Name change of E7000
This commit is contained in:
Hakan Bastedt
256
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
Executable file
256
Cards/EaserCAT-7000-DIO+I2C/Firmware/src/main.cpp
Executable file
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#include <Arduino.h>
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#include <stdio.h>
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extern "C"
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{
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#include "ecat_slv.h"
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#include "utypes.h"
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};
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_Objects Obj;
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#include "extend32to64.h"
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extend32to64 longTime;
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volatile uint64_t irqTime = 0;
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HardwareSerial Serial1(PA10, PA9);
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uint8_t inputPin[] = {PD15, PD14, PD13, PD12, PD11, PD10, PD9, PD8, PB15, PB14, PB13, PB12};
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uint8_t outputPin[] = {PE10, PE9, PE8, PE7};
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const uint32_t I2C_BUS_SPEED = 100000;
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uint32_t I2C_restarts = 0;
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#include "Wire.h"
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TwoWire Wire2(PB11, PB10);
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#ifdef MCP3221
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#include "MyMCP3221.h"
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MyMCP3221 mcp3221_0(0x48, &Wire2);
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MyMCP3221 mcp3221_7(0x4f, &Wire2);
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#endif
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#ifdef ADS1xxx
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#include "ADS1X15.h"
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ADS1115 ads1115(0x48, &Wire2);
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#endif
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#define bitset(byte, nbit) ((byte) |= (1 << (nbit)))
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#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
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#define bitflip(byte, nbit) ((byte) ^= (1 << (nbit)))
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#define bitcheck(byte, nbit) ((byte) & (1 << (nbit)))
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volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
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void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation
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{
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// Update digital output pins
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for (int i = 0; i < sizeof(outputPin); i++)
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digitalWrite(outputPin[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
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}
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void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
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{
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static float validData0 = 0.0, validVoltage0 = 0.0;
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for (int i = 0; i < sizeof(inputPin); i++)
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Obj.Input12 = digitalRead(inputPin[i]) == HIGH ? bitset(Obj.Input12, i) : bitclear(Obj.Input12, i);
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float scale = Obj.VoltageScale;
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if (scale == 0.0)
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scale = 1.0;
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#ifdef MCP3221
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int data0 = mcp3221_0.getData();
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int stat = mcp3221_0.ping();
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#endif
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#ifdef ADS1xxx
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int data0 = ads1115.readADC_Differential_0_1();
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int stat = ads1115.isConnected();
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#endif
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if (stat == 0)
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{ // Read good value
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Obj.CalculatedVoltage = scale * data0 + Obj.VoltageOffset; //
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Obj.RawData = data0; // Raw voltage, read by ADC
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validVoltage0 = Obj.CalculatedVoltage;
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validData0 = data0;
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}
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else
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{ // Didn't read a good value. Return a hopefully useful value and restart the I2C bus
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Obj.CalculatedVoltage = validVoltage0; // Use value from previous call
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Obj.RawData = validData0;
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// Reset wire here
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Wire2.end();
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Wire2.begin();
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Wire2.setClock(I2C_BUS_SPEED);
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I2C_restarts++;
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}
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Obj.Status = I2C_restarts + (stat << 28); // Put status as bits 28-31, the lower are number of restarts (restart attempts)
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}
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void ESC_interrupt_enable(uint32_t mask);
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void ESC_interrupt_disable(uint32_t mask);
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uint16_t dc_checker(void);
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void sync0Handler(void);
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static esc_cfg_t config =
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{
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.user_arg = NULL,
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.use_interrupt = 1,
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.watchdog_cnt = 150,
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = ESC_interrupt_enable,
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.esc_hw_interrupt_disable = ESC_interrupt_disable,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = dc_checker,
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};
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volatile byte serveIRQ = 0;
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void setup(void)
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{
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Serial1.begin(115200);
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for (int i = 0; i < sizeof(inputPin); i++)
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pinMode(inputPin[i], INPUT_PULLDOWN);
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for (int i = 0; i < sizeof(outputPin); i++)
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{
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pinMode(outputPin[i], OUTPUT);
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digitalWrite(outputPin[i], LOW);
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}
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// Debug leds
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pinMode(PB4, OUTPUT);
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pinMode(PB5, OUTPUT);
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pinMode(PB6, OUTPUT);
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pinMode(PB7, OUTPUT);
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digitalWrite(PB4, LOW);
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digitalWrite(PB5, LOW);
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digitalWrite(PB6, LOW);
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digitalWrite(PB7, LOW);
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Wire2.begin();
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Wire2.setClock(I2C_BUS_SPEED);
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#ifdef ADS1xxx
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ads1115.begin();
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ads1115.setGain(1); // 4.096V
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ads1115.setMode(1); // Single
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ads1115.setDataRate(7);
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#endif
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#ifdef ECAT
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ecat_slv_init(&config);
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#endif
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#if 1 // Uncomment for commissioning tests
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digitalWrite(outputPin[0], HIGH); // All four output leds should go high
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digitalWrite(outputPin[1], HIGH);
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digitalWrite(outputPin[2], HIGH);
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digitalWrite(outputPin[3], HIGH);
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while (1) // Apply voltage over the inputs 0-11 and see response in terminal
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{
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int nDevices = 0;
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for (int i2caddr = 0; i2caddr < 127; i2caddr++)
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{
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Wire2.beginTransmission(i2caddr);
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int stat = Wire2.endTransmission();
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if (stat == 0)
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{
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Serial1.printf("I2C device found at address 0x%2x\b", i2caddr);
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nDevices++;
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}
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}
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Serial1.printf("Found %d devices\n", nDevices);
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#ifdef MCP3221
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Serial1.printf("I2C status=%d rawdata=%d ", mcp3221_0.ping(), mcp3221_0.getData());
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#endif
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#ifdef ADS1xxx
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Serial1.printf("I2C status=%d rawdata=%d ", ads1115.isConnected() ? 0 : -1, ads1115.readADC_Differential_0_1());
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#endif
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for (int i = 0; i < 12; i++)
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Serial1.printf("%u", digitalRead(inputPin[i]));
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Serial1.println();
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delay(100);
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}
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#endif
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}
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void loop(void)
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{
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#ifdef ECAT
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uint64_t dTime;
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if (serveIRQ)
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{
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DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
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DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
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serveIRQ = 0;
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ESCvar.PrevTime = ESCvar.Time;
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ecat_slv_poll();
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}
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dTime = longTime.extendTime(micros()) - irqTime;
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if (dTime > 5000) // Not doing interrupts - handle free-run
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ecat_slv();
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#endif
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}
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void sync0Handler(void)
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{
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ALEventIRQ = ESC_ALeventread();
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// if (ALEventIRQ & ESCREG_ALEVENT_SM2)
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{
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irqTime = longTime.extendTime(micros());
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serveIRQ = 1;
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}
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}
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// Enable SM2 interrupts
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void ESC_interrupt_enable(uint32_t mask)
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{
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// Enable interrupt for SYNC0 or SM2 or SM3
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uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
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if (mask & user_int_mask)
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{
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
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attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
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// Set LAN9252 interrupt pin driver as push-pull active high
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uint32_t bits = 0x00000111;
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ESC_write(0x54, &bits, 4);
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// Enable LAN9252 interrupt
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bits = 0x00000001;
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ESC_write(0x5c, &bits, 4);
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}
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}
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// Disable SM2 interrupts
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void ESC_interrupt_disable(uint32_t mask)
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{
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// Enable interrupt for SYNC0 or SM2 or SM3
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// uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
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uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
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if (mask & user_int_mask)
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{
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// Disable interrupt from SYNC0
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
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detachInterrupt(digitalPinToInterrupt(PC3));
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// Disable LAN9252 interrupt
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uint32_t bits = 0x00000000;
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ESC_write(0x5c, &bits, 4);
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}
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}
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extern "C" uint32_t ESC_SYNC0cycletime(void);
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// Setup of DC
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uint16_t dc_checker(void)
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{
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// Indicate we run DC
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ESCvar.dcsync = 1;
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return 0;
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}
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