
|
||||
esc_foe.h
|
||||
esc_eoe.c
|
||||
esc_eoe.h
|
||||
esc_eep.c
|
||||
esc_eep.h
|
||||
ecat_slv.c
|
||||
ecat_slv.h
|
||||
options.h
|
||||
${HAL_SOURCES}
|
||||
)
|
||||
|
||||
include_directories(${HAL_INCLUDES})
|
||||
|
||||
install (TARGETS soes DESTINATION bin)
|
||||
install (FILES
|
||||
esc.h
|
||||
esc_coe.h
|
||||
esc_foe.h
|
||||
esc_eoe.h
|
||||
esc_eep.h
|
||||
DESTINATION include)
|
||||
1742
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/Doxyfile
Executable file
1742
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/Doxyfile
Executable file
File diff suppressed because it is too large
Load Diff
88
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/cc.h
Executable file
88
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/cc.h
Executable file
@@ -0,0 +1,88 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef CC_H
|
||||
#define CC_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
#include <sys/param.h>
|
||||
#ifdef __linux__
|
||||
#include <endian.h>
|
||||
#else
|
||||
#include <machine/endian.h>
|
||||
#endif
|
||||
|
||||
#ifndef MIN
|
||||
#define MIN(a,b) (((a)<(b))?(a):(b))
|
||||
#endif
|
||||
|
||||
#ifndef MAX
|
||||
#define MAX(a,b) (((a)>(b))?(a):(b))
|
||||
#endif
|
||||
|
||||
#define CC_PACKED_BEGIN
|
||||
#define CC_PACKED_END
|
||||
#define CC_PACKED __attribute__((packed))
|
||||
|
||||
#ifdef __rtk__
|
||||
#define CC_ASSERT(exp) ASSERT (exp)
|
||||
#else
|
||||
#define CC_ASSERT(exp) assert (exp)
|
||||
#endif
|
||||
#define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
|
||||
|
||||
#define CC_DEPRECATED __attribute__((deprecated))
|
||||
|
||||
#define CC_SWAP32(x) __builtin_bswap32 (x)
|
||||
#define CC_SWAP16(x) __builtin_bswap16 (x)
|
||||
|
||||
#define CC_ATOMIC_SET(var,val) __atomic_store_n(&var,val,__ATOMIC_SEQ_CST)
|
||||
#define CC_ATOMIC_GET(var) __atomic_load_n(&var,__ATOMIC_SEQ_CST)
|
||||
#define CC_ATOMIC_ADD(var,val) __atomic_add_fetch(&var,val,__ATOMIC_SEQ_CST)
|
||||
#define CC_ATOMIC_SUB(var,val) __atomic_sub_fetch(&var,val,__ATOMIC_SEQ_CST)
|
||||
#define CC_ATOMIC_AND(var,val) __atomic_and_fetch(&var,val,__ATOMIC_SEQ_CST)
|
||||
#define CC_ATOMIC_OR(var,val) __atomic_or_fetch(&var,val,__ATOMIC_SEQ_CST)
|
||||
|
||||
#if BYTE_ORDER == BIG_ENDIAN
|
||||
#define htoes(x) CC_SWAP16 (x)
|
||||
#define htoel(x) CC_SWAP32 (x)
|
||||
#else
|
||||
#define htoes(x) (x)
|
||||
#define htoel(x) (x)
|
||||
#endif
|
||||
|
||||
#define etohs(x) htoes (x)
|
||||
#define etohl(x) htoel (x)
|
||||
|
||||
#if BYTE_ORDER == LITTLE_ENDIAN
|
||||
#define EC_LITTLE_ENDIAN
|
||||
#else
|
||||
#define EC_BIG_ENDIAN
|
||||
#endif
|
||||
|
||||
#ifdef ESC_DEBUG
|
||||
#ifdef __rtk__
|
||||
#include <rprint.h>
|
||||
#define DPRINT(...) rprintp ("soes: "__VA_ARGS__)
|
||||
#else
|
||||
#include <stdio.h>
|
||||
#define DPRINT(...) printf ("soes: "__VA_ARGS__)
|
||||
#endif
|
||||
#else
|
||||
#define DPRINT(...)
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CC_H */
|
||||
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/images/esi_pdo.png
Executable file
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/images/esi_pdo.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 48 KiB |
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/images/sii_pdo.png
Executable file
BIN
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/images/sii_pdo.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 58 KiB |
50
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/soes.dox
Executable file
50
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/soes.dox
Executable file
@@ -0,0 +1,50 @@
|
||||
/**
|
||||
* \mainpage Simple Open EtherCAT Slave or SOES
|
||||
*
|
||||
* \section start Tutorial
|
||||
* For a tutorial on SOES See tutorial.txt
|
||||
*
|
||||
* \section overview Overview
|
||||
* SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
|
||||
* to use. All users are invited to study the source to get an understanding
|
||||
* how an EtherCAT slave function
|
||||
*
|
||||
* Features as of 1.0.0 :
|
||||
* - Address offset based HAL for easy ESC read/write access via any interface
|
||||
* - Mailbox with data link layer
|
||||
* - CoE
|
||||
* - Object dictionary
|
||||
* - SDO read and write for all sizes including segmented transfers
|
||||
* - Easy portable C-code suited for embedded applications
|
||||
* - Fixed PDO mapping
|
||||
* - FoE with bootstrap template
|
||||
* - Support for Little and Big endian targets.
|
||||
* - Polling for interrupts
|
||||
*
|
||||
* \section legal Legal notice
|
||||
* SOES Simple Open EtherCAT Slave \n
|
||||
* Copyright (C) 2007-2013 Arthur Ketels \n
|
||||
* Copyright (C) 2012-2013 rt-labs \n
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
476
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/tutorial.txt
Executable file
476
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/doc/tutorial.txt
Executable file
@@ -0,0 +1,476 @@
|
||||
/** \file
|
||||
|
||||
\section general General
|
||||
|
||||
The SOES is a library that provides the Micro Controller user application with
|
||||
the means to access the EtherCAT fieldbus communication environment:
|
||||
- EtherCAT State Machine
|
||||
- Mailbox Interfaces
|
||||
- Protocols
|
||||
- CoE
|
||||
- FoE + bootstrap template
|
||||
|
||||
Support for mailbox and protocols are typical examples when you need a slave
|
||||
stack to control the Application Layer of EtherCAT. The PDI used for such
|
||||
applications is either SPI or some Micro Controller Interface
|
||||
|
||||
The following sections show some basic examples on how to get the SOES up
|
||||
and running, as well as a lightweight example on howto design your slave.
|
||||
Since all code is local to the application or global variables, it is possible
|
||||
to tweak and optimize when possible.
|
||||
|
||||
Our target Application:
|
||||
- Inputs 40bit
|
||||
- One button 8bit
|
||||
- One encoder value 32bit
|
||||
- Outputs 8bit
|
||||
- LED 8bit
|
||||
- Parameters
|
||||
- Encoder settings
|
||||
- Slave commands
|
||||
- Reset counter
|
||||
|
||||
Now to translate and implement on top of SOES.
|
||||
|
||||
First look on the start up code. This example shows how to add a
|
||||
main function that will be called by startup code. In this example
|
||||
main's only purpose is to spawn two new tasks. One that executes
|
||||
SOES and one that control the ERROR LED. Some ESCs provided a pin
|
||||
for the RUN LED, some even for the ERROR LED, if it don't you can
|
||||
control them from the slave Micro Controller. We'll focus on the "soes" task.
|
||||
|
||||
\code
|
||||
|
||||
int main (void)
|
||||
{
|
||||
rprintp ("SOES (Simple Open EtherCAT Slave)\nsoes test\n");
|
||||
|
||||
/* task_spawn ("led_run", led_error, 15, 512, NULL); /
|
||||
task_spawn ("led_error", led_error, 15, 512, NULL);
|
||||
task_spawn ("soes", soes, 9, 1024, NULL);
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
\endcode
|
||||
|
||||
\section configuration Configuration
|
||||
The function soes is our EtherCAT slave device and can be split in 3 parts.
|
||||
Hardware Init, Software Init and Application loop. We will start with the
|
||||
Hardware Init.
|
||||
|
||||
- Hardware Init
|
||||
- esc_reset, special function used for ESC reset if no Physical
|
||||
EEPROM used. This is local to the Application not part of the generic
|
||||
ESC handling.
|
||||
- ESC_init, initialise SPI communication or similar
|
||||
- Wait for ESC is started, waiting for SPI to be up and running,
|
||||
we'll query the ESC register DL status if EEPROM loaded OK and PDI
|
||||
operational, eg. SPI OK.
|
||||
|
||||
\code
|
||||
|
||||
void soes (void *arg)
|
||||
{
|
||||
TXPDOsize = SM3_sml = sizeTXPDO ();
|
||||
RXPDOsize = SM2_sml = sizeRXPDO ();
|
||||
|
||||
esc_reset ();
|
||||
ESC_init ((void *)spi_name);
|
||||
|
||||
task_delay (tick_from_ms (200));
|
||||
|
||||
// wait until ESC is started up
|
||||
while ((ESCvar.DLstatus & 0x0001) == 0)
|
||||
{
|
||||
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
|
||||
sizeof (ESCvar.DLstatus));
|
||||
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
|
||||
}
|
||||
|
||||
// reset ESC to init state
|
||||
ESC_ALstatus (ESCinit);
|
||||
...
|
||||
}
|
||||
|
||||
\endcode
|
||||
|
||||
- Software Init
|
||||
- Reset the slave into Init state by writing AL Status register.
|
||||
- Clear Errors by writing AL Status Code register.
|
||||
- Stop the Application Layer, basically we disable the SyncManagers
|
||||
that implicitly block the data exchange.
|
||||
|
||||
\code
|
||||
|
||||
void soes (void *arg)
|
||||
{
|
||||
...
|
||||
while ((ESCvar.DLstatus & 0x0001) == 0)
|
||||
{
|
||||
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
|
||||
sizeof (ESCvar.DLstatus));
|
||||
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
|
||||
}
|
||||
|
||||
// reset ESC to init state
|
||||
ESC_ALstatus (ESCinit);
|
||||
ESC_ALerror (ALERR_NONE);
|
||||
ESC_stopmbx ();
|
||||
ESC_stopinput ();
|
||||
ESC_stopoutput ();
|
||||
|
||||
// application run loop
|
||||
while (1)
|
||||
...
|
||||
}
|
||||
\endcode
|
||||
|
||||
- Application loop
|
||||
- ALevent handling, ALevent hold information on changes in ALControl or
|
||||
SyncManagers. ALControl for state changes and SyncManagers for changes written
|
||||
by EtherCAT in local memory mapped to active SyncManagers
|
||||
- ESC_state for state handling, such as state step up or down with correct
|
||||
error and acknowledge response.
|
||||
- Mailbox handler, generic support of mailboxes used by all Application Layer
|
||||
protocols.
|
||||
- On mailbox actions we'll also check if we need to use a specific protocol
|
||||
handler to handle the incoming or outgoing Mailbox data.
|
||||
|
||||
Up until the now we're using the SOES protocol stack without any application specific
|
||||
calls. Next up we'll look at the application Code, here named DIG_process ().
|
||||
|
||||
\code
|
||||
|
||||
void soes (void *arg)
|
||||
{
|
||||
...
|
||||
// application run loop
|
||||
while (1)
|
||||
{
|
||||
if((ESCvar.ALstatus & 0x0f) == ESCinit)
|
||||
{
|
||||
txpdomap = DEFAULTTXPDOMAP;
|
||||
rxpdomap = DEFAULTRXPDOMAP;
|
||||
txpdoitems = DEFAULTTXPDOITEMS;
|
||||
rxpdoitems = DEFAULTTXPDOITEMS;
|
||||
}
|
||||
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
|
||||
ESCvar.Time = etohl (ESCvar.Time);
|
||||
|
||||
ESC_state ();
|
||||
if (ESC_mbxprocess ())
|
||||
{
|
||||
ESC_coeprocess ();
|
||||
ESC_foeprocess ();
|
||||
ESC_xoeprocess ();
|
||||
}
|
||||
DIG_process ();
|
||||
};
|
||||
}
|
||||
|
||||
\endcode
|
||||
|
||||
\section application Application
|
||||
The function DIG_process is the User part of the application and could be joined
|
||||
by more cyclic User functions for executing other parts of the application.
|
||||
The example code can be split in 2 parts
|
||||
- Outputs
|
||||
- Start by evaluating if we're in a state supporting update of outputs, eg.
|
||||
Operational state.
|
||||
- If we're in OP we can read the current PDO data in the 3-buffer SyncManager
|
||||
mapped to the output SM, the default is SyncManager2, we read the ESC RAM address
|
||||
of SM2 and store it at the local address of the local variable Wb.LED.
|
||||
We'll read RXPDOsize bytes to trigger a complete SyncManager read.
|
||||
- After local variables have been refreshed we basically write the local
|
||||
PDO variables to the User application, ex. a GPIO.
|
||||
- Basically this is the API of the SOES toward the User Application.
|
||||
- This function also include a watchdog mechanism, if triggered it will
|
||||
shutdown the outputs and trigger a state changes to safe operational.
|
||||
AlError is updated with cause of error to inform the Master.
|
||||
|
||||
\code
|
||||
|
||||
void RXPDO_update (void)
|
||||
{
|
||||
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
|
||||
}
|
||||
|
||||
void DIG_process (void)
|
||||
{
|
||||
if (App.state & APPSTATE_OUTPUT)
|
||||
{
|
||||
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ?
|
||||
{
|
||||
RXPDO_update ();
|
||||
reset_wd ();
|
||||
gpio_set(GPIO_LED, Wb.LED & BIT(0));
|
||||
|
||||
}
|
||||
if (!wd_cnt)
|
||||
{
|
||||
ESC_stopoutput ();
|
||||
// watchdog, invalid outputs
|
||||
ESC_ALerror (ALERR_WATCHDOG);
|
||||
// goto safe-op with error bit set
|
||||
ESC_ALstatus (ESCsafeop | ESCerror);
|
||||
wd_trigger = 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
reset_wd ();
|
||||
}
|
||||
...
|
||||
}
|
||||
|
||||
\endcode
|
||||
|
||||
- Inputs
|
||||
- Is handled a bit simpler than outputs but in reverse order, the slave will
|
||||
continue update the inputs in state Safe Operational.
|
||||
- Here we first read User application data from ex. GPIO and then write to
|
||||
local PDO variables.
|
||||
- After the local variables have been refreshed we write those to the current
|
||||
PDO data 3-buffer SyncManager mapped to the input SM, the default is SyncManager3.
|
||||
This way we update the ESC RAM address with User Application data accessed by
|
||||
the EtherCAT master.
|
||||
|
||||
\code
|
||||
|
||||
void TXPDO_update (void)
|
||||
{
|
||||
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
|
||||
}
|
||||
|
||||
void DIG_process (void)
|
||||
{
|
||||
...
|
||||
Rb.button = gpio_get(GPIO_WAKEUP);
|
||||
Cb.reset_counter++;
|
||||
Rb.encoder = Cb.reset_counter;
|
||||
|
||||
TXPDO_update ();
|
||||
}
|
||||
|
||||
\endcode
|
||||
|
||||
\section ApplicationdataProcessdata ApplicationdataProcessdata
|
||||
To run application data through EtherCAT processdata we need to describe for
|
||||
the fieldbus what data we have and will read/write. For this we have 3 objects,
|
||||
the ESI file, SII-EEPROM and CoE Object Dictionary. The first 2 are mandatory
|
||||
and the third is a very convenient way of describing complex slaves.
|
||||
|
||||
Our strategy is to keep the ESI file and the SII-EEPROM as thin as possible to
|
||||
avoid duplication of data that need to be maintained. Both will hold the bare
|
||||
minimum of mandatory + optional data to pass CTT. Optional data will be
|
||||
included to tell EtherCAT that detailed information can be retrieved via CoE
|
||||
from the OD stored in the slave it self.
|
||||
|
||||
\section SII-EEPROM SII-EEPROM
|
||||
Snapshot from SII information matrix from EtherCAT communication slides.
|
||||
|
||||
\image html sii_pdo.png "Our target slave is Fixed PDO and OD"
|
||||
\image latex sii_pdo.png "Our target slave is Fixed PDO and OD" width=15cm
|
||||
|
||||
|
||||
\section ESI-file ESI-file
|
||||
Snapshot from ESI tree from EtherCAT communication slides.
|
||||
|
||||
\image html esi_pdo.png "mandatory and optional ESI data"
|
||||
\image latex esi_pdo.png "mandatory and optional ESI data" width=15cm
|
||||
|
||||
To briefly give a hint what are describe in the ESI and SII we're listing
|
||||
a set of included elements marked M for mandatory and O for optional.
|
||||
|
||||
\code
|
||||
- Vendor (M) , Describes the identity.
|
||||
- Id (M), Hex, EtherCAT Vendor ID, OD 1018.01
|
||||
- Name (M), NameType, Expedient vendor name
|
||||
- Descriptions (M), Describes the EtherCAT device(s) using elements.
|
||||
- Groups (M), Similar devices can be assigned to one group.
|
||||
- Group (M), One group groups similar devices with slightly different features
|
||||
- Type (M), A reference handle corresponding to the GroupType value in Description:Devices:Device:Group
|
||||
- Name (M), Name for this group show by a configuration tool
|
||||
- Devices (M), Element devices may describe one or several devices with their EtherCAT features such as SyncManagers, FMMUs and Dictionaries
|
||||
- Device (O), Holds all information about the device like syncmanagers and FMMU, object dictionary, data types and the PDO mapping and assign description
|
||||
- Device ATT: Physics (M),string, Physics at individual ports
|
||||
- Type (M), Device identity
|
||||
- Type ATT:ProductCode="#x98123467"
|
||||
- Type ATT:RevisionNo="#x00000001"
|
||||
- Name (M), Detailed name of device shown by a configuration tool (not used for identification)
|
||||
- GroupType (M), Reference to a group (described in element Groups) to which this device should be assigned to. Name of the handle used in element Groups:Group:Type
|
||||
- Fmmu (O), String to describe function, Outputs -> RxPDO, Inputs -> TxPDO , MBoxState -> FMMU is used to poll Input Mailbox
|
||||
- Sm (O), Description of SyncManager including start address and direction.
|
||||
- MBoxOut Mailbox Data Master -> Slave
|
||||
- MBoxIn Mailbox Data Slave -> Master
|
||||
- Outputs Process Data Master -> Slave
|
||||
- Inputs Process Data Slave -> master
|
||||
- Sm ATT:DefaultSize="128" , Size
|
||||
- Sm ATT:StartAddress="#x1000" , Start address
|
||||
- Sm ATT:ControlByte="#x26" , Settings , Bit [1][0] = 10, Operation mode Mailbox, 00 Buffered 3.
|
||||
- Sm ATT:Enable="1", Enabled
|
||||
- Mailbox (O), Description of available mailbox protocols
|
||||
- Mailbox ATT: DataLinkLayer="true", Support of Mailbox Data Link Layer is mandatory.
|
||||
- CoE (O), Device support CoE
|
||||
- CoE (O) ATT: SdoInfo="true" , SDO Information Service
|
||||
- CoE (O) ATT: CompleteAccess="false" , SDO complete access not supported
|
||||
- CoE (O) ATT: PdoUpload="true", PDO description uploaded from the slave's object dictionary and SyncManager length calculated based on the same
|
||||
- Dc (O), describes synchronization modes supported by the device.
|
||||
- OpMode (O), Definition of supported operation modes
|
||||
- Name (M), Internal Handle of operation mode
|
||||
- Desc (O(M)), description of operation mode, recommended, Free Run (no sync), SM Synchronous, DC Synchronous
|
||||
- AssignActive (M), Value of Latch and Sync Control registers
|
||||
- Eeprom (O, use is mandatory)
|
||||
- Data (M)
|
||||
Or
|
||||
- ByteSize (M), Byte Size of connected EEPROM device
|
||||
- ConfigData (M), First 7 words of EEPROM, Configuration Areas
|
||||
- BootStrap (O), Start address and length of mailboxes for BootStrap
|
||||
\endcode
|
||||
|
||||
So to describe the application we use CoE and Object Dictionary. The mapping between
|
||||
Object Dictionary and the User Application are done via local variables defined as
|
||||
user types. The Object Dictionary itself is stored in a matrix where all
|
||||
the indexes are listed. Every index then have a submatrix with its subindex.
|
||||
|
||||
\section ObjectDictionary ObjectDictionary
|
||||
The Object Dictionary used as example follow the CANopen DS301 ranges.
|
||||
|
||||
- 0x0000 - 0x0FFF, Data Type Area
|
||||
- 0x1000 - 0x1FFF, Communication Area
|
||||
- 0x2000 - 0x5FFF, Manufacture specific area
|
||||
- 0x6000 - 0x6FFF, Input area
|
||||
- 0x7000 - 0x7FFF, Output area
|
||||
- 0x8000 - 0x8FFF, Configuration area
|
||||
- 0x9000 - 0x9FFF, Information area
|
||||
- 0xA000 - 0xAFFF, Diagnosis Area
|
||||
- 0xB000 - 0xBFFF, Service Transfer Area
|
||||
- 0xC000 - 0xEFFF, Reserved Area
|
||||
- 0xF000 - 0xFFFF, Device Area
|
||||
|
||||
RxPDO , 0x1600 - 0x17FF
|
||||
TxPDO , 0x1A00 - 0x1BFF
|
||||
|
||||
Example, on how the the OD index are linked.
|
||||
Top index, SyncManagers Communication Types. In index 0 the 0x04 indicates we have 4
|
||||
SyncManagers defined. Every SyncManager is assigned a type, in index 1-4, we have standard
|
||||
settings SM0 = 1, SM1 = 2, SM2 = 3, SM3 = 4 from ETG 1000.6, 5.6.7.4.
|
||||
- 0, Unused
|
||||
- 1, MailBox Receive, master to slave
|
||||
- 2, MailBox Send, slave to master
|
||||
- 3, Processdata output, master to slave
|
||||
- 4, Processdata input, slave to master
|
||||
|
||||
\code
|
||||
objectlist.h
|
||||
FLASHSTORE _objectlist SDOobjects[] =
|
||||
...
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]},
|
||||
|
||||
FLASHSTORE _objd SDO1C00[] =
|
||||
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_01[0], 0x01, nil},
|
||||
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_02[0], 0x02, nil},
|
||||
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_03[0], 0x03, nil},
|
||||
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_04[0], 0x04, nil}
|
||||
|
||||
\endcode
|
||||
|
||||
SyncManagers channels 0-31 are listed in SDO1C10-SDO1C2F. If we look
|
||||
at SyncManager channel 2, we see.
|
||||
|
||||
- Type 3, Processdata output, master to slave
|
||||
|
||||
It got one RxPDO index 0x1600 connected, and the submatrix for 0x1600 link
|
||||
one PDO object index 0x7000 subindex 1. The output object 0x70000108 give
|
||||
you the index 0x7000, subindex 1 and PDO object length 1(byte).
|
||||
|
||||
\code
|
||||
objectlist.h
|
||||
FLASHSTORE _objd SDO1C12[] =
|
||||
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil}
|
||||
};
|
||||
|
||||
FLASHSTORE _objd SDO1600[] =
|
||||
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil}
|
||||
};
|
||||
|
||||
\endcode
|
||||
|
||||
At PDO level we make the connection between the local application and
|
||||
the object dictionary. For all subindex in the PDO the last element
|
||||
is the address to the local variable.
|
||||
|
||||
\code
|
||||
|
||||
objectlist.h
|
||||
FLASHSTORE _objd SDO7000[] =
|
||||
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
|
||||
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
|
||||
};
|
||||
|
||||
utypes.h
|
||||
typedef struct
|
||||
{
|
||||
uint8 LED;
|
||||
} _Wbuffer;
|
||||
|
||||
\endcode
|
||||
|
||||
Beside SyncManager to PDO mapping we also have mandatory data as
|
||||
|
||||
0x1000 Device Type
|
||||
0x1018 Object Identity
|
||||
0x10C0 SyncManager Communication Type, as we used as top index when
|
||||
figuring out our PDOs in the Object Dictionary.
|
||||
|
||||
For a complete description of the object dictionary you can get guidance
|
||||
by the ETG1000.6 EcatAlProtocols
|
||||
|
||||
A useful feature is the Asynchronous use of SDO parameters. In the example
|
||||
we have Parameter set holding an encoder scale value, just for show we also
|
||||
have a read only mirror value of the encoder scale. Parameters defined as a
|
||||
RW SDO parameter and can be written/read by SDO Download or Upload. In
|
||||
addition there is a ESC_objecthandler Hook on SDO Download where you can
|
||||
add additional logic, ex. we execute the mirror of the encoder scale value
|
||||
by assigning the encoder scale value to the mirror.
|
||||
|
||||
\code
|
||||
|
||||
objectlist.h
|
||||
FLASHSTORE _objd SDO7100[] =
|
||||
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName7100_02[0], 0, &(encoder_scale_mirror)}
|
||||
};
|
||||
|
||||
soes.c
|
||||
void ESC_objecthandler (uint16 index, uint8 subindex)
|
||||
{
|
||||
switch (index)
|
||||
{
|
||||
...
|
||||
case 0x7100:
|
||||
{
|
||||
switch (subindex)
|
||||
{
|
||||
case 0x01:
|
||||
{
|
||||
encoder_scale_mirror = encoder_scale;
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
...
|
||||
}
|
||||
|
||||
\endcode
|
||||
This tutorial is just one way of doing it.
|
||||
Enjoy and happy coding!
|
||||
|
||||
Andreas Karlsson, rt-labs AB, www.rt-labs.com
|
||||
*/
|
||||
386
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/ecat_slv.c
Executable file
386
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/ecat_slv.c
Executable file
@@ -0,0 +1,386 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
#include <stddef.h>
|
||||
#include "esc.h"
|
||||
#include "esc_coe.h"
|
||||
#include "esc_foe.h"
|
||||
#include "esc_eoe.h"
|
||||
#include "ecat_slv.h"
|
||||
|
||||
#define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)
|
||||
#define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
|
||||
|
||||
/* Global variables used by the stack */
|
||||
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE, MBXSIZEBOOT)];
|
||||
_MBXcontrol MBXcontrol[MBXBUFFERS];
|
||||
_SMmap SMmap2[MAX_MAPPINGS_SM2];
|
||||
_SMmap SMmap3[MAX_MAPPINGS_SM3];
|
||||
_ESCvar ESCvar;
|
||||
|
||||
/* Private variables */
|
||||
static volatile int watchdog;
|
||||
|
||||
#if MAX_MAPPINGS_SM2 > 0
|
||||
static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned(8)));
|
||||
#else
|
||||
extern uint8_t *rxpdo;
|
||||
#endif
|
||||
|
||||
#if MAX_MAPPINGS_SM3 > 0
|
||||
static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned(8)));
|
||||
#else
|
||||
extern uint8_t *txpdo;
|
||||
#endif
|
||||
|
||||
/** Function to pre-qualify the incoming SDO download.
|
||||
*
|
||||
* @param[in] index = index of SDO download request to check
|
||||
* @param[in] sub-index = sub-index of SDO download request to check
|
||||
* @return SDO abort code, or 0 on success
|
||||
*/
|
||||
uint32_t ESC_download_pre_objecthandler(uint16_t index,
|
||||
uint8_t subindex,
|
||||
void *data,
|
||||
size_t size,
|
||||
uint16_t flags)
|
||||
{
|
||||
if (IS_RXPDO(index) ||
|
||||
IS_TXPDO(index) ||
|
||||
index == RX_PDO_OBJIDX ||
|
||||
index == TX_PDO_OBJIDX)
|
||||
{
|
||||
uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
|
||||
if (subindex > minSub && COE_maxSub(index) != 0)
|
||||
{
|
||||
return ABORT_SUBINDEX0_NOT_ZERO;
|
||||
}
|
||||
}
|
||||
|
||||
if (ESCvar.pre_object_download_hook)
|
||||
{
|
||||
return (ESCvar.pre_object_download_hook)(index,
|
||||
subindex,
|
||||
data,
|
||||
size,
|
||||
flags);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Hook called from the slave stack SDO Download handler to act on
|
||||
* user specified Index and Sub-index.
|
||||
*
|
||||
* @param[in] index = index of SDO download request to handle
|
||||
* @param[in] sub-index = sub-index of SDO download request to handle
|
||||
* @return SDO abort code, or 0 on success
|
||||
*/
|
||||
uint32_t ESC_download_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
|
||||
{
|
||||
if (ESCvar.post_object_download_hook != NULL)
|
||||
{
|
||||
return (ESCvar.post_object_download_hook)(index, subindex, flags);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Function to pre-qualify the incoming SDO upload.
|
||||
*
|
||||
* @param[in] index = index of SDO upload request to handle
|
||||
* @param[in] sub-index = sub-index of SDO upload request to handle
|
||||
* @return SDO abort code, or 0 on success
|
||||
*/
|
||||
uint32_t ESC_upload_pre_objecthandler(uint16_t index,
|
||||
uint8_t subindex,
|
||||
void *data,
|
||||
size_t size,
|
||||
uint16_t flags)
|
||||
{
|
||||
if (ESCvar.pre_object_upload_hook != NULL)
|
||||
{
|
||||
return (ESCvar.pre_object_upload_hook)(index,
|
||||
subindex,
|
||||
data,
|
||||
size,
|
||||
flags);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Hook called from the slave stack SDO Upload handler to act on
|
||||
* user specified Index and Sub-index.
|
||||
*
|
||||
* @param[in] index = index of SDO upload request to handle
|
||||
* @param[in] sub-index = sub-index of SDO upload request to handle
|
||||
* @return SDO abort code, or 0 on success
|
||||
*/
|
||||
uint32_t ESC_upload_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
|
||||
{
|
||||
if (ESCvar.post_object_upload_hook != NULL)
|
||||
{
|
||||
return (ESCvar.post_object_upload_hook)(index, subindex, flags);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Hook called from the slave stack ESC_stopoutputs to act on state changes
|
||||
* forcing us to stop outputs. Here we can set them to a safe state.
|
||||
*/
|
||||
void APP_safeoutput(void)
|
||||
{
|
||||
DPRINT("APP_safeoutput\n");
|
||||
|
||||
if (ESCvar.safeoutput_override != NULL)
|
||||
{
|
||||
(ESCvar.safeoutput_override)();
|
||||
}
|
||||
}
|
||||
|
||||
/** Write local process data to Sync Manager 3, Master Inputs.
|
||||
*/
|
||||
void TXPDO_update(void)
|
||||
{
|
||||
if (ESCvar.txpdo_override != NULL)
|
||||
{
|
||||
(ESCvar.txpdo_override)();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (MAX_MAPPINGS_SM3 > 0)
|
||||
{
|
||||
COE_pdoPack(txpdo, ESCvar.sm3mappings, SMmap3);
|
||||
}
|
||||
ESC_write(ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
|
||||
}
|
||||
}
|
||||
|
||||
/** Read Sync Manager 2 to local process data, Master Outputs.
|
||||
*/
|
||||
void RXPDO_update(void)
|
||||
{
|
||||
if (ESCvar.rxpdo_override != NULL)
|
||||
{
|
||||
(ESCvar.rxpdo_override)();
|
||||
}
|
||||
else
|
||||
{
|
||||
ESC_read(ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
|
||||
if (MAX_MAPPINGS_SM2 > 0)
|
||||
{
|
||||
COE_pdoUnpack(rxpdo, ESCvar.sm2mappings, SMmap2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Set the watchdog count value, don't have any affect when using
|
||||
* HW watchdog 0x4xx
|
||||
*
|
||||
* @param[in] watchdogcnt = new watchdog count value
|
||||
*/
|
||||
void APP_setwatchdog(int watchdogcnt)
|
||||
{
|
||||
CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
|
||||
}
|
||||
|
||||
/* Function to update local I/O, call read ethercat outputs, call
|
||||
* write ethercat inputs. Implement watch-dog counter to count-out if we have
|
||||
* made state change affecting the App.state.
|
||||
*/
|
||||
|
||||
void DIG_process(uint16_t ALEvent, uint8_t flags)
|
||||
{
|
||||
/* Handle watchdog */
|
||||
if ((flags & DIG_PROCESS_WD_FLAG) > 0)
|
||||
{
|
||||
if (CC_ATOMIC_GET(watchdog) > 0)
|
||||
{
|
||||
CC_ATOMIC_SUB(watchdog, 1);
|
||||
}
|
||||
|
||||
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
|
||||
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
|
||||
{
|
||||
DPRINT("DIG_process watchdog expired\n");
|
||||
ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
|
||||
}
|
||||
else if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
|
||||
{
|
||||
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
|
||||
}
|
||||
}
|
||||
|
||||
/* Handle Outputs */
|
||||
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
|
||||
{
|
||||
if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
|
||||
(ALEvent & ESCREG_ALEVENT_SM2))
|
||||
{
|
||||
RXPDO_update();
|
||||
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
|
||||
/* Set outputs */
|
||||
cb_set_outputs();
|
||||
}
|
||||
else if (ALEvent & ESCREG_ALEVENT_SM2)
|
||||
{
|
||||
RXPDO_update();
|
||||
}
|
||||
}
|
||||
|
||||
/* Call application */
|
||||
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
|
||||
{
|
||||
/* Call application callback if set */
|
||||
if (ESCvar.application_hook != NULL)
|
||||
{
|
||||
(ESCvar.application_hook)();
|
||||
}
|
||||
}
|
||||
|
||||
/* Handle Inputs */
|
||||
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
|
||||
{
|
||||
if (CC_ATOMIC_GET(ESCvar.App.state) > 0)
|
||||
{
|
||||
/* Update inputs */
|
||||
cb_get_inputs();
|
||||
TXPDO_update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
|
||||
* control what interrupts that should be served and re-activated with
|
||||
* event mask argument
|
||||
*/
|
||||
void ecat_slv_worker(uint32_t event_mask)
|
||||
{
|
||||
do
|
||||
{
|
||||
/* Check the state machine */
|
||||
ESC_state();
|
||||
/* Check the SM activation event */
|
||||
ESC_sm_act_event();
|
||||
|
||||
/* Check mailboxes */
|
||||
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
|
||||
{
|
||||
ESC_coeprocess();
|
||||
#if USE_FOE
|
||||
ESC_foeprocess();
|
||||
#endif
|
||||
#if USE_EOE
|
||||
ESC_eoeprocess();
|
||||
#endif
|
||||
ESC_xoeprocess();
|
||||
}
|
||||
#if USE_EOE
|
||||
ESC_eoeprocess_tx();
|
||||
#endif
|
||||
/* Call emulated eeprom handler if set */
|
||||
if (ESCvar.esc_hw_eep_handler != NULL)
|
||||
{
|
||||
(ESCvar.esc_hw_eep_handler)();
|
||||
}
|
||||
|
||||
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
|
||||
|
||||
} while (ESCvar.ALevent & event_mask);
|
||||
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
|
||||
}
|
||||
|
||||
/*
|
||||
* Polling function. It should be called periodically for an application
|
||||
* when only SM2/DC interrupt is active.
|
||||
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
|
||||
*/
|
||||
void ecat_slv_poll(void)
|
||||
{
|
||||
/* Read local time from ESC*/
|
||||
ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
|
||||
ESCvar.Time = etohl(ESCvar.Time);
|
||||
|
||||
/* Check the state machine */
|
||||
ESC_state();
|
||||
/* Check the SM activation event */
|
||||
ESC_sm_act_event();
|
||||
|
||||
/* Check mailboxes */
|
||||
if (ESC_mbxprocess())
|
||||
{
|
||||
ESC_coeprocess();
|
||||
#if USE_FOE
|
||||
ESC_foeprocess();
|
||||
#endif
|
||||
#if USE_EOE
|
||||
ESC_eoeprocess();
|
||||
#endif
|
||||
ESC_xoeprocess();
|
||||
}
|
||||
#if USE_EOE
|
||||
ESC_eoeprocess_tx();
|
||||
#endif
|
||||
|
||||
/* Call emulated eeprom handler if set */
|
||||
if (ESCvar.esc_hw_eep_handler != NULL)
|
||||
{
|
||||
(ESCvar.esc_hw_eep_handler)();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Poll all events in a free-run application
|
||||
*/
|
||||
void ecat_slv(void)
|
||||
{
|
||||
ecat_slv_poll();
|
||||
DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
|
||||
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
|
||||
}
|
||||
|
||||
/*
|
||||
* Initialize the slave stack.
|
||||
*/
|
||||
void ecat_slv_init(esc_cfg_t *config)
|
||||
{
|
||||
/* Init watchdog */
|
||||
watchdog = config->watchdog_cnt;
|
||||
|
||||
/* Call stack configuration */
|
||||
ESC_config(config);
|
||||
/* Call HW init */
|
||||
ESC_init(config);
|
||||
|
||||
/* wait until ESC is started up */
|
||||
while ((ESCvar.DLstatus & 0x0001) == 0)
|
||||
{
|
||||
ESC_read(ESCREG_DLSTATUS, (void *)&ESCvar.DLstatus,
|
||||
sizeof(ESCvar.DLstatus));
|
||||
ESCvar.DLstatus = etohs(ESCvar.DLstatus);
|
||||
}
|
||||
|
||||
#if USE_FOE
|
||||
/* Init FoE */
|
||||
FOE_init();
|
||||
#endif
|
||||
|
||||
#if USE_EOE
|
||||
/* Init EoE */
|
||||
EOE_init();
|
||||
#endif
|
||||
|
||||
/* reset ESC to init state */
|
||||
ESC_ALstatus(ESCinit);
|
||||
ESC_ALerror(ALERR_NONE);
|
||||
ESC_stopmbx();
|
||||
ESC_stopinput();
|
||||
ESC_stopoutput();
|
||||
/* Init Object Dictionary default values */
|
||||
COE_initDefaultValues();
|
||||
}
|
||||
69
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/ecat_slv.h
Executable file
69
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/ecat_slv.h
Executable file
@@ -0,0 +1,69 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef __ECAT_SLV_H__
|
||||
#define __ECAT_SLV_H__
|
||||
|
||||
#include "ecat_options.h"
|
||||
#include "esc.h"
|
||||
|
||||
/**
|
||||
* This function is called when to get input values
|
||||
*/
|
||||
void cb_get_inputs();
|
||||
|
||||
/**
|
||||
* This function is called when to set outputs values
|
||||
*/
|
||||
void cb_set_outputs();
|
||||
|
||||
/** Set the watchdog count value
|
||||
*
|
||||
* @param[in] watchdogcnt = new watchdog count value
|
||||
*/
|
||||
void APP_setwatchdog(int watchdogcnt);
|
||||
|
||||
#define DIG_PROCESS_INPUTS_FLAG 0x01
|
||||
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
|
||||
#define DIG_PROCESS_WD_FLAG 0x04
|
||||
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
|
||||
/** Implements the watch-dog counter to count if we should make a state change
|
||||
* due to missing incoming SM2 events. Updates local I/O and run the application
|
||||
* in the following order, call read EtherCAT outputs, execute user provided
|
||||
* application hook and call write EtherCAT inputs.
|
||||
*
|
||||
* @param[in] flags = User input what to execute
|
||||
*/
|
||||
void DIG_process(uint16_t ALEvent, uint8_t flags);
|
||||
|
||||
/**
|
||||
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
|
||||
* control what interrupts that should be served and re-activated with
|
||||
* event mask argument
|
||||
*
|
||||
* @param[in] event_mask = Event mask for interrupts to serve and re-activate
|
||||
* after served
|
||||
*/
|
||||
void ecat_slv_worker(uint32_t event_mask);
|
||||
|
||||
/**
|
||||
* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
|
||||
* application
|
||||
*/
|
||||
void ecat_slv_poll(void);
|
||||
|
||||
/**
|
||||
* Poll all events in a free-run application
|
||||
*/
|
||||
void ecat_slv(void);
|
||||
|
||||
/**
|
||||
* Initialize the slave stack
|
||||
*
|
||||
* @param[in] config = User input how to configure the stack
|
||||
*/
|
||||
void ecat_slv_init(esc_cfg_t *config);
|
||||
|
||||
#endif /* __ECAT_SLV_H__ */
|
||||
1179
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc.c
Executable file
1179
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc.c
Executable file
File diff suppressed because it is too large
Load Diff
769
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc.h
Executable file
769
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc.h
Executable file
@@ -0,0 +1,769 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for esc.h
|
||||
*/
|
||||
|
||||
#ifndef __esc__
|
||||
#define __esc__
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <cc.h>
|
||||
#include <esc_coe.h>
|
||||
#include "ecat_options.h"
|
||||
|
||||
#define ESCREG_ADDRESS 0x0010
|
||||
#define ESCREG_DLSTATUS 0x0110
|
||||
#define ESCREG_ALCONTROL 0x0120
|
||||
#define ESCREG_ALSTATUS 0x0130
|
||||
#define ESCREG_ALERROR 0x0134
|
||||
#define ESCREG_ALEVENTMASK 0x0204
|
||||
#define ESCREG_ALEVENT 0x0220
|
||||
#define ESCREG_ALEVENT_SM_MASK 0x0310
|
||||
#define ESCREG_ALEVENT_SMCHANGE 0x0010
|
||||
#define ESCREG_ALEVENT_CONTROL 0x0001
|
||||
#define ESCREG_ALEVENT_DC_LATCH 0x0002
|
||||
#define ESCREG_ALEVENT_DC_SYNC0 0x0004
|
||||
#define ESCREG_ALEVENT_DC_SYNC1 0x0008
|
||||
#define ESCREG_ALEVENT_EEP 0x0020
|
||||
#define ESCREG_ALEVENT_WD 0x0040
|
||||
#define ESCREG_ALEVENT_SM0 0x0100
|
||||
#define ESCREG_ALEVENT_SM1 0x0200
|
||||
#define ESCREG_ALEVENT_SM2 0x0400
|
||||
#define ESCREG_ALEVENT_SM3 0x0800
|
||||
#define ESCREG_WDSTATUS 0x0440
|
||||
#define ESCREG_EECONTSTAT 0x0502
|
||||
#define ESCREG_EEDATA 0x0508
|
||||
#define ESCREG_SM0 0x0800
|
||||
#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)
|
||||
#define ESCREG_SM0ACTIVATE (ESCREG_SM0 + 6)
|
||||
#define ESCREG_SM0PDI (ESCREG_SM0 + 7)
|
||||
#define ESCREG_SM1 (ESCREG_SM0 + 0x08)
|
||||
#define ESCREG_SM2 (ESCREG_SM0 + 0x10)
|
||||
#define ESCREG_SM3 (ESCREG_SM0 + 0x18)
|
||||
#define ESCREG_LOCALTIME 0x0910
|
||||
#define ESCREG_LOCALTIME_OFFSET 0x0920
|
||||
#define ESCREG_SYNC_ACT 0x0981
|
||||
#define ESCREG_SYNC_ACT_ACTIVATED 0x01
|
||||
#define ESCREG_SYNC_SYNC0_EN 0x02
|
||||
#define ESCREG_SYNC_SYNC1_EN 0x04
|
||||
#define ESCREG_SYNC_AUTO_ACTIVATED 0x08
|
||||
#define ESCREG_SYNC0_CYCLE_TIME 0x09A0
|
||||
#define ESCREG_SYNC1_CYCLE_TIME 0x09A4
|
||||
#define ESCREG_SMENABLE_BIT 0x01
|
||||
#define ESCREG_AL_STATEMASK 0x001f
|
||||
#define ESCREG_AL_ALLBUTINITMASK 0x0e
|
||||
#define ESCREG_AL_ERRACKMASK 0x0f
|
||||
|
||||
#define SYNCTYPE_SUPPORT_FREERUN 0x01
|
||||
#define SYNCTYPE_SUPPORT_SYNCHRON 0x02
|
||||
#define SYNCTYPE_SUPPORT_DCSYNC0 0x04
|
||||
#define SYNCTYPE_SUPPORT_DCSYNC1 0x08
|
||||
#define SYNCTYPE_SUPPORT_SUBCYCLE 0x10
|
||||
|
||||
#define ESCinit 0x01
|
||||
#define ESCpreop 0x02
|
||||
#define ESCboot 0x03
|
||||
#define ESCsafeop 0x04
|
||||
#define ESCop 0x08
|
||||
#define ESCerror 0x10
|
||||
|
||||
#define INIT_TO_INIT 0x11
|
||||
#define INIT_TO_PREOP 0x21
|
||||
#define INIT_TO_BOOT 0x31
|
||||
#define INIT_TO_SAFEOP 0x41
|
||||
#define INIT_TO_OP 0x81
|
||||
#define PREOP_TO_INIT 0x12
|
||||
#define PREOP_TO_PREOP 0x22
|
||||
#define PREOP_TO_BOOT 0x32
|
||||
#define PREOP_TO_SAFEOP 0x42
|
||||
#define PREOP_TO_OP 0x82
|
||||
#define BOOT_TO_INIT 0x13
|
||||
#define BOOT_TO_PREOP 0x23
|
||||
#define BOOT_TO_BOOT 0x33
|
||||
#define BOOT_TO_SAFEOP 0x43
|
||||
#define BOOT_TO_OP 0x83
|
||||
#define SAFEOP_TO_INIT 0x14
|
||||
#define SAFEOP_TO_PREOP 0x24
|
||||
#define SAFEOP_TO_BOOT 0x34
|
||||
#define SAFEOP_TO_SAFEOP 0x44
|
||||
#define SAFEOP_TO_OP 0x84
|
||||
#define OP_TO_INIT 0x18
|
||||
#define OP_TO_PREOP 0x28
|
||||
#define OP_TO_BOOT 0x38
|
||||
#define OP_TO_SAFEOP 0x48
|
||||
#define OP_TO_OP 0x88
|
||||
|
||||
#define ALERR_NONE 0x0000
|
||||
#define ALERR_UNSPECIFIEDERROR 0x0001
|
||||
#define ALERR_NOMEMORY 0x0002
|
||||
#define ALERR_INVALIDSTATECHANGE 0x0011
|
||||
#define ALERR_UNKNOWNSTATE 0x0012
|
||||
#define ALERR_BOOTNOTSUPPORTED 0x0013
|
||||
#define ALERR_NOVALIDFIRMWARE 0x0014
|
||||
#define ALERR_INVALIDBOOTMBXCONFIG 0x0015
|
||||
#define ALERR_INVALIDMBXCONFIG 0x0016
|
||||
#define ALERR_INVALIDSMCONFIG 0x0017
|
||||
#define ALERR_NOVALIDINPUTS 0x0018
|
||||
#define ALERR_NOVALIDOUTPUTS 0x0019
|
||||
#define ALERR_SYNCERROR 0x001A
|
||||
#define ALERR_WATCHDOG 0x001B
|
||||
#define ALERR_INVALIDSYNCMANAGERTYP 0x001C
|
||||
#define ALERR_INVALIDOUTPUTSM 0x001D
|
||||
#define ALERR_INVALIDINPUTSM 0x001E
|
||||
#define ALERR_INVALIDWDTCFG 0x001F
|
||||
#define ALERR_SLAVENEEDSCOLDSTART 0x0020
|
||||
#define ALERR_SLAVENEEDSINIT 0x0021
|
||||
#define ALERR_SLAVENEEDSPREOP 0x0022
|
||||
#define ALERR_SLAVENEEDSSAFEOP 0x0023
|
||||
#define ALERR_INVALIDINPUTMAPPING 0x0024
|
||||
#define ALERR_INVALIDOUTPUTMAPPING 0x0025
|
||||
#define ALERR_INCONSISTENTSETTINGS 0x0026
|
||||
#define ALERR_FREERUNNOTSUPPORTED 0x0027
|
||||
#define ALERR_SYNCNOTSUPPORTED 0x0028
|
||||
#define ALERR_FREERUNNEEDS3BUFFMODE 0x0029
|
||||
#define ALERR_BACKGROUNDWATCHDOG 0x002A
|
||||
#define ALERR_NOVALIDINPUTSOUTPUTS 0x002B
|
||||
#define ALERR_FATALSYNCERROR 0x002C
|
||||
#define ALERR_NOSYNCERROR 0x002D
|
||||
#define ALERR_INVALIDINPUTFMMUCFG 0x002E
|
||||
#define ALERR_DCINVALIDSYNCCFG 0x0030
|
||||
#define ALERR_INVALIDDCLATCHCFG 0x0031
|
||||
#define ALERR_PLLERROR 0x0032
|
||||
#define ALERR_DCSYNCIOERROR 0x0033
|
||||
#define ALERR_DCSYNCTIMEOUT 0x0034
|
||||
#define ALERR_DCSYNCCYCLETIME 0x0035
|
||||
#define ALERR_DCSYNC0CYCLETIME 0x0036
|
||||
#define ALERR_DCSYNC1CYCLETIME 0x0037
|
||||
#define ALERR_MBXAOE 0x0041
|
||||
#define ALERR_MBXEOE 0x0042
|
||||
#define ALERR_MBXCOE 0x0043
|
||||
#define ALERR_MBXFOE 0x0044
|
||||
#define ALERR_MBXSOE 0x0045
|
||||
#define ALERR_MBXVOE 0x004F
|
||||
#define ALERR_EEPROMNOACCESS 0x0050
|
||||
#define ALERR_EEPROMERROR 0x0051
|
||||
#define ALERR_SLAVERESTARTEDLOCALLY 0x0060
|
||||
#define ALERR_DEVICEIDVALUEUPDATED 0x0061
|
||||
#define ALERR_APPLCTRLAVAILABLE 0x00f0
|
||||
#define ALERR_UNKNOWN 0xffff
|
||||
|
||||
#define MBXERR_SYNTAX 0x0001
|
||||
#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002
|
||||
#define MBXERR_INVALIDCHANNEL 0x0003
|
||||
#define MBXERR_SERVICENOTSUPPORTED 0x0004
|
||||
#define MBXERR_INVALIDHEADER 0x0005
|
||||
#define MBXERR_SIZETOOSHORT 0x0006
|
||||
#define MBXERR_NOMOREMEMORY 0x0007
|
||||
#define MBXERR_INVALIDSIZE 0x0008
|
||||
|
||||
#define ABORT_NOTOGGLE 0x05030000
|
||||
#define ABORT_TRANSFER_TIMEOUT 0x05040000
|
||||
#define ABORT_UNKNOWN 0x05040001
|
||||
#define ABORT_INVALID_BLOCK_SIZE 0x05040002
|
||||
#define ABORT_INVALID_SEQUENCE_NUMBER 0x05040003
|
||||
#define ABORT_BLOCK_CRC_ERROR 0x05040004
|
||||
#define ABORT_OUT_OF_MEMORY 0x05040005
|
||||
#define ABORT_UNSUPPORTED 0x06010000
|
||||
#define ABORT_WRITEONLY 0x06010001
|
||||
#define ABORT_READONLY 0x06010002
|
||||
#define ABORT_SUBINDEX0_NOT_ZERO 0x06010003
|
||||
#define ABORT_CA_NOT_SUPPORTED 0x06010004
|
||||
#define ABORT_EXCEEDS_MBOX_SIZE 0x06010005
|
||||
#define ABORT_SDO_DOWNLOAD_BLOCKED 0x06010006
|
||||
#define ABORT_NOOBJECT 0x06020000
|
||||
#define ABORT_MAPPING_OBJECT_ERROR 0x06040041
|
||||
#define ABORT_MAPPING_LENGTH_ERROR 0x06040042
|
||||
#define ABORT_GENERAL_PARAMETER_ERROR 0x06040043
|
||||
#define ABORT_GENERAL_DEVICE_ERROR 0x06040047
|
||||
#define ABORT_HARDWARE_ERROR 0x06060000
|
||||
#define ABORT_TYPEMISMATCH 0x06070010
|
||||
#define ABORT_DATATYPE_TOO_HIGH 0x06070012
|
||||
#define ABORT_DATATYPE_TOO_LOW 0x06070013
|
||||
#define ABORT_NOSUBINDEX 0x06090011
|
||||
#define ABORT_VALUE_EXCEEDED 0x06090030
|
||||
#define ABORT_VALUE_TOO_HIGH 0x06090031
|
||||
#define ABORT_VALUE_TOO_LOW 0x06090032
|
||||
#define ABORT_MODULE_LIST_MISMATCH 0x06090033
|
||||
#define ABORT_MAX_VAL_LESS_THAN_MIN_VAL 0x06090036
|
||||
#define ABORT_RESOURCE_NOT_AVAILABLE 0x060A0023
|
||||
#define ABORT_GENERALERROR 0x08000000
|
||||
#define ABORT_DATA_STORE_ERROR 0x08000020
|
||||
#define ABORT_DATA_STORE_LOCAL_ERROR 0x08000021
|
||||
#define ABORT_NOTINTHISSTATE 0x08000022
|
||||
#define ABORT_OBJECT_DICTIONARY_ERROR 0x08000023
|
||||
#define ABORT_NO_DATA_AVAILABLE 0x08000024
|
||||
|
||||
#define MBXstate_idle 0x00
|
||||
#define MBXstate_inclaim 0x01
|
||||
#define MBXstate_outclaim 0x02
|
||||
#define MBXstate_outreq 0x03
|
||||
#define MBXstate_outpost 0x04
|
||||
#define MBXstate_backup 0x05
|
||||
#define MBXstate_again 0x06
|
||||
|
||||
#define COE_DEFAULTLENGTH 0x0a
|
||||
#define COE_HEADERSIZE 0x0a
|
||||
#define COE_SEGMENTHEADERSIZE 0x03
|
||||
#define COE_SDOREQUEST 0x02
|
||||
#define COE_SDORESPONSE 0x03
|
||||
#define COE_SDOINFORMATION 0x08
|
||||
#define COE_COMMAND_SDOABORT 0x80
|
||||
#define COE_COMMAND_UPLOADREQUEST 0x40
|
||||
#define COE_COMMAND_UPLOADRESPONSE 0x40
|
||||
#define COE_COMMAND_UPLOADSEGMENT 0x00
|
||||
#define COE_COMMAND_UPLOADSEGREQ 0x60
|
||||
#define COE_COMMAND_DOWNLOADREQUEST 0x20
|
||||
#define COE_COMMAND_DOWNLOADRESPONSE 0x60
|
||||
#define COE_COMMAND_DOWNLOADSEGREQ 0x00
|
||||
#define COE_COMMAND_DOWNLOADSEGRESP 0x20
|
||||
#define COE_COMMAND_LASTSEGMENTBIT 0x01
|
||||
#define COE_SIZE_INDICATOR 0x01
|
||||
#define COE_EXPEDITED_INDICATOR 0x02
|
||||
#define COE_COMPLETEACCESS 0x10
|
||||
#define COE_TOGGLEBIT 0x10
|
||||
#define COE_INFOERROR 0x07
|
||||
#define COE_GETODLISTRESPONSE 0x02
|
||||
#define COE_GETODRESPONSE 0x04
|
||||
#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
|
||||
#define COE_VALUEINFO_ACCESS 0x01
|
||||
#define COE_VALUEINFO_OBJECT 0x02
|
||||
#define COE_VALUEINFO_MAPPABLE 0x04
|
||||
#define COE_VALUEINFO_TYPE 0x08
|
||||
#define COE_VALUEINFO_DEFAULT 0x10
|
||||
#define COE_VALUEINFO_MINIMUM 0x20
|
||||
#define COE_VALUEINFO_MAXIMUM 0x40
|
||||
#define COE_MINIMUM_LENGTH 8
|
||||
|
||||
#define MBXERR 0x00
|
||||
#define MBXAOE 0x01
|
||||
#define MBXEOE 0x02
|
||||
#define MBXCOE 0x03
|
||||
#define MBXFOE 0x04
|
||||
#define MBXODL 0x10
|
||||
#define MBXOD 0x20
|
||||
#define MBXED 0x30
|
||||
#define MBXSEU 0x40
|
||||
#define MBXSED 0x50
|
||||
|
||||
#define SMRESULT_ERRSM0 0x01
|
||||
#define SMRESULT_ERRSM1 0x02
|
||||
#define SMRESULT_ERRSM2 0x04
|
||||
#define SMRESULT_ERRSM3 0x08
|
||||
|
||||
#define FOE_ERR_NOTDEFINED 0x8000
|
||||
#define FOE_ERR_NOTFOUND 0x8001
|
||||
#define FOE_ERR_ACCESS 0x8002
|
||||
#define FOE_ERR_DISKFULL 0x8003
|
||||
#define FOE_ERR_ILLEGAL 0x8004
|
||||
#define FOE_ERR_PACKETNO 0x8005
|
||||
#define FOE_ERR_EXISTS 0x8006
|
||||
#define FOE_ERR_NOUSER 0x8007
|
||||
#define FOE_ERR_BOOTSTRAPONLY 0x8008
|
||||
#define FOE_ERR_NOTINBOOTSTRAP 0x8009
|
||||
#define FOE_ERR_NORIGHTS 0x800A
|
||||
#define FOE_ERR_PROGERROR 0x800B
|
||||
#define FOE_ERR_CHECKSUM 0x800C
|
||||
|
||||
#define FOE_OP_RRQ 1
|
||||
#define FOE_OP_WRQ 2
|
||||
#define FOE_OP_DATA 3
|
||||
#define FOE_OP_ACK 4
|
||||
#define FOE_OP_ERR 5
|
||||
#define FOE_OP_BUSY 6
|
||||
|
||||
#define FOE_READY 0
|
||||
#define FOE_WAIT_FOR_ACK 1
|
||||
#define FOE_WAIT_FOR_FINAL_ACK 2
|
||||
#define FOE_WAIT_FOR_DATA 3
|
||||
|
||||
#define EOE_RESULT_SUCCESS 0x0000
|
||||
#define EOE_RESULT_UNSPECIFIED_ERROR 0x0001
|
||||
#define EOE_RESULT_UNSUPPORTED_FRAME_TYPE 0x0002
|
||||
#define EOE_RESULT_NO_IP_SUPPORT 0x0201
|
||||
#define EOE_RESULT_NO_DHCP_SUPPORT 0x0202
|
||||
#define EOE_RESULT_NO_FILTER_SUPPORT 0x0401
|
||||
|
||||
#define APPSTATE_IDLE 0x00
|
||||
#define APPSTATE_INPUT 0x01
|
||||
#define APPSTATE_OUTPUT 0x02
|
||||
|
||||
#define PREALLOC_FACTOR 3
|
||||
#define PREALLOC_BUFFER_SIZE (PREALLOC_FACTOR * MBXSIZE)
|
||||
|
||||
typedef struct sm_cfg
|
||||
{
|
||||
uint16_t cfg_sma;
|
||||
uint16_t cfg_sml;
|
||||
uint16_t cfg_sme;
|
||||
uint8_t cfg_smc;
|
||||
uint8_t cfg_smact;
|
||||
}sm_cfg_t;
|
||||
|
||||
typedef struct esc_cfg
|
||||
{
|
||||
void * user_arg;
|
||||
int use_interrupt;
|
||||
int watchdog_cnt;
|
||||
bool skip_default_initialization;
|
||||
void (*set_defaults_hook) (void);
|
||||
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
|
||||
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
|
||||
void (*application_hook) (void);
|
||||
void (*safeoutput_override) (void);
|
||||
uint32_t (*pre_object_download_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
uint32_t (*post_object_download_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
uint16_t flags);
|
||||
uint32_t (*pre_object_upload_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
uint32_t (*post_object_upload_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
uint16_t flags);
|
||||
void (*rxpdo_override) (void);
|
||||
void (*txpdo_override) (void);
|
||||
void (*esc_hw_interrupt_enable) (uint32_t mask);
|
||||
void (*esc_hw_interrupt_disable) (uint32_t mask);
|
||||
void (*esc_hw_eep_handler) (void);
|
||||
uint16_t (*esc_check_dc_handler) (void);
|
||||
} esc_cfg_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t state;
|
||||
} _App;
|
||||
|
||||
// Attention! this struct is always little-endian
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t PSA;
|
||||
uint16_t Length;
|
||||
|
||||
#if defined(EC_LITTLE_ENDIAN)
|
||||
uint8_t Mode:2;
|
||||
uint8_t Direction:2;
|
||||
uint8_t IntECAT:1;
|
||||
uint8_t IntPDI:1;
|
||||
uint8_t WTE:1;
|
||||
uint8_t R1:1;
|
||||
|
||||
uint8_t IntW:1;
|
||||
uint8_t IntR:1;
|
||||
uint8_t R2:1;
|
||||
uint8_t MBXstat:1;
|
||||
uint8_t BUFstat:2;
|
||||
uint8_t R3:2;
|
||||
|
||||
uint8_t ECsm:1;
|
||||
uint8_t ECrep:1;
|
||||
uint8_t ECr4:4;
|
||||
uint8_t EClatchEC:1;
|
||||
uint8_t EClatchPDI:1;
|
||||
|
||||
uint8_t PDIsm:1;
|
||||
uint8_t PDIrep:1;
|
||||
uint8_t PDIr5:6;
|
||||
#endif
|
||||
|
||||
#if defined(EC_BIG_ENDIAN)
|
||||
uint8_t R1:1;
|
||||
uint8_t WTE:1;
|
||||
uint8_t IntPDI:1;
|
||||
uint8_t IntECAT:1;
|
||||
uint8_t Direction:2;
|
||||
uint8_t Mode:2;
|
||||
|
||||
uint8_t R3:2;
|
||||
uint8_t BUFstat:2;
|
||||
uint8_t MBXstat:1;
|
||||
uint8_t R2:1;
|
||||
uint8_t IntR:1;
|
||||
uint8_t IntW:1;
|
||||
|
||||
uint8_t EClatchPDI:1;
|
||||
uint8_t EClatchEC:1;
|
||||
uint8_t ECr4:4;
|
||||
uint8_t ECrep:1;
|
||||
uint8_t ECsm:1;
|
||||
|
||||
uint8_t PDIr5:6;
|
||||
uint8_t PDIrep:1;
|
||||
uint8_t PDIsm:1;
|
||||
#endif
|
||||
} _ESCsm;
|
||||
CC_PACKED_END
|
||||
|
||||
/* Attention! this struct is always little-endian */
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t PSA;
|
||||
uint16_t Length;
|
||||
uint8_t Command;
|
||||
uint8_t Status;
|
||||
uint8_t ActESC;
|
||||
uint8_t ActPDI;
|
||||
} _ESCsm2;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t PSA;
|
||||
uint16_t Length;
|
||||
uint8_t Command;
|
||||
} _ESCsmCompact;
|
||||
CC_PACKED_END
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Configuration input is saved so the user variable may go out-of-scope */
|
||||
int use_interrupt;
|
||||
sm_cfg_t mb[2];
|
||||
sm_cfg_t mbboot[2];
|
||||
bool skip_default_initialization;
|
||||
void (*set_defaults_hook) (void);
|
||||
void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
|
||||
void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
|
||||
void (*application_hook) (void);
|
||||
void (*safeoutput_override) (void);
|
||||
uint32_t (*pre_object_download_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
uint32_t (*post_object_download_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
uint16_t flags);
|
||||
uint32_t (*pre_object_upload_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
uint32_t (*post_object_upload_hook) (uint16_t index,
|
||||
uint8_t subindex,
|
||||
uint16_t flags);
|
||||
void (*rxpdo_override) (void);
|
||||
void (*txpdo_override) (void);
|
||||
void (*esc_hw_interrupt_enable) (uint32_t mask);
|
||||
void (*esc_hw_interrupt_disable) (uint32_t mask);
|
||||
void (*esc_hw_eep_handler) (void);
|
||||
uint16_t (*esc_check_dc_handler) (void);
|
||||
uint8_t MBXrun;
|
||||
size_t activembxsize;
|
||||
sm_cfg_t * activemb0;
|
||||
sm_cfg_t * activemb1;
|
||||
uint16_t ESC_SM2_sml;
|
||||
uint16_t ESC_SM3_sml;
|
||||
uint8_t dcsync;
|
||||
uint16_t synccounterlimit;
|
||||
uint16_t ALstatus;
|
||||
uint16_t ALcontrol;
|
||||
uint16_t ALerror;
|
||||
uint16_t DLstatus;
|
||||
uint16_t address;
|
||||
uint8_t mbxcnt;
|
||||
uint8_t mbxincnt;
|
||||
uint8_t mbxoutpost;
|
||||
uint8_t mbxbackup;
|
||||
uint8_t xoe;
|
||||
uint8_t txcue;
|
||||
uint8_t mbxfree;
|
||||
uint8_t segmented;
|
||||
void *data;
|
||||
uint16_t entries;
|
||||
uint16_t frags;
|
||||
uint16_t fragsleft;
|
||||
uint16_t index;
|
||||
uint8_t subindex;
|
||||
uint16_t flags;
|
||||
|
||||
uint8_t toggle;
|
||||
|
||||
int sm2mappings;
|
||||
int sm3mappings;
|
||||
|
||||
uint8_t SMtestresult;
|
||||
uint32_t PrevTime;
|
||||
_ESCsm SM[4];
|
||||
/* Volatile since it may be read from ISR */
|
||||
volatile int watchdogcnt;
|
||||
volatile uint32_t Time;
|
||||
volatile uint16_t ALevent;
|
||||
volatile int8_t synccounter;
|
||||
volatile _App App;
|
||||
uint8_t mbxdata[PREALLOC_BUFFER_SIZE];
|
||||
} _ESCvar;
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t length;
|
||||
uint16_t address;
|
||||
|
||||
#if defined(EC_LITTLE_ENDIAN)
|
||||
uint8_t channel:6;
|
||||
uint8_t priority:2;
|
||||
|
||||
uint8_t mbxtype:4;
|
||||
uint8_t mbxcnt:4;
|
||||
#endif
|
||||
|
||||
#if defined(EC_BIG_ENDIAN)
|
||||
uint8_t priority:2;
|
||||
uint8_t channel:6;
|
||||
|
||||
uint8_t mbxcnt:4;
|
||||
uint8_t mbxtype:4;
|
||||
#endif
|
||||
} _MBXh;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh header;
|
||||
uint8_t b[0];
|
||||
} _MBX;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t numberservice;
|
||||
} _COEh;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
#if defined(EC_LITTLE_ENDIAN)
|
||||
uint8_t opcode:7;
|
||||
uint8_t incomplete:1;
|
||||
#endif
|
||||
|
||||
#if defined(EC_BIG_ENDIAN)
|
||||
uint8_t incomplete:1;
|
||||
uint8_t opcode:7;
|
||||
#endif
|
||||
|
||||
uint8_t reserved;
|
||||
uint16_t fragmentsleft;
|
||||
} _INFOh;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
uint16_t type;
|
||||
uint16_t detail;
|
||||
} _MBXerr;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
_COEh coeheader;
|
||||
uint8_t command;
|
||||
uint16_t index;
|
||||
uint8_t subindex;
|
||||
uint32_t size;
|
||||
} _COEsdo;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
_COEh coeheader;
|
||||
_INFOh infoheader;
|
||||
uint16_t index;
|
||||
uint16_t datatype;
|
||||
uint8_t maxsub;
|
||||
uint8_t objectcode;
|
||||
char name;
|
||||
} _COEobjdesc;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
_COEh coeheader;
|
||||
_INFOh infoheader;
|
||||
uint16_t index;
|
||||
uint8_t subindex;
|
||||
uint8_t valueinfo;
|
||||
uint16_t datatype;
|
||||
uint16_t bitlength;
|
||||
uint16_t access;
|
||||
char name;
|
||||
} _COEentdesc;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint8_t opcode;
|
||||
uint8_t reserved;
|
||||
union
|
||||
{
|
||||
uint32_t password;
|
||||
uint32_t packetnumber;
|
||||
uint32_t errorcode;
|
||||
};
|
||||
} _FOEh;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
_FOEh foeheader;
|
||||
union
|
||||
{
|
||||
char filename[0];
|
||||
uint8_t data[0];
|
||||
char errortext[0];
|
||||
};
|
||||
} _FOE;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t frameinfo1;
|
||||
union
|
||||
{
|
||||
uint16_t frameinfo2;
|
||||
uint16_t result;
|
||||
};
|
||||
} _EOEh;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
_MBXh mbxheader;
|
||||
_EOEh eoeheader;
|
||||
uint8_t data[0];
|
||||
} _EOE;
|
||||
CC_PACKED_END
|
||||
|
||||
/* state definition in mailbox
|
||||
* 0 : idle
|
||||
* 1 : claimed for inbox
|
||||
* 2 : claimed for outbox
|
||||
* 3 : request post outbox
|
||||
* 4 : outbox posted not send
|
||||
* 5 : backup outbox
|
||||
* 6 : mailbox needs to be transmitted again
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t state;
|
||||
} _MBXcontrol;
|
||||
|
||||
/* Stack reference to application configuration of the ESC */
|
||||
#define ESC_MBXSIZE (ESCvar.activembxsize)
|
||||
#define ESC_MBX0_sma (ESCvar.activemb0->cfg_sma)
|
||||
#define ESC_MBX0_sml (ESCvar.activemb0->cfg_sml)
|
||||
#define ESC_MBX0_sme (ESCvar.activemb0->cfg_sme)
|
||||
#define ESC_MBX0_smc (ESCvar.activemb0->cfg_smc)
|
||||
#define ESC_MBX1_sma (ESCvar.activemb1->cfg_sma)
|
||||
#define ESC_MBX1_sml (ESCvar.activemb1->cfg_sml)
|
||||
#define ESC_MBX1_sme (ESCvar.activemb1->cfg_sme)
|
||||
#define ESC_MBX1_smc (ESCvar.activemb1->cfg_smc)
|
||||
#define ESC_MBXBUFFERS (MBXBUFFERS)
|
||||
#define ESC_SM2_sma (SM2_sma)
|
||||
#define ESC_SM2_smc (SM2_smc)
|
||||
#define ESC_SM2_act (SM2_act)
|
||||
#define ESC_SM3_sma (SM3_sma)
|
||||
#define ESC_SM3_smc (SM3_smc)
|
||||
#define ESC_SM3_act (SM3_act)
|
||||
|
||||
#define ESC_MBXHSIZE sizeof(_MBXh)
|
||||
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
|
||||
#define ESC_FOEHSIZE sizeof(_FOEh)
|
||||
#define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
|
||||
#define ESC_EOEHSIZE sizeof(_EOEh)
|
||||
#define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
|
||||
|
||||
void ESC_config (esc_cfg_t * cfg);
|
||||
void ESC_ALerror (uint16_t errornumber);
|
||||
void ESC_ALeventwrite (uint32_t event);
|
||||
uint32_t ESC_ALeventread (void);
|
||||
void ESC_ALeventmaskwrite (uint32_t mask);
|
||||
uint32_t ESC_ALeventmaskread (void);
|
||||
void ESC_ALstatus (uint8_t status);
|
||||
void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber);
|
||||
void ESC_SMstatus (uint8_t n);
|
||||
uint8_t ESC_WDstatus (void);
|
||||
uint8_t ESC_claimbuffer (void);
|
||||
uint8_t ESC_startmbx (uint8_t state);
|
||||
void ESC_stopmbx (void);
|
||||
void MBX_error (uint16_t error);
|
||||
uint8_t ESC_mbxprocess (void);
|
||||
void ESC_xoeprocess (void);
|
||||
uint8_t ESC_startinput (uint8_t state);
|
||||
void ESC_stopinput (void);
|
||||
uint8_t ESC_startoutput (uint8_t state);
|
||||
void ESC_stopoutput (void);
|
||||
void ESC_state (void);
|
||||
void ESC_sm_act_event (void);
|
||||
|
||||
/* From hardware file */
|
||||
void ESC_read (uint16_t address, void *buf, uint16_t len);
|
||||
void ESC_write (uint16_t address, void *buf, uint16_t len);
|
||||
void ESC_init (const esc_cfg_t * cfg);
|
||||
void ESC_reset (void);
|
||||
|
||||
/* From application */
|
||||
extern void APP_safeoutput ();
|
||||
extern _ESCvar ESCvar;
|
||||
extern _MBXcontrol MBXcontrol[];
|
||||
extern uint8_t MBX[];
|
||||
extern _SMmap SMmap2[];
|
||||
extern _SMmap SMmap3[];
|
||||
|
||||
/* ATOMIC operations are used when running interrupt driven */
|
||||
#ifndef CC_ATOMIC_SET
|
||||
#define CC_ATOMIC_SET(var,val) (var = val)
|
||||
#endif
|
||||
|
||||
#ifndef CC_ATOMIC_GET
|
||||
#define CC_ATOMIC_GET(var) (var)
|
||||
#endif
|
||||
|
||||
#ifndef CC_ATOMIC_ADD
|
||||
#define CC_ATOMIC_ADD(var,val) (var += val)
|
||||
#endif
|
||||
|
||||
#ifndef CC_ATOMIC_SUB
|
||||
#define CC_ATOMIC_SUB(var,val) (var -= val)
|
||||
#endif
|
||||
|
||||
#ifndef CC_ATOMIC_AND
|
||||
#define CC_ATOMIC_AND(var,val) (var &= val)
|
||||
#endif
|
||||
|
||||
#ifndef CC_ATOMIC_OR
|
||||
#define CC_ATOMIC_OR(var,val) (var |= val)
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
1783
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_coe.c
Executable file
1783
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_coe.c
Executable file
File diff suppressed because it is too large
Load Diff
135
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_coe.h
Executable file
135
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_coe.h
Executable file
@@ -0,0 +1,135 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for esc_coe.c
|
||||
*/
|
||||
|
||||
#ifndef __esc_coe__
|
||||
#define __esc_coe__
|
||||
|
||||
#include <cc.h>
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t subindex;
|
||||
uint16_t datatype;
|
||||
uint16_t bitlength;
|
||||
uint16_t flags;
|
||||
const char *name;
|
||||
uint32_t value;
|
||||
void *data;
|
||||
} _objd;
|
||||
CC_PACKED_END
|
||||
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
uint16_t index;
|
||||
uint16_t objtype;
|
||||
uint8_t maxsub;
|
||||
uint8_t pad1;
|
||||
const char *name;
|
||||
const _objd *objdesc;
|
||||
} _objectlist;
|
||||
CC_PACKED_END
|
||||
|
||||
typedef struct
|
||||
{
|
||||
const _objd * obj;
|
||||
uint16_t offset;
|
||||
} _SMmap;
|
||||
|
||||
#define OBJH_READ 0
|
||||
#define OBJH_WRITE 1
|
||||
|
||||
#define OTYPE_DOMAIN 0x0002
|
||||
#define OTYPE_DEFTYPE 0x0005
|
||||
#define OTYPE_DEFSTRUCT 0x0006
|
||||
#define OTYPE_VAR 0x0007
|
||||
#define OTYPE_ARRAY 0x0008
|
||||
#define OTYPE_RECORD 0x0009
|
||||
|
||||
#define DTYPE_BOOLEAN 0x0001
|
||||
#define DTYPE_INTEGER8 0x0002
|
||||
#define DTYPE_INTEGER16 0x0003
|
||||
#define DTYPE_INTEGER32 0x0004
|
||||
#define DTYPE_UNSIGNED8 0x0005
|
||||
#define DTYPE_UNSIGNED16 0x0006
|
||||
#define DTYPE_UNSIGNED32 0x0007
|
||||
#define DTYPE_REAL32 0x0008
|
||||
#define DTYPE_VISIBLE_STRING 0x0009
|
||||
#define DTYPE_OCTET_STRING 0x000A
|
||||
#define DTYPE_UNICODE_STRING 0x000B
|
||||
#define DTYPE_INTEGER24 0x0010
|
||||
#define DTYPE_UNSIGNED24 0x0016
|
||||
#define DTYPE_INTEGER64 0x0015
|
||||
#define DTYPE_UNSIGNED64 0x001B
|
||||
#define DTYPE_REAL64 0x0011
|
||||
#define DTYPE_PDO_MAPPING 0x0021
|
||||
#define DTYPE_IDENTITY 0x0023
|
||||
#define DTYPE_BITARR8 0x002D
|
||||
#define DTYPE_BITARR16 0x002E
|
||||
#define DTYPE_BITARR32 0x002F
|
||||
#define DTYPE_BIT1 0x0030
|
||||
#define DTYPE_BIT2 0x0031
|
||||
#define DTYPE_BIT3 0x0032
|
||||
#define DTYPE_BIT4 0x0033
|
||||
#define DTYPE_BIT5 0x0034
|
||||
#define DTYPE_BIT6 0x0035
|
||||
#define DTYPE_BIT7 0x0036
|
||||
#define DTYPE_BIT8 0x0037
|
||||
#define DTYPE_ARRAY_OF_INT 0x0260
|
||||
#define DTYPE_ARRAY_OF_SINT 0x0261
|
||||
#define DTYPE_ARRAY_OF_DINT 0x0262
|
||||
#define DTYPE_ARRAY_OF_UDINT 0x0263
|
||||
|
||||
#define ATYPE_Rpre 0x01
|
||||
#define ATYPE_Rsafe 0x02
|
||||
#define ATYPE_Rop 0x04
|
||||
#define ATYPE_Wpre 0x08
|
||||
#define ATYPE_Wsafe 0x10
|
||||
#define ATYPE_Wop 0x20
|
||||
#define ATYPE_RXPDO 0x40
|
||||
#define ATYPE_TXPDO 0x80
|
||||
|
||||
#define ATYPE_RO (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
|
||||
#define ATYPE_WO (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
|
||||
#define ATYPE_RW (ATYPE_RO | ATYPE_WO)
|
||||
#define ATYPE_RWpre (ATYPE_Wpre | ATYPE_RO)
|
||||
|
||||
#define TX_PDO_OBJIDX 0x1c13
|
||||
#define RX_PDO_OBJIDX 0x1c12
|
||||
|
||||
#define COMPLETE_ACCESS_FLAG (1 << 15)
|
||||
|
||||
void ESC_coeprocess (void);
|
||||
int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex);
|
||||
int32_t SDO_findobject (uint16_t index);
|
||||
uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
|
||||
void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode);
|
||||
void COE_initDefaultValues (void);
|
||||
|
||||
void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
|
||||
void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
|
||||
uint8_t COE_maxSub (uint16_t index);
|
||||
|
||||
extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
|
||||
extern uint32_t ESC_download_pre_objecthandler (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
extern uint32_t ESC_upload_pre_objecthandler (uint16_t index,
|
||||
uint8_t subindex,
|
||||
void * data,
|
||||
size_t size,
|
||||
uint16_t flags);
|
||||
extern uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
|
||||
extern const _objectlist SDOobjects[];
|
||||
|
||||
#endif
|
||||
80
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eep.c
Executable file
80
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eep.c
Executable file
@@ -0,0 +1,80 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* ESI EEPROM emulator module.
|
||||
*/
|
||||
|
||||
#include "cc.h"
|
||||
#include "esc.h"
|
||||
#include "esc_eep.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
static uint8_t eep_buf[8];
|
||||
|
||||
/** EPP periodic task of ESC side EEPROM emulation.
|
||||
*
|
||||
*/
|
||||
void EEP_process (void)
|
||||
{
|
||||
eep_stat_t stat;
|
||||
|
||||
/* check for eeprom event */
|
||||
if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
/* read eeprom status */
|
||||
ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
|
||||
stat.contstat.reg = etohs(stat.contstat.reg);
|
||||
stat.addr = etohl(stat.addr);
|
||||
|
||||
/* check busy flag, exit if job finished */
|
||||
if (!stat.contstat.bits.busy) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* clear error bits */
|
||||
stat.contstat.bits.csumErr = 0;
|
||||
stat.contstat.bits.eeLoading = 0;
|
||||
stat.contstat.bits.ackErr = 0;
|
||||
stat.contstat.bits.wrErr = 0;
|
||||
|
||||
/* process commands */
|
||||
switch (stat.contstat.bits.cmdReg) {
|
||||
case EEP_CMD_IDLE:
|
||||
break;
|
||||
|
||||
case EEP_CMD_READ:
|
||||
case EEP_CMD_RELOAD:
|
||||
/* handle read request */
|
||||
if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
|
||||
stat.contstat.bits.ackErr = 1;
|
||||
} else {
|
||||
ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
|
||||
}
|
||||
break;
|
||||
|
||||
case EEP_CMD_WRITE:
|
||||
/* handle write request */
|
||||
ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
|
||||
if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
|
||||
stat.contstat.bits.ackErr = 1;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
stat.contstat.bits.ackErr = 1;
|
||||
}
|
||||
|
||||
/* acknowledge command */
|
||||
stat.contstat.reg = htoes(stat.contstat.reg);
|
||||
ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
|
||||
}
|
||||
}
|
||||
|
||||
77
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eep.h
Executable file
77
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eep.h
Executable file
@@ -0,0 +1,77 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for esc_eep.c
|
||||
*/
|
||||
|
||||
#ifndef __esc_eep__
|
||||
#define __esc_eep__
|
||||
|
||||
#include <cc.h>
|
||||
#include "esc.h"
|
||||
|
||||
/* EEPROM commands */
|
||||
#define EEP_CMD_IDLE 0x0
|
||||
#define EEP_CMD_READ 0x1
|
||||
#define EEP_CMD_WRITE 0x2
|
||||
#define EEP_CMD_RELOAD 0x3
|
||||
|
||||
/* read/write size */
|
||||
#define EEP_READ_SIZE 8
|
||||
#define EEP_WRITE_SIZE 2
|
||||
|
||||
/* CONSTAT register content */
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
union {
|
||||
uint16_t reg;
|
||||
struct {
|
||||
uint8_t wrEnable:1;
|
||||
uint8_t reserved:4;
|
||||
uint8_t eeEmulated:1;
|
||||
uint8_t eightByteRead:1;
|
||||
uint8_t twoByteAddr:1;
|
||||
|
||||
uint8_t cmdReg:3;
|
||||
uint8_t csumErr:1;
|
||||
uint8_t eeLoading:1;
|
||||
uint8_t ackErr:1;
|
||||
uint8_t wrErr:1;
|
||||
uint8_t busy:1;
|
||||
} bits;
|
||||
} contstat;
|
||||
|
||||
uint32_t addr;
|
||||
} eep_stat_t;
|
||||
|
||||
/**
|
||||
* ECAT EEPROM configuration area data structure
|
||||
*/
|
||||
typedef union eep_config
|
||||
{
|
||||
struct
|
||||
{
|
||||
uint16_t pdi_control;
|
||||
uint16_t pdi_configuration;
|
||||
uint16_t sync_impulse_len;
|
||||
uint16_t pdi_configuration2;
|
||||
uint16_t configured_station_alias;
|
||||
uint8_t reserved[4];
|
||||
uint16_t checksum;
|
||||
};
|
||||
uint32_t dword[4]; /**< Four 32 bit double word equivalent to 8 16 bit configuration area word. */
|
||||
}eep_config_t;
|
||||
|
||||
/* periodic task */
|
||||
void EEP_process (void);
|
||||
|
||||
/* From hardware file */
|
||||
void EEP_init (void);
|
||||
int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);
|
||||
int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t size);
|
||||
|
||||
#endif
|
||||
1066
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eoe.c
Executable file
1066
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eoe.c
Executable file
File diff suppressed because it is too large
Load Diff
68
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eoe.h
Executable file
68
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_eoe.h
Executable file
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for esc_eoe.c
|
||||
*/
|
||||
|
||||
#ifndef __esc_eoe__
|
||||
#define __esc_eoe__
|
||||
|
||||
#include <cc.h>
|
||||
|
||||
typedef struct eoe_pbuf
|
||||
{
|
||||
/** Pointer to frame buffer type used by a TCP/IP stack. (Not mandatory) */
|
||||
void * pbuf;
|
||||
/** Pointer to frame buffer to send or read from */
|
||||
uint8_t * payload;
|
||||
/** Length of data in frame buffer */
|
||||
size_t len;
|
||||
} eoe_pbuf_t;
|
||||
|
||||
typedef struct eoe_cfg
|
||||
{
|
||||
/** Callback function to get a frame buffer for storage of received frame */
|
||||
void (*get_buffer) (eoe_pbuf_t * ebuf);
|
||||
/** Callback function to free a frame buffer */
|
||||
void (*free_buffer) (eoe_pbuf_t * ebuf);
|
||||
/** Callback function to read local settings and update EtherCAT variables
|
||||
* to be delivered to the EtherCAT Master
|
||||
*/
|
||||
int (*load_eth_settings) (void);
|
||||
/** Callback function to read settings provided by the EtherCAT master
|
||||
* and store to local settings.
|
||||
*/
|
||||
int (*store_ethernet_settings) (void);
|
||||
/** Callback to frame receive function in TCP(IP stack,
|
||||
* caller should free the buffer
|
||||
* */
|
||||
void (*handle_recv_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
|
||||
/** Callback to fetch a buffer to send */
|
||||
int (*fetch_send_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
|
||||
/** Callback to notify the application fragment sent */
|
||||
void (*fragment_sent_event) (void);
|
||||
} eoe_cfg_t;
|
||||
|
||||
int EOE_ecat_get_mac (uint8_t port, uint8_t mac[]);
|
||||
int EOE_ecat_get_ip (uint8_t port, uint32_t * ip);
|
||||
int EOE_ecat_get_subnet (uint8_t port, uint32_t * subnet);
|
||||
int EOE_ecat_get_gateway (uint8_t port, uint32_t * default_gateway);
|
||||
int EOE_ecat_get_dns_ip (uint8_t port, uint32_t * dns_ip);
|
||||
int EOE_ecat_get_dns_name (uint8_t port, char * dns_name);
|
||||
int EOE_ecat_set_mac (uint8_t port, uint8_t mac[]);
|
||||
int EOE_ecat_set_ip (uint8_t port, uint32_t ip);
|
||||
int EOE_ecat_set_subnet (uint8_t port, uint32_t subnet);
|
||||
int EOE_ecat_set_gateway (uint8_t port, uint32_t default_gateway);
|
||||
int EOE_ecat_set_dns_ip (uint8_t port, uint32_t dns_ip);
|
||||
int EOE_ecat_set_dns_name (uint8_t port, char * dns_name);
|
||||
|
||||
void EOE_config (eoe_cfg_t * cfg);
|
||||
void EOE_init (void);
|
||||
void ESC_eoeprocess (void);
|
||||
void ESC_eoeprocess_tx (void);
|
||||
|
||||
#endif
|
||||
627
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_foe.c
Executable file
627
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_foe.c
Executable file
@@ -0,0 +1,627 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* File over EtherCAT (FoE) module.
|
||||
*/
|
||||
|
||||
|
||||
#include <cc.h>
|
||||
#include "esc.h"
|
||||
#include "esc_foe.h"
|
||||
#include <string.h>
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* File over EtherCAT (FoE) module.
|
||||
*
|
||||
* FOE read / write and FOE service functions
|
||||
*/
|
||||
|
||||
//define if FOE_read should be supported
|
||||
//#define FOE_READ_SUPPORTED
|
||||
|
||||
/** Variable holding current filename read at FOE Open.
|
||||
*/
|
||||
static char foe_file_name[FOE_FN_MAX + 1];
|
||||
|
||||
|
||||
/** Main FoE configuration pointer data array. Structure is allocated and filled
|
||||
* by the application defining what preferences it requires.
|
||||
*/
|
||||
static foe_cfg_t * foe_cfg;
|
||||
/** Pointer to current file configuration item used by FoE.
|
||||
*/
|
||||
static foe_file_cfg_t * foe_file;
|
||||
/** Main FoE status data array. Structure gets filled with current status
|
||||
* variables during FoE usage.
|
||||
*/
|
||||
static _FOEvar FOEvar;
|
||||
|
||||
/** Validate a write or read request by checking filename and password.
|
||||
*
|
||||
* @param[in] name = Filename
|
||||
* @param[in] num_chars = Length of filename
|
||||
* @param[in] pass = Numeric variable of password
|
||||
* @param[in] op = Request op-code
|
||||
* @return 0= if we succeed, FOE_ERR_NOTFOUND something wrong with filename or
|
||||
* password
|
||||
*/
|
||||
static int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
|
||||
{
|
||||
uint32_t i;
|
||||
|
||||
/* Unpack the file name into characters we can look at. */
|
||||
if (num_chars > FOE_FN_MAX)
|
||||
{
|
||||
num_chars = FOE_FN_MAX;
|
||||
}
|
||||
|
||||
for (i = 0; i < num_chars; i++)
|
||||
{
|
||||
foe_file_name[i] = name[i];
|
||||
}
|
||||
foe_file_name[i] = '\0';
|
||||
|
||||
/* Figure out what file they're talking about. */
|
||||
for (i = 0; i < foe_cfg->n_files; i++)
|
||||
{
|
||||
if (0 == strncmp (foe_file_name, foe_cfg->files[i].name, num_chars))
|
||||
{
|
||||
if (pass != foe_cfg->files[i].filepass)
|
||||
{
|
||||
return FOE_ERR_NORIGHTS;
|
||||
}
|
||||
|
||||
if (op == FOE_OP_WRQ &&
|
||||
(foe_cfg->files[i].write_only_in_boot) &&
|
||||
(ESCvar.ALstatus != ESCboot))
|
||||
{
|
||||
return FOE_ERR_NOTINBOOTSTRAP;
|
||||
}
|
||||
|
||||
foe_file = &foe_cfg->files[i];
|
||||
foe_file->address_offset = 0;
|
||||
foe_file->total_size = 0;
|
||||
switch (op)
|
||||
{
|
||||
case FOE_OP_RRQ:
|
||||
{
|
||||
FOEvar.fposition = 0;
|
||||
FOEvar.fend = foe_cfg->files[i].max_data;
|
||||
return 0;
|
||||
}
|
||||
case FOE_OP_WRQ:
|
||||
{
|
||||
FOEvar.fposition = 0;
|
||||
FOEvar.fend = foe_cfg->files[i].max_data;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return FOE_ERR_NOTFOUND;
|
||||
}
|
||||
|
||||
#ifdef FOE_READ_SUPPORTED
|
||||
/** Function writing local data to mailbox buffer to be sent as next FoE frame.
|
||||
* It will try to fill the Mailbox buffer available if there is enough data
|
||||
* left to read.
|
||||
*
|
||||
* @param[in] data = pointer to buffer
|
||||
* @param[in] maxlength = max length of data possible to read, controlled by
|
||||
* Mailbox - FoE and Mailbox frame headers.
|
||||
|
||||
* @return Number of copied bytes.
|
||||
*/
|
||||
static uint16_t FOE_fread (uint8_t * data, uint16_t maxlength)
|
||||
{
|
||||
uint16_t ncopied = 0;
|
||||
|
||||
while (maxlength && (FOEvar.fend - FOEvar.fposition))
|
||||
{
|
||||
maxlength--;
|
||||
*(data++) = foe_cfg->fbuffer[FOEvar.fposition++];
|
||||
ncopied++;
|
||||
}
|
||||
|
||||
return ncopied;
|
||||
}
|
||||
#endif
|
||||
|
||||
/** Function reading mailbox buffer to local buffer to be handled by
|
||||
* application write hook. Ex. flash routine used by software update.
|
||||
* It will consume the buffer and call the write hook every time the configured
|
||||
* flush buffer limit is reached.
|
||||
*
|
||||
*
|
||||
* @param[in] data = Pointer to buffer
|
||||
* @param[in] length = Length of data to read
|
||||
|
||||
* @return Number of copied bytes.
|
||||
*/
|
||||
static uint16_t FOE_fwrite (uint8_t *data, uint16_t length)
|
||||
{
|
||||
uint16_t ncopied = 0;
|
||||
uint32_t failed = 0;
|
||||
|
||||
DPRINT("FOE_fwrite\n");
|
||||
FOEvar.fprevposition = FOEvar.fposition;
|
||||
while (length && (FOEvar.fend - FOEvar.fposition) && !failed)
|
||||
{
|
||||
length--;
|
||||
foe_cfg->fbuffer[FOEvar.fbufposition++] = *(data++);
|
||||
if(FOEvar.fbufposition >= foe_cfg->buffer_size)
|
||||
{
|
||||
failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
|
||||
FOEvar.fbufposition = 0;
|
||||
foe_file->address_offset += foe_cfg->buffer_size;
|
||||
}
|
||||
FOEvar.fposition++;
|
||||
ncopied++;
|
||||
}
|
||||
|
||||
foe_file->total_size += ncopied;
|
||||
|
||||
DPRINT("FOE_fwrite END with : %d\n",ncopied);
|
||||
return ncopied;
|
||||
}
|
||||
|
||||
|
||||
/** Function handling the final FOE_fwrite when we close up regardless
|
||||
* if we have filled the buffers or not.
|
||||
*
|
||||
* @return Number of copied bytes on success, 0= if failed.
|
||||
*/
|
||||
static uint32_t FOE_fclose (void)
|
||||
{
|
||||
uint32_t failed = 0;
|
||||
|
||||
DPRINT("FOE_fclose\n");
|
||||
|
||||
failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
|
||||
foe_file->address_offset += FOEvar.fbufposition;
|
||||
FOEvar.fbufposition = 0;
|
||||
|
||||
return failed;
|
||||
}
|
||||
|
||||
/** Initialize by clearing all current status variables.
|
||||
*
|
||||
*/
|
||||
void FOE_init ()
|
||||
{
|
||||
DPRINT("FOE_init\n");
|
||||
FOEvar.foepacket = 0;
|
||||
FOEvar.foestate = FOE_READY;
|
||||
FOEvar.fposition = 0;
|
||||
FOEvar.fprevposition = 0;
|
||||
FOEvar.fbufposition = 0;
|
||||
}
|
||||
|
||||
/** Function for sending an FOE abort frame.
|
||||
*
|
||||
* @param[in] code = abort code
|
||||
*/
|
||||
static void FOE_abort (uint32_t code)
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint8_t mbxhandle;
|
||||
|
||||
if (code)
|
||||
{
|
||||
/* Send back an error packet. */
|
||||
mbxhandle = ESC_claimbuffer ();
|
||||
if (mbxhandle)
|
||||
{
|
||||
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
|
||||
foembx->mbxheader.length = htoes (ESC_FOEHSIZE); /* Don't bother with error text for now. */
|
||||
foembx->mbxheader.mbxtype = MBXFOE;
|
||||
foembx->foeheader.opcode = FOE_OP_ERR;
|
||||
foembx->foeheader.errorcode = htoel (code);
|
||||
MBXcontrol[mbxhandle].state = MBXstate_outreq;
|
||||
}
|
||||
/* Nothing we can do if we can't get an outbound mailbox. */
|
||||
}
|
||||
DPRINT("FOE_abort: 0x%X\n", code);
|
||||
FOE_init ();
|
||||
}
|
||||
|
||||
#ifdef FOE_READ_SUPPORTED
|
||||
/** Sends an FoE data frame, returning the number of data bytes
|
||||
* written or an error number.
|
||||
* Error numbers will be greater than FOE_DATA_SIZE.
|
||||
|
||||
* @param[in] data = pointer to buffer
|
||||
* @param[in] length = length of data to read
|
||||
|
||||
* @return Number of data bytes written or an error number. Error numbers
|
||||
* will be greater than FOE_DATA_SIZE.
|
||||
*/
|
||||
static int FOE_send_data_packet ()
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint16_t data_len;
|
||||
uint8_t mbxhandle;
|
||||
|
||||
mbxhandle = ESC_claimbuffer ();
|
||||
if (mbxhandle)
|
||||
{
|
||||
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
|
||||
data_len = FOE_fread (foembx->data, ESC_FOE_DATA_SIZE);
|
||||
foembx->foeheader.opcode = FOE_OP_DATA;
|
||||
foembx->foeheader.packetnumber = htoel (FOEvar.foepacket);
|
||||
FOEvar.foepacket++;
|
||||
foembx->mbxheader.length = htoes (data_len + ESC_FOEHSIZE);
|
||||
foembx->mbxheader.mbxtype = MBXFOE;
|
||||
/* Mark the outbound mailbox as filled. */
|
||||
MBXcontrol[mbxhandle].state = MBXstate_outreq;
|
||||
return data_len;
|
||||
}
|
||||
else
|
||||
{
|
||||
return FOE_ERR_PROGERROR;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/** Sends an FoE ack data frame.
|
||||
|
||||
* @return 0= or error number.
|
||||
*/
|
||||
static int FOE_send_ack ()
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint8_t mbxhandle;
|
||||
|
||||
mbxhandle = ESC_claimbuffer ();
|
||||
if (mbxhandle)
|
||||
{
|
||||
DPRINT("FOE_send_ack\n");
|
||||
foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
|
||||
foembx->mbxheader.length = htoes (ESC_FOEHSIZE);
|
||||
foembx->mbxheader.mbxtype = MBXFOE;
|
||||
foembx->foeheader.opcode = FOE_OP_ACK;
|
||||
foembx->foeheader.packetnumber = htoel (FOEvar.foepacket);
|
||||
FOEvar.foepacket++;
|
||||
MBXcontrol[mbxhandle].state = MBXstate_outreq;
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
DPRINT("ERROR:FOE_send_ack\n");
|
||||
return FOE_ERR_PROGERROR;
|
||||
}
|
||||
}
|
||||
|
||||
/* Handlers for various FoE states. */
|
||||
|
||||
#ifdef FOE_READ_SUPPORTED
|
||||
/** FoE read request handler. Starts with Initialize, Open and Sending one frame.
|
||||
* When first frame have been sent we will send data from Ack.
|
||||
* On error we will send FOE Abort.
|
||||
*
|
||||
*/
|
||||
static void FOE_read ()
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint32_t data_len;
|
||||
uint32_t password;
|
||||
int res;
|
||||
|
||||
if (FOEvar.foestate != FOE_READY)
|
||||
{
|
||||
FOE_abort (FOE_ERR_ILLEGAL);
|
||||
return;
|
||||
}
|
||||
|
||||
FOE_init ();
|
||||
foembx = (_FOE *) &MBX[0];
|
||||
/* Get the length of the file name in octets. */
|
||||
data_len = etohs (foembx->mbxheader.length) - ESC_FOEHSIZE;
|
||||
password = etohl (foembx->foeheader.password);
|
||||
|
||||
res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_RRQ);
|
||||
if (res == 0)
|
||||
{
|
||||
FOEvar.foepacket = 1;
|
||||
/*
|
||||
* Attempt to send the packet
|
||||
*/
|
||||
res = FOE_send_data_packet ();
|
||||
if (res <= (int)ESC_FOE_DATA_SIZE)
|
||||
{
|
||||
FOEvar.foestate = FOE_WAIT_FOR_ACK;
|
||||
}
|
||||
else
|
||||
{
|
||||
FOE_abort (res);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
FOE_abort (res);
|
||||
}
|
||||
}
|
||||
|
||||
/** FoE data ack handler. Will continue sending next frame until finished.
|
||||
* On error we will send FOE Abort.
|
||||
*/
|
||||
static void FOE_ack ()
|
||||
{
|
||||
int res;
|
||||
|
||||
/* Make sure we're able to take this. */
|
||||
if (FOEvar.foestate == FOE_WAIT_FOR_FINAL_ACK)
|
||||
{
|
||||
/* Move us back to ready state. */
|
||||
FOE_init ();
|
||||
return;
|
||||
}
|
||||
else if (FOEvar.foestate != FOE_WAIT_FOR_ACK)
|
||||
{
|
||||
FOE_abort (FOE_ERR_ILLEGAL);
|
||||
return;
|
||||
}
|
||||
res = FOE_send_data_packet ();
|
||||
if (res < (int)ESC_FOE_DATA_SIZE)
|
||||
{
|
||||
FOEvar.foestate = FOE_WAIT_FOR_FINAL_ACK;
|
||||
}
|
||||
else if (res >= FOE_ERR_NOTDEFINED)
|
||||
{
|
||||
FOE_abort (FOE_ERR_PROGERROR);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/** FoE write request handler. Starts with Initialize, Open and Ack that we can/will
|
||||
* receive data. On error we will send FOE Abort.
|
||||
*
|
||||
*/
|
||||
static void FOE_write ()
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint32_t data_len;
|
||||
uint32_t password;
|
||||
int res;
|
||||
|
||||
if (FOEvar.foestate != FOE_READY)
|
||||
{
|
||||
FOE_abort (FOE_ERR_ILLEGAL);
|
||||
return;
|
||||
}
|
||||
|
||||
FOE_init ();
|
||||
foembx = (_FOE *) &MBX[0];
|
||||
data_len = etohs (foembx->mbxheader.length) - ESC_FOEHSIZE;
|
||||
password = etohl (foembx->foeheader.password);
|
||||
|
||||
/* Get an address we can write the file to, if possible. */
|
||||
res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_WRQ);
|
||||
DPRINT("%s %sOK, file \"%s\"\n", __func__, (res == 0) ? "" : "N", foe_file_name);
|
||||
if (res == 0)
|
||||
{
|
||||
res = FOE_send_ack ();
|
||||
if (res)
|
||||
{
|
||||
FOE_abort (res);
|
||||
}
|
||||
else
|
||||
{
|
||||
FOEvar.foestate = FOE_WAIT_FOR_DATA;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
FOE_abort (res);
|
||||
}
|
||||
}
|
||||
/** FoE data request handler. Validates and reads data until we're finished. Every
|
||||
* read frame followed by an Ack frame. On error we will send FOE Abort.
|
||||
*
|
||||
*/
|
||||
static void FOE_data ()
|
||||
{
|
||||
_FOE *foembx;
|
||||
uint32_t packet;
|
||||
uint16_t data_len, ncopied;
|
||||
int res;
|
||||
|
||||
if(FOEvar.foestate != FOE_WAIT_FOR_DATA)
|
||||
{
|
||||
FOE_abort(FOE_ERR_ILLEGAL);
|
||||
return;
|
||||
}
|
||||
|
||||
foembx = (_FOE*)&MBX[0];
|
||||
data_len = etohs(foembx->mbxheader.length) - ESC_FOEHSIZE;
|
||||
packet = etohl(foembx->foeheader.packetnumber);
|
||||
|
||||
if (packet != FOEvar.foepacket)
|
||||
{
|
||||
DPRINT("FOE_data packet error, packet: %d, foeheader.packet: %d\n",packet,FOEvar.foepacket);
|
||||
FOE_abort (FOE_ERR_PACKETNO);
|
||||
}
|
||||
else if (data_len == 0)
|
||||
{
|
||||
DPRINT("FOE_data completed\n");
|
||||
FOE_fclose ();
|
||||
res = FOE_send_ack ();
|
||||
FOE_init ();
|
||||
}
|
||||
else if (FOEvar.fposition + data_len > FOEvar.fend)
|
||||
{
|
||||
DPRINT("FOE_data disk full\n");
|
||||
FOE_abort (FOE_ERR_DISKFULL);
|
||||
}
|
||||
else
|
||||
{
|
||||
ncopied = FOE_fwrite (foembx->data, data_len);
|
||||
if (!ncopied)
|
||||
{
|
||||
DPRINT("FOE_data no copied\n");
|
||||
FOE_abort (FOE_ERR_PROGERROR);
|
||||
}
|
||||
else if (data_len == ESC_FOE_DATA_SIZE)
|
||||
{
|
||||
DPRINT("FOE_data data_len == FOE_DATA_SIZE\n");
|
||||
if (ncopied != data_len)
|
||||
{
|
||||
DPRINT("FOE_data only %d of %d copied\n",ncopied, data_len);
|
||||
FOE_abort (FOE_ERR_PROGERROR);
|
||||
}
|
||||
res = FOE_send_ack ();
|
||||
if (res)
|
||||
{
|
||||
FOE_abort (res);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if ((ncopied != data_len) || FOE_fclose ())
|
||||
{
|
||||
DPRINT("FOE_fclose failed to write extra buffer\n");
|
||||
FOE_abort (FOE_ERR_PROGERROR);
|
||||
}
|
||||
else
|
||||
{
|
||||
DPRINT("FOE_data completed\n");
|
||||
res = FOE_send_ack ();
|
||||
FOE_init ();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef FOE_READ_SUPPORTED
|
||||
/** FoE read request busy handler. Send an Ack of last frame again. On error
|
||||
* we will send FOE Abort.
|
||||
*
|
||||
*/
|
||||
static void FOE_busy ()
|
||||
{
|
||||
/* Only valid if we're servicing a read request. */
|
||||
if (FOEvar.foestate != FOE_WAIT_FOR_ACK)
|
||||
{
|
||||
FOE_abort (FOE_ERR_ILLEGAL);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Send the last part again. */
|
||||
FOEvar.fposition = FOEvar.fprevposition;
|
||||
FOEvar.foepacket--;
|
||||
FOE_ack ();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/** FoE error requesthandler. Send an FOE Abort.
|
||||
*
|
||||
*/
|
||||
static void FOE_error ()
|
||||
{
|
||||
/* Master panic! abort the transfer. */
|
||||
FOE_abort (0);
|
||||
}
|
||||
|
||||
/** Function copying the application configuration variable
|
||||
* to the FoE module local pointer variable.
|
||||
*
|
||||
* @param[in] cfg = Pointer to by the Application static declared
|
||||
* configuration variable holding application specific details.
|
||||
*/
|
||||
void FOE_config (foe_cfg_t * cfg)
|
||||
{
|
||||
foe_cfg = cfg;
|
||||
}
|
||||
|
||||
/** Main FoE function checking the status on current mailbox buffers carrying
|
||||
* data, distributing the mailboxes to appropriate FOE functions depending
|
||||
* on requested opcode.
|
||||
* On Error an FoE Error or FoE Abort will be sent.
|
||||
*/
|
||||
void ESC_foeprocess (void)
|
||||
{
|
||||
_MBXh *mbh;
|
||||
_FOE *foembx;
|
||||
|
||||
if (ESCvar.MBXrun == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
if (!ESCvar.xoe && (MBXcontrol[0].state == MBXstate_inclaim))
|
||||
{
|
||||
mbh = (_MBXh *) &MBX[0];
|
||||
if (mbh->mbxtype == MBXFOE)
|
||||
{
|
||||
ESCvar.xoe = MBXFOE;
|
||||
}
|
||||
}
|
||||
if (ESCvar.xoe == MBXFOE)
|
||||
{
|
||||
foembx = (_FOE *) &MBX[0];
|
||||
/* Verify the size of the file data. */
|
||||
if (etohs (foembx->mbxheader.length) < ESC_FOEHSIZE)
|
||||
{
|
||||
FOE_abort (MBXERR_SIZETOOSHORT);
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (foembx->foeheader.opcode)
|
||||
{
|
||||
case FOE_OP_WRQ:
|
||||
{
|
||||
DPRINT("FOE_OP_WRQ\n");
|
||||
FOE_write ();
|
||||
break;
|
||||
}
|
||||
case FOE_OP_DATA:
|
||||
{
|
||||
DPRINT("FOE_OP_DATA\n");
|
||||
FOE_data ();
|
||||
break;
|
||||
}
|
||||
#ifdef FOE_READ_SUPPORTED
|
||||
case FOE_OP_RRQ:
|
||||
{
|
||||
DPRINT("FOE_OP_RRQ\n");
|
||||
FOE_read ();
|
||||
break;
|
||||
}
|
||||
case FOE_OP_ACK:
|
||||
{
|
||||
DPRINT("FOE_OP_ACK\n");
|
||||
FOE_ack ();
|
||||
break;
|
||||
}
|
||||
|
||||
case FOE_OP_BUSY:
|
||||
{
|
||||
DPRINT("FOE_OP_BUSY\n");
|
||||
FOE_busy ();
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
case FOE_OP_ERR:
|
||||
{
|
||||
DPRINT("FOE_OP_ERR\n");
|
||||
FOE_error ();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
DPRINT("FOE_ERR_NOTDEFINED\n");
|
||||
FOE_abort (FOE_ERR_NOTDEFINED);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
MBXcontrol[0].state = MBXstate_idle;
|
||||
ESCvar.xoe = 0;
|
||||
}
|
||||
}
|
||||
77
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_foe.h
Executable file
77
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/esc_foe.h
Executable file
@@ -0,0 +1,77 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for esc_foe.c
|
||||
*/
|
||||
|
||||
#ifndef __esc_foe__
|
||||
#define __esc_foe__
|
||||
|
||||
#include <cc.h>
|
||||
|
||||
/** Maximum number of characters allowed in a file name. */
|
||||
#define FOE_FN_MAX 31
|
||||
|
||||
typedef struct foe_file_cfg foe_file_cfg_t;
|
||||
struct foe_file_cfg
|
||||
{
|
||||
/** Name of file to receive from master */
|
||||
const char * name;
|
||||
/** Size of file,sizeof data we can recv */
|
||||
uint32_t max_data;
|
||||
/** Where to store the data initially */
|
||||
uint32_t dest_start_address;
|
||||
/** Current address during write of file */
|
||||
uint32_t address_offset;
|
||||
/** Calculated size of file received */
|
||||
uint32_t total_size;
|
||||
/** FoE password */
|
||||
uint32_t filepass;
|
||||
/** This file can be written only in BOOT state. Intended for FW files */
|
||||
uint8_t write_only_in_boot;
|
||||
/** for feature use */
|
||||
uint32_t padding:24;
|
||||
/** Pointer to application foe write function */
|
||||
uint32_t (*write_function) (foe_file_cfg_t * self, uint8_t * data, size_t length);
|
||||
};
|
||||
|
||||
typedef struct foe_cfg
|
||||
{
|
||||
/** Allocate static in caller func to fit buffer_size */
|
||||
uint8_t * fbuffer;
|
||||
/** Buffer size before we flush to destination */
|
||||
uint32_t buffer_size;
|
||||
/** Number of files used in firmware update */
|
||||
uint32_t n_files;
|
||||
/** Pointer to files configured to be used by FoE */
|
||||
foe_file_cfg_t * files;
|
||||
} foe_cfg_t;
|
||||
|
||||
typedef struct CC_PACKED
|
||||
{
|
||||
/** Current FoE state, ex. Waiting for ACK, Waiting for DATA */
|
||||
uint8_t foestate;
|
||||
/** Current file buffer position, evaluated against foe file buffer size
|
||||
* when to flush
|
||||
*/
|
||||
uint16_t fbufposition;
|
||||
/** Frame number in read or write sequence */
|
||||
uint32_t foepacket;
|
||||
/** Current position in file to be handled by FoE request */
|
||||
uint32_t fposition;
|
||||
/** Previous position in file to be handled by FoE request */
|
||||
uint32_t fprevposition;
|
||||
/** End position of allocated disk space for FoE requested file */
|
||||
uint32_t fend;
|
||||
} _FOEvar;
|
||||
|
||||
/* Initializes FoE state. */
|
||||
void FOE_config (foe_cfg_t * cfg);
|
||||
void FOE_init (void);
|
||||
void ESC_foeprocess (void);
|
||||
|
||||
#endif
|
||||
458
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c
Executable file
458
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c
Executable file
@@ -0,0 +1,458 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* ESC hardware layer functions for LAN9252.
|
||||
*
|
||||
* Function to read and write commands to the ESC. Used to read/write ESC
|
||||
* registers and memory.
|
||||
*/
|
||||
#include "esc.h"
|
||||
#include "spi.h"
|
||||
#include <string.h>
|
||||
|
||||
|
||||
#define O_RDWR 1
|
||||
|
||||
#define BIT(x) 1 << (x)
|
||||
|
||||
#define ESC_CMD_SERIAL_WRITE 0x02
|
||||
#define ESC_CMD_SERIAL_READ 0x03
|
||||
#define ESC_CMD_FAST_READ 0x0B
|
||||
#define ESC_CMD_RESET_SQI 0xFF
|
||||
|
||||
#define ESC_CMD_FAST_READ_DUMMY 1
|
||||
#define ESC_CMD_ADDR_INC BIT(6)
|
||||
|
||||
#define ESC_PRAM_RD_FIFO_REG 0x000
|
||||
#define ESC_PRAM_WR_FIFO_REG 0x020
|
||||
#define ESC_PRAM_RD_ADDR_LEN_REG 0x308
|
||||
#define ESC_PRAM_RD_CMD_REG 0x30C
|
||||
#define ESC_PRAM_WR_ADDR_LEN_REG 0x310
|
||||
#define ESC_PRAM_WR_CMD_REG 0x314
|
||||
|
||||
#define ESC_PRAM_CMD_BUSY BIT(31)
|
||||
#define ESC_PRAM_CMD_ABORT BIT(30)
|
||||
|
||||
#define ESC_PRAM_CMD_CNT(x) ((x >> 8) & 0x1F)
|
||||
#define ESC_PRAM_CMD_AVAIL BIT(0)
|
||||
|
||||
#define ESC_PRAM_SIZE(x) ((x) << 16)
|
||||
#define ESC_PRAM_ADDR(x) ((x) << 0)
|
||||
|
||||
#define ESC_CSR_DATA_REG 0x300
|
||||
#define ESC_CSR_CMD_REG 0x304
|
||||
|
||||
#define ESC_CSR_CMD_BUSY BIT(31)
|
||||
#define ESC_CSR_CMD_READ (BIT(31) | BIT(30))
|
||||
#define ESC_CSR_CMD_WRITE BIT(31)
|
||||
#define ESC_CSR_CMD_SIZE(x) (x << 16)
|
||||
|
||||
#define ESC_RESET_CTRL_REG 0x1F8
|
||||
#define ESC_RESET_CTRL_RST BIT(6)
|
||||
#define ESC_DIGITAL_RST 0x00000001
|
||||
|
||||
#define ESC_ID_REV_REG 0x050
|
||||
#define LAN9252_ID_REV 0x9252
|
||||
|
||||
#define ESC_IRQ_CFG_REG 0x054
|
||||
#define ESC_INT_EN_REG 0x05C
|
||||
#define ESC_BYTE_TEST_REG 0x064
|
||||
#define ESC_TEST_VALUE 0x87654321
|
||||
|
||||
#define ESC_HW_CFG_REG 0x074
|
||||
#define ESC_READY BIT(27)
|
||||
|
||||
|
||||
static int lan9252 = -1;
|
||||
|
||||
/* lan9252 singel write */
|
||||
static void lan9252_write_32 (uint16_t address, uint32_t val)
|
||||
{
|
||||
uint8_t data[7];
|
||||
|
||||
data[0] = ESC_CMD_SERIAL_WRITE;
|
||||
data[1] = ((address >> 8) & 0xFF);
|
||||
data[2] = (address & 0xFF);
|
||||
data[3] = (val & 0xFF);
|
||||
data[4] = ((val >> 8) & 0xFF);
|
||||
data[5] = ((val >> 16) & 0xFF);
|
||||
data[6] = ((val >> 24) & 0xFF);
|
||||
|
||||
/* Select device. */
|
||||
spi_select (lan9252);
|
||||
/* Write data */
|
||||
write (lan9252, data, sizeof(data));
|
||||
/* Un-select device. */
|
||||
spi_unselect (lan9252);
|
||||
}
|
||||
|
||||
/* lan9252 single read */
|
||||
static uint32_t lan9252_read_32 (uint32_t address)
|
||||
{
|
||||
uint8_t data[4];
|
||||
uint8_t result[4];
|
||||
|
||||
data[0] = ESC_CMD_FAST_READ;
|
||||
data[1] = ((address >> 8) & 0xFF);
|
||||
data[2] = (address & 0xFF);
|
||||
data[3] = ESC_CMD_FAST_READ_DUMMY;
|
||||
|
||||
/* Select device. */
|
||||
spi_select (lan9252);
|
||||
/* Read data */
|
||||
write (lan9252, data, sizeof(data));
|
||||
read (lan9252, result, sizeof(result));
|
||||
/* Un-select device. */
|
||||
spi_unselect (lan9252);
|
||||
|
||||
return ((result[3] << 24) |
|
||||
(result[2] << 16) |
|
||||
(result[1] << 8) |
|
||||
result[0]);
|
||||
}
|
||||
|
||||
/* ESC read CSR function */
|
||||
static void ESC_read_csr (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
uint32_t value;
|
||||
|
||||
value = (ESC_CSR_CMD_READ | ESC_CSR_CMD_SIZE(len) | address);
|
||||
lan9252_write_32(ESC_CSR_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_CSR_CMD_REG);
|
||||
} while(value & ESC_CSR_CMD_BUSY);
|
||||
|
||||
value = lan9252_read_32(ESC_CSR_DATA_REG);
|
||||
memcpy(buf, (uint8_t *)&value, len);
|
||||
}
|
||||
|
||||
/* ESC write CSR function */
|
||||
static void ESC_write_csr (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
uint32_t value;
|
||||
|
||||
memcpy((uint8_t*)&value, buf,len);
|
||||
lan9252_write_32(ESC_CSR_DATA_REG, value);
|
||||
value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
|
||||
lan9252_write_32(ESC_CSR_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_CSR_CMD_REG);
|
||||
} while(value & ESC_CSR_CMD_BUSY);
|
||||
}
|
||||
|
||||
/* ESC read process data ram function */
|
||||
/*static*/ void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
uint32_t value;
|
||||
uint8_t * temp_buf = (uint8_t *)buf;
|
||||
uint16_t byte_offset = 0;
|
||||
uint8_t fifo_cnt, first_byte_position, temp_len, data[4];
|
||||
|
||||
value = ESC_PRAM_CMD_ABORT;
|
||||
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
|
||||
}while(value & ESC_PRAM_CMD_BUSY);
|
||||
|
||||
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
|
||||
lan9252_write_32(ESC_PRAM_RD_ADDR_LEN_REG, value);
|
||||
|
||||
value = ESC_PRAM_CMD_BUSY;
|
||||
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
|
||||
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
|
||||
|
||||
/* Fifo count */
|
||||
fifo_cnt = ESC_PRAM_CMD_CNT(value);
|
||||
|
||||
/* Read first value from FIFO */
|
||||
value = lan9252_read_32(ESC_PRAM_RD_FIFO_REG);
|
||||
fifo_cnt--;
|
||||
|
||||
/* Find out first byte position and adjust the copy from that
|
||||
* according to LAN9252 datasheet and MicroChip SDK code
|
||||
*/
|
||||
first_byte_position = (address & 0x03);
|
||||
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
|
||||
|
||||
memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
|
||||
len -= temp_len;
|
||||
byte_offset += temp_len;
|
||||
|
||||
/* Select device. */
|
||||
spi_select (lan9252);
|
||||
/* Send command and address for fifo read */
|
||||
data[0] = ESC_CMD_FAST_READ;
|
||||
data[1] = ((ESC_PRAM_RD_FIFO_REG >> 8) & 0xFF);
|
||||
data[2] = (ESC_PRAM_RD_FIFO_REG & 0xFF);
|
||||
data[3] = ESC_CMD_FAST_READ_DUMMY;
|
||||
write (lan9252, data, sizeof(data));
|
||||
|
||||
/* Continue reading until we have read len */
|
||||
while(len > 0)
|
||||
{
|
||||
temp_len = (len > 4) ? 4: len;
|
||||
/* Always read 4 byte */
|
||||
read (lan9252, (temp_buf + byte_offset), sizeof(uint32_t));
|
||||
|
||||
fifo_cnt--;
|
||||
len -= temp_len;
|
||||
byte_offset += temp_len;
|
||||
}
|
||||
/* Un-select device. */
|
||||
spi_unselect (lan9252);
|
||||
}
|
||||
|
||||
/* ESC write process data ram function */
|
||||
/* static */ void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
uint32_t value;
|
||||
uint8_t * temp_buf = (uint8_t *)buf;
|
||||
uint16_t byte_offset = 0;
|
||||
uint8_t fifo_cnt, first_byte_position, temp_len, data[3];
|
||||
|
||||
value = ESC_PRAM_CMD_ABORT;
|
||||
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
|
||||
}while(value & ESC_PRAM_CMD_BUSY);
|
||||
|
||||
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
|
||||
lan9252_write_32(ESC_PRAM_WR_ADDR_LEN_REG, value);
|
||||
|
||||
value = ESC_PRAM_CMD_BUSY;
|
||||
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
|
||||
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
|
||||
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
|
||||
|
||||
/* Fifo count */
|
||||
fifo_cnt = ESC_PRAM_CMD_CNT(value);
|
||||
|
||||
/* Find out first byte position and adjust the copy from that
|
||||
* according to LAN9252 datasheet
|
||||
*/
|
||||
first_byte_position = (address & 0x03);
|
||||
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
|
||||
|
||||
memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
|
||||
|
||||
/* Write first value from FIFO */
|
||||
lan9252_write_32(ESC_PRAM_WR_FIFO_REG, value);
|
||||
|
||||
len -= temp_len;
|
||||
byte_offset += temp_len;
|
||||
fifo_cnt--;
|
||||
|
||||
/* Select device. */
|
||||
spi_select (lan9252);
|
||||
/* Send command and address for incrementing write */
|
||||
data[0] = ESC_CMD_SERIAL_WRITE;
|
||||
data[1] = ((ESC_PRAM_WR_FIFO_REG >> 8) & 0xFF);
|
||||
data[2] = (ESC_PRAM_WR_FIFO_REG & 0xFF);
|
||||
write (lan9252, data, sizeof(data));
|
||||
|
||||
/* Continue reading until we have read len */
|
||||
while(len > 0)
|
||||
{
|
||||
temp_len = (len > 4) ? 4 : len;
|
||||
value = 0;
|
||||
memcpy((uint8_t *)&value, (temp_buf + byte_offset), temp_len);
|
||||
/* Always write 4 byte */
|
||||
write (lan9252, (uint8_t *)&value, sizeof(value));
|
||||
|
||||
fifo_cnt--;
|
||||
len -= temp_len;
|
||||
byte_offset += temp_len;
|
||||
}
|
||||
/* Un-select device. */
|
||||
spi_unselect (lan9252);
|
||||
}
|
||||
|
||||
|
||||
/** ESC read function used by the Slave stack.
|
||||
*
|
||||
* @param[in] address = address of ESC register to read
|
||||
* @param[out] buf = pointer to buffer to read in
|
||||
* @param[in] len = number of bytes to read
|
||||
*/
|
||||
void ESC_read (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
/* Select Read function depending on address, process data ram or not */
|
||||
if (address >= 0x1000)
|
||||
{
|
||||
ESC_read_pram(address, buf, len);
|
||||
}
|
||||
else
|
||||
{
|
||||
uint16_t size;
|
||||
uint8_t *temp_buf = (uint8_t *)buf;
|
||||
|
||||
while(len > 0)
|
||||
{
|
||||
/* We write maximum 4 bytes at the time */
|
||||
size = (len > 4) ? 4 : len;
|
||||
/* Make size aligned to address according to LAN9252 datasheet
|
||||
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
|
||||
*/
|
||||
/* If we got an odd address size is 1 , 01b 11b is captured */
|
||||
if(address & BIT(0))
|
||||
{
|
||||
size = 1;
|
||||
}
|
||||
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
|
||||
else if (address & BIT(1))
|
||||
{
|
||||
size = (size & BIT(0)) ? 1 : 2;
|
||||
}
|
||||
/* size 3 not valid */
|
||||
else if (size == 3)
|
||||
{
|
||||
size = 1;
|
||||
}
|
||||
/* else size is kept AS IS */
|
||||
ESC_read_csr(address, temp_buf, size);
|
||||
|
||||
/* next address */
|
||||
len -= size;
|
||||
temp_buf += size;
|
||||
address += size;
|
||||
}
|
||||
}
|
||||
/* To mimic the ET1100 always providing AlEvent on every read or write */
|
||||
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
|
||||
ESCvar.ALevent = etohs (ESCvar.ALevent);
|
||||
|
||||
}
|
||||
|
||||
/** ESC write function used by the Slave stack.
|
||||
*
|
||||
* @param[in] address = address of ESC register to write
|
||||
* @param[out] buf = pointer to buffer to write from
|
||||
* @param[in] len = number of bytes to write
|
||||
*/
|
||||
void ESC_write (uint16_t address, void *buf, uint16_t len)
|
||||
{
|
||||
/* Select Write function depending on address, process data ram or not */
|
||||
if (address >= 0x1000)
|
||||
{
|
||||
ESC_write_pram(address, buf, len);
|
||||
}
|
||||
else
|
||||
{
|
||||
uint16_t size;
|
||||
uint8_t *temp_buf = (uint8_t *)buf;
|
||||
|
||||
while(len > 0)
|
||||
{
|
||||
/* We write maximum 4 bytes at the time */
|
||||
size = (len > 4) ? 4 : len;
|
||||
/* Make size aligned to address according to LAN9252 datasheet
|
||||
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
|
||||
*/
|
||||
/* If we got an odd address size is 1 , 01b 11b is captured */
|
||||
if(address & BIT(0))
|
||||
{
|
||||
size = 1;
|
||||
}
|
||||
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
|
||||
else if (address & BIT(1))
|
||||
{
|
||||
size = (size & BIT(0)) ? 1 : 2;
|
||||
}
|
||||
/* size 3 not valid */
|
||||
else if (size == 3)
|
||||
{
|
||||
size = 1;
|
||||
}
|
||||
/* else size is kept AS IS */
|
||||
ESC_write_csr(address, temp_buf, size);
|
||||
|
||||
/* next address */
|
||||
len -= size;
|
||||
temp_buf += size;
|
||||
address += size;
|
||||
}
|
||||
}
|
||||
|
||||
/* To mimic the ET1x00 always providing AlEvent on every read or write */
|
||||
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
|
||||
ESCvar.ALevent = etohs (ESCvar.ALevent);
|
||||
}
|
||||
|
||||
/* Un-used due to evb-lan9252-digio not havning any possability to
|
||||
* reset except over SPI.
|
||||
*/
|
||||
void ESC_reset (void)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
uint8_t ESC_IsLAN9252()
|
||||
{
|
||||
volatile uint32_t value;
|
||||
uint16_t detectedChip, revision;
|
||||
|
||||
/* Read */
|
||||
value = lan9252_read_32(ESC_ID_REV_REG);
|
||||
detectedChip = value >> 16;
|
||||
revision = value & 0xFF;
|
||||
|
||||
return detectedChip == LAN9252_ID_REV
|
||||
&& revision >= 1;
|
||||
}
|
||||
|
||||
|
||||
void ESC_init (const esc_cfg_t * config)
|
||||
{
|
||||
uint32_t value;
|
||||
|
||||
spi_setup();
|
||||
|
||||
/* Reset the ecat core here due to evb-lan9252-digio not having any GPIO
|
||||
* for that purpose.
|
||||
*/
|
||||
lan9252_write_32(ESC_RESET_CTRL_REG, ESC_DIGITAL_RST);
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_RESET_CTRL_REG);
|
||||
}
|
||||
while(value & ESC_RESET_CTRL_RST);
|
||||
|
||||
/* Read test register */
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_BYTE_TEST_REG);
|
||||
}
|
||||
while (value != ESC_TEST_VALUE);
|
||||
|
||||
/* Check Ready flag */
|
||||
do
|
||||
{
|
||||
value = lan9252_read_32(ESC_HW_CFG_REG);
|
||||
}
|
||||
while ((value & ESC_READY) == 0);
|
||||
|
||||
if(!ESC_IsLAN9252())
|
||||
{
|
||||
while (1);
|
||||
}
|
||||
}
|
||||
66
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp
Executable file
66
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp
Executable file
@@ -0,0 +1,66 @@
|
||||
#include "spi.hpp"
|
||||
// #include <Arduino.h>
|
||||
#include <SPI.h>
|
||||
|
||||
|
||||
char SCS = ESC_GPIO_Pin_CS;
|
||||
|
||||
|
||||
void spi_setup(void)
|
||||
{
|
||||
SPI.begin();
|
||||
pinMode(SCS, OUTPUT);
|
||||
spi_unselect(0);
|
||||
delay(100);
|
||||
SPI.beginTransaction(SPISettings(SPIX_ESC_SPEED, MSBFIRST, SPI_MODE0));
|
||||
|
||||
}
|
||||
|
||||
void spi_select (int8_t board)
|
||||
{
|
||||
// Soft CSN
|
||||
#if SCS_ACTIVE_POLARITY == SCS_LOW
|
||||
digitalWrite(SCS, LOW);
|
||||
#endif
|
||||
}
|
||||
|
||||
void spi_unselect (int8_t board)
|
||||
{
|
||||
// Soft CSN
|
||||
#if SCS_ACTIVE_POLARITY == SCS_LOW
|
||||
digitalWrite(SCS, HIGH);
|
||||
#endif
|
||||
}
|
||||
|
||||
inline static uint8_t spi_transfer_byte(uint8_t byte)
|
||||
{
|
||||
return SPI.transfer(byte);
|
||||
// AVR will need handling last byte transfer difference,
|
||||
// but then again they pobably wont even fit EtherCAT stack in RAM
|
||||
// so no need to care for now
|
||||
}
|
||||
|
||||
void write (int8_t board, uint8_t *data, uint8_t size)
|
||||
{
|
||||
for(int i = 0; i < size; ++i)
|
||||
{
|
||||
spi_transfer_byte(data[i]);
|
||||
}
|
||||
}
|
||||
|
||||
void read (int8_t board, uint8_t *result, uint8_t size)
|
||||
{
|
||||
for(int i = 0; i < size; ++i)
|
||||
{
|
||||
result[i] = spi_transfer_byte(DUMMY_BYTE);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size)
|
||||
{
|
||||
for(int i = 0; i < size; ++i)
|
||||
{
|
||||
result[i] = spi_transfer_byte(data[i]);
|
||||
}
|
||||
}
|
||||
15
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.h
Executable file
15
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.h
Executable file
@@ -0,0 +1,15 @@
|
||||
#ifndef SRC_APP_SPI_H_
|
||||
#define SRC_APP_SPI_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
void spi_setup(void);
|
||||
void spi_select (int8_t board);
|
||||
void spi_unselect (int8_t board);
|
||||
void write (int8_t board, uint8_t *data, uint8_t size);
|
||||
void read (int8_t board, uint8_t *result, uint8_t size);
|
||||
void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size);
|
||||
|
||||
|
||||
#endif /* SRC_APP_SPI_H_ */
|
||||
25
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp
Executable file
25
Cards/EaserCAT-7000-DIO+I2C/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp
Executable file
@@ -0,0 +1,25 @@
|
||||
#ifndef SRC_APP_SPI_H_
|
||||
#define SRC_APP_SPI_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#define SCS_LOW 0
|
||||
#define SCS_HIGH 1
|
||||
#define SCS_ACTIVE_POLARITY SCS_LOW
|
||||
|
||||
#define SPIX_ESC SPI1
|
||||
//#define SPIX_ESC_SPEED 18000000
|
||||
#define SPIX_ESC_SPEED 50000000
|
||||
#define ESC_GPIO_Pin_CS PC4
|
||||
|
||||
#define DUMMY_BYTE 0xFF
|
||||
|
||||
extern "C" void spi_setup(void);
|
||||
extern "C" void spi_select (int8_t board);
|
||||
extern "C" void spi_unselect (int8_t board);
|
||||
extern "C" void write (int8_t board, uint8_t *data, uint8_t size);
|
||||
extern "C" void read (int8_t board, uint8_t *result, uint8_t size);
|
||||
extern "C" void spi_bidirectionally_transfer (int8_t board, uint8_t *result, uint8_t *data, uint8_t size);
|
||||
|
||||
|
||||
#endif /* SRC_APP_SPI_H_ */
|
||||
25
Cards/EaserCAT-7000-DIO+I2C/Firmware/platformio.ini
Executable file
25
Cards/EaserCAT-7000-DIO+I2C/Firmware/platformio.ini
Executable file
@@ -0,0 +1,25 @@
|
||||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[env:genericSTM32F407VGT6]
|
||||
framework = arduino
|
||||
platform = ststm32
|
||||
board = genericSTM32F407VGT6
|
||||
upload_protocol = stlink
|
||||
debug_tool = stlink
|
||||
debug_build_flags = -O0 -g -ggdb
|
||||
monitor_port = COM19
|
||||
monitor_filters = send_on_enter, time, colorize, log2file
|
||||
monitor_speed = 115200
|
||||
build_flags = -Wl,--no-warn-rwx-segment -DNO_ECAT -DADS1xxx
|
||||
lib_deps =
|
||||
SPI
|
||||
pilotak/MCP3X21@^1.0.1
|
||||
robtillaart/ADS1X15@^0.5.2
|
||||
18
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/extend32to64.cpp
Executable file
18
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/extend32to64.cpp
Executable file
@@ -0,0 +1,18 @@
|
||||
#include "extend32to64.h"
|
||||
|
||||
// Extend from 32-bit to 64-bit precision
|
||||
int64_t extend32to64::extendTime(uint32_t in)
|
||||
{
|
||||
int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
|
||||
int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
|
||||
|
||||
// wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
|
||||
int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
|
||||
if (dif < int64_t(-HALF_PERIOD))
|
||||
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
|
||||
|
||||
int64_t unwrapped = previousTimeValue + mod_dif;
|
||||
previousTimeValue = unwrapped; // load previous value
|
||||
|
||||
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
|
||||
}
|
||||
256
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
Executable file
256
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
Executable file
@@ -0,0 +1,256 @@
|
||||
#include <Arduino.h>
|
||||
#include <stdio.h>
|
||||
extern "C"
|
||||
{
|
||||
#include "ecat_slv.h"
|
||||
#include "utypes.h"
|
||||
};
|
||||
_Objects Obj;
|
||||
|
||||
#include "extend32to64.h"
|
||||
extend32to64 longTime;
|
||||
volatile uint64_t irqTime = 0;
|
||||
|
||||
HardwareSerial Serial1(PA10, PA9);
|
||||
|
||||
uint8_t inputPin[] = {PD15, PD14, PD13, PD12, PD11, PD10, PD9, PD8, PB15, PB14, PB13, PB12};
|
||||
uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
|
||||
|
||||
const uint32_t I2C_BUS_SPEED = 100000;
|
||||
uint32_t I2C_restarts = 0;
|
||||
|
||||
#include "Wire.h"
|
||||
TwoWire Wire2(PB11, PB10);
|
||||
|
||||
#ifdef MCP3221
|
||||
#include "MyMCP3221.h"
|
||||
MyMCP3221 mcp3221_0(0x48, &Wire2);
|
||||
MyMCP3221 mcp3221_7(0x4f, &Wire2);
|
||||
#endif
|
||||
#ifdef ADS1xxx
|
||||
#include "ADS1X15.h"
|
||||
ADS1115 ads1115(0x48, &Wire2);
|
||||
#endif
|
||||
|
||||
#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
|
||||
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
|
||||
#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
|
||||
#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
|
||||
|
||||
volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
|
||||
|
||||
void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
|
||||
{
|
||||
// Update digital output pins
|
||||
for (int i = 0; i < sizeof(outputPin); i++)
|
||||
digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
|
||||
}
|
||||
|
||||
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
{
|
||||
static float validData0 = 0.0, validVoltage0 = 0.0;
|
||||
for (int i = 0; i < sizeof(inputPin); i++)
|
||||
Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
|
||||
|
||||
float scale = Obj.VoltageScale;
|
||||
if (scale == 0.0)
|
||||
scale = 1.0;
|
||||
#ifdef MCP3221
|
||||
int data0 = mcp3221_0.getData();
|
||||
int stat = mcp3221_0.ping();
|
||||
#endif
|
||||
#ifdef ADS1xxx
|
||||
int data0 = ads1115.readADC_Differential_0_1();
|
||||
int stat = ads1115.isConnected();
|
||||
#endif
|
||||
if (stat == 0)
|
||||
{ // Read good value
|
||||
Obj.CalculatedVoltage = scale * data0 + Obj.VoltageOffset; //
|
||||
Obj.RawData = data0; // Raw voltage, read by ADC
|
||||
validVoltage0 = Obj.CalculatedVoltage;
|
||||
validData0 = data0;
|
||||
}
|
||||
else
|
||||
{ // Didn't read a good value. Return a hopefully useful value and restart the I2C bus
|
||||
Obj.CalculatedVoltage = validVoltage0; // Use value from previous call
|
||||
Obj.RawData = validData0;
|
||||
// Reset wire here
|
||||
Wire2.end();
|
||||
Wire2.begin();
|
||||
Wire2.setClock(I2C_BUS_SPEED);
|
||||
I2C_restarts++;
|
||||
}
|
||||
Obj.Status = I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are number of restarts (restart attempts)
|
||||
}
|
||||
|
||||
void ESC_interrupt_enable(uint32_t mask);
|
||||
void ESC_interrupt_disable(uint32_t mask);
|
||||
uint16_t dc_checker(void);
|
||||
void sync0Handler(void);
|
||||
|
||||
static esc_cfg_t config =
|
||||
{
|
||||
.user_arg = NULL,
|
||||
.use_interrupt = 1,
|
||||
.watchdog_cnt = 150,
|
||||
.set_defaults_hook = NULL,
|
||||
.pre_state_change_hook = NULL,
|
||||
.post_state_change_hook = NULL,
|
||||
.application_hook = NULL,
|
||||
.safeoutput_override = NULL,
|
||||
.pre_object_download_hook = NULL,
|
||||
.post_object_download_hook = NULL,
|
||||
.rxpdo_override = NULL,
|
||||
.txpdo_override = NULL,
|
||||
.esc_hw_interrupt_enable = ESC_interrupt_enable,
|
||||
.esc_hw_interrupt_disable = ESC_interrupt_disable,
|
||||
.esc_hw_eep_handler = NULL,
|
||||
.esc_check_dc_handler = dc_checker,
|
||||
};
|
||||
|
||||
volatile byte serveIRQ = 0;
|
||||
|
||||
void setup(void)
|
||||
{
|
||||
Serial1.begin(115200);
|
||||
|
||||
for (int i = 0; i < sizeof(inputPin); i++)
|
||||
pinMode(inputPin[i], INPUT_PULLDOWN);
|
||||
for (int i = 0; i < sizeof(outputPin); i++)
|
||||
{
|
||||
pinMode(outputPin[i], OUTPUT);
|
||||
digitalWrite(outputPin[i], LOW);
|
||||
}
|
||||
// Debug leds
|
||||
pinMode(PB4, OUTPUT);
|
||||
pinMode(PB5, OUTPUT);
|
||||
pinMode(PB6, OUTPUT);
|
||||
pinMode(PB7, OUTPUT);
|
||||
digitalWrite(PB4, LOW);
|
||||
digitalWrite(PB5, LOW);
|
||||
digitalWrite(PB6, LOW);
|
||||
digitalWrite(PB7, LOW);
|
||||
|
||||
Wire2.begin();
|
||||
Wire2.setClock(I2C_BUS_SPEED);
|
||||
#ifdef ADS1xxx
|
||||
ads1115.begin();
|
||||
ads1115.setGain(1); // 4.096V
|
||||
ads1115.setMode(1); // Single
|
||||
ads1115.setDataRate(7);
|
||||
#endif
|
||||
|
||||
#ifdef ECAT
|
||||
ecat_slv_init(&config);
|
||||
#endif
|
||||
|
||||
#if 1 // Uncomment for commissioning tests
|
||||
digitalWrite(outputPin[0], HIGH); // All four output leds should go high
|
||||
digitalWrite(outputPin[1], HIGH);
|
||||
digitalWrite(outputPin[2], HIGH);
|
||||
digitalWrite(outputPin[3], HIGH);
|
||||
while (1) // Apply voltage over the inputs 0-11 and see response in terminal
|
||||
{
|
||||
int nDevices = 0;
|
||||
for (int i2caddr = 0; i2caddr < 127; i2caddr++)
|
||||
{
|
||||
Wire2.beginTransmission(i2caddr);
|
||||
int stat = Wire2.endTransmission();
|
||||
if (stat == 0)
|
||||
{
|
||||
Serial1.printf("I2C device found at address 0x%2x\b", i2caddr);
|
||||
nDevices++;
|
||||
}
|
||||
}
|
||||
Serial1.printf("Found %d devices\n", nDevices);
|
||||
#ifdef MCP3221
|
||||
Serial1.printf("I2C status=%d rawdata=%d ", mcp3221_0.ping(), mcp3221_0.getData());
|
||||
#endif
|
||||
#ifdef ADS1xxx
|
||||
Serial1.printf("I2C status=%d rawdata=%d ", ads1115.isConnected() ? 0 : -1, ads1115.readADC_Differential_0_1());
|
||||
#endif
|
||||
for (int i = 0; i < 12; i++)
|
||||
Serial1.printf("%u", digitalRead(inputPin[i]));
|
||||
Serial1.println();
|
||||
delay(100);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void loop(void)
|
||||
{
|
||||
#ifdef ECAT
|
||||
uint64_t dTime;
|
||||
if (serveIRQ)
|
||||
{
|
||||
DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
|
||||
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
|
||||
serveIRQ = 0;
|
||||
ESCvar.PrevTime = ESCvar.Time;
|
||||
ecat_slv_poll();
|
||||
}
|
||||
dTime = longTime.extendTime(micros()) - irqTime;
|
||||
if (dTime > 5000) // Not doing interrupts - handle free-run
|
||||
ecat_slv();
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void sync0Handler(void)
|
||||
{
|
||||
ALEventIRQ = ESC_ALeventread();
|
||||
// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
|
||||
{
|
||||
irqTime = longTime.extendTime(micros());
|
||||
serveIRQ = 1;
|
||||
}
|
||||
}
|
||||
|
||||
// Enable SM2 interrupts
|
||||
void ESC_interrupt_enable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
|
||||
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
|
||||
|
||||
// Set LAN9252 interrupt pin driver as push-pull active high
|
||||
uint32_t bits = 0x00000111;
|
||||
ESC_write(0x54, &bits, 4);
|
||||
|
||||
// Enable LAN9252 interrupt
|
||||
bits = 0x00000001;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
// Disable SM2 interrupts
|
||||
void ESC_interrupt_disable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
|
||||
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
// Disable interrupt from SYNC0
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
|
||||
detachInterrupt(digitalPinToInterrupt(PC3));
|
||||
// Disable LAN9252 interrupt
|
||||
uint32_t bits = 0x00000000;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" uint32_t ESC_SYNC0cycletime(void);
|
||||
|
||||
// Setup of DC
|
||||
uint16_t dc_checker(void)
|
||||
{
|
||||
// Indicate we run DC
|
||||
ESCvar.dcsync = 1;
|
||||
return 0;
|
||||
}
|
||||
2
Cards/EaserCAT-7000-DIO+I2C/Kicad/.gitignore
vendored
Normal file
2
Cards/EaserCAT-7000-DIO+I2C/Kicad/.gitignore
vendored
Normal file
@@ -0,0 +1,2 @@
|
||||
Gerbers
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
60682
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_pcb
Executable file
60682
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_pcb
Executable file
File diff suppressed because it is too large
Load Diff
83
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_prl
Executable file
83
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_prl
Executable file
@@ -0,0 +1,83 @@
|
||||
{
|
||||
"board": {
|
||||
"active_layer": 0,
|
||||
"active_layer_preset": "All Layers",
|
||||
"auto_track_width": true,
|
||||
"hidden_netclasses": [],
|
||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
|
||||
"net_color_mode": 1,
|
||||
"opacity": {
|
||||
"images": 0.6,
|
||||
"pads": 1.0,
|
||||
"tracks": 1.0,
|
||||
"vias": 1.0,
|
||||
"zones": 0.6
|
||||
},
|
||||
"selection_filter": {
|
||||
"dimensions": true,
|
||||
"footprints": true,
|
||||
"graphics": true,
|
||||
"keepouts": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pads": true,
|
||||
"text": true,
|
||||
"tracks": true,
|
||||
"vias": true,
|
||||
"zones": true
|
||||
},
|
||||
"visible_items": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
8,
|
||||
9,
|
||||
10,
|
||||
11,
|
||||
12,
|
||||
13,
|
||||
15,
|
||||
16,
|
||||
17,
|
||||
18,
|
||||
19,
|
||||
20,
|
||||
21,
|
||||
22,
|
||||
23,
|
||||
24,
|
||||
25,
|
||||
26,
|
||||
27,
|
||||
28,
|
||||
29,
|
||||
30,
|
||||
32,
|
||||
33,
|
||||
34,
|
||||
35,
|
||||
36,
|
||||
39,
|
||||
40
|
||||
],
|
||||
"visible_layers": "fffffff_ffffffff",
|
||||
"zone_display_mode": 0
|
||||
},
|
||||
"git": {
|
||||
"repo_password": "",
|
||||
"repo_type": "",
|
||||
"repo_username": "",
|
||||
"ssh_key": ""
|
||||
},
|
||||
"meta": {
|
||||
"filename": "EaserCAT-7000.kicad_prl",
|
||||
"version": 3
|
||||
},
|
||||
"project": {
|
||||
"files": []
|
||||
}
|
||||
}
|
||||
690
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_pro
Executable file
690
Cards/EaserCAT-7000-DIO+I2C/Kicad/EaserCAT-7000.kicad_pro
Executable file
@@ -0,0 +1,690 @@
|
||||
{
|
||||
"board": {
|
||||
"3dviewports": [],
|
||||
"design_settings": {
|
||||
"defaults": {
|
||||
"apply_defaults_to_fp_fields": false,
|
||||
"apply_defaults_to_fp_shapes": false,
|
||||
"apply_defaults_to_fp_text": false,
|
||||
"board_outline_line_width": 0.1,
|
||||
"copper_line_width": 0.2,
|
||||
"copper_text_italic": false,
|
||||
"copper_text_size_h": 1.5,
|
||||
"copper_text_size_v": 1.5,
|
||||
"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
||||
"courtyard_line_width": 0.05,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
||||
"arrow_length": 1270000,
|
||||
"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
"suppress_zeroes": false,
|
||||
"text_position": 0,
|
||||
"units_format": 1
|
||||
},
|
||||
"fab_line_width": 0.1,
|
||||
"fab_text_italic": false,
|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
"fab_text_upright": false,
|
||||
"other_line_width": 0.15,
|
||||
"other_text_italic": false,
|
||||
"other_text_size_h": 1.0,
|
||||
"other_text_size_v": 1.0,
|
||||
"other_text_thickness": 0.15,
|
||||
"other_text_upright": false,
|
||||
"pads": {
|
||||
"drill": 3.5,
|
||||
"height": 3.5,
|
||||
"width": 3.5
|
||||
},
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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||||
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|
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|
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|
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|
||||
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
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|
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|
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||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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1
Cards/EaserCAT-7000-DIO+I2C/Kicad/fp-info-cache
Executable file
1
Cards/EaserCAT-7000-DIO+I2C/Kicad/fp-info-cache
Executable file
@@ -0,0 +1 @@
|
||||
0
|
||||
11940
Cards/EaserCAT-7000-DIO+I2C/Kicad/peripherals.kicad_sch
Executable file
11940
Cards/EaserCAT-7000-DIO+I2C/Kicad/peripherals.kicad_sch
Executable file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user