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Hakan Bastedt
2023-12-20 16:36:40 +01:00
parent 4b7093ecd7
commit aba5b7acea
78 changed files with 64112 additions and 1 deletions
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.gitignore vendored Executable file
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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Pcb-1-lan9252/EEPROM_generator Submodule

Submodule Pcb-1-lan9252/EEPROM_generator added at 1e6237732e

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Pcb-1-lan9252/Firmware/.gitignore vendored Executable file
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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{
// 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"
]
}

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{
"files.associations": {
"ecat_slv.h": "c",
"compare": "cpp"
}
}

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Pcb-1-lan9252/Firmware/include/README Executable file
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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

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Pcb-1-lan9252/Firmware/include/Stepper.h Executable file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
void StepperSetup(void);
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses);
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

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Pcb-1-lan9252/Firmware/include/Stm32F4_Encoder.h Executable file
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#ifndef __Stm32F4_Encoder_H__
#define __Stm32F4_Encoder_H__
#include <Arduino.h>
#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
//#define GPIO_MODER_MODER0 ((uint32_t)0x00000003)
#define GPIO_Mode_OUT 0x01
//#define GPIO_OSPEEDER_OSPEEDR0 ((uint32_t)0x00000003)
//#define GPIO_OTYPER_OT_0 ((uint32_t)0x00000001)
//#define GPIO_PUPDR_PUPDR0 ((uint32_t)0x00000003)
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Mode_AF 0x02
#define GPIO_OType_PP 0x00
#define GPIO_PuPd_NOPULL 0x00
#define GPIO_Pin_0 ((uint16_t)0x0001) /* Pin 0 selected */
#define GPIO_Pin_1 ((uint16_t)0x0002) /* Pin 1 selected */
#define GPIO_Pin_2 ((uint16_t)0x0004) /* Pin 2 selected */
#define GPIO_Pin_3 ((uint16_t)0x0008) /* Pin 3 selected */
#define GPIO_Pin_4 ((uint16_t)0x0010) /* Pin 4 selected */
#define GPIO_Pin_5 ((uint16_t)0x0020) /* Pin 5 selected */
#define GPIO_Pin_6 ((uint16_t)0x0040) /* Pin 6 selected */
#define GPIO_Pin_7 ((uint16_t)0x0080) /* Pin 7 selected */
#define GPIO_Pin_8 ((uint16_t)0x0100) /* Pin 8 selected */
#define GPIO_Pin_9 ((uint16_t)0x0200) /* Pin 9 selected */
#define GPIO_Pin_10 ((uint16_t)0x0400) /* Pin 10 selected */
#define GPIO_Pin_11 ((uint16_t)0x0800) /* Pin 11 selected */
#define GPIO_Pin_12 ((uint16_t)0x1000) /* Pin 12 selected */
#define GPIO_Pin_13 ((uint16_t)0x2000) /* Pin 13 selected */
#define GPIO_Pin_14 ((uint16_t)0x4000) /* Pin 14 selected */
#define GPIO_Pin_15 ((uint16_t)0x8000) /* Pin 15 selected */
#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
typedef struct TIM_TimeBaseInitTypeDef
{
uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_CounterMode; /*!< Specifies the counter mode.
This parameter can be a value of @ref TIM_Counter_Mode */
uint32_t TIM_Period; /*!< Specifies the period value to be loaded into the active
Auto-Reload Register at the next update event.
This parameter must be a number between 0x0000 and 0xFFFF. */
uint16_t TIM_ClockDivision; /*!< Specifies the clock division.
This parameter can be a value of @ref TIM_Clock_Division_CKD */
uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter
reaches zero, an update event is generated and counting restarts
from the RCR value (N).
This means in PWM mode that (N+1) corresponds to:
- the number of PWM periods in edge-aligned mode
- the number of half PWM period in center-aligned mode
This parameter must be a number between 0x00 and 0xFF.
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_TimeBaseInitTypeDef;
typedef struct
{
uint16_t setcount;
} encoder;
typedef struct
{
uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_State */
uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state.
This parameter can be a value of @ref TIM_Output_Compare_N_State
@note This parameter is valid only for TIM1 and TIM8. */
uint32_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
This parameter can be a number between 0x0000 and 0xFFFF */
uint16_t TIM_OCPolarity; /*!< Specifies the output polarity.
This parameter can be a value of @ref TIM_Output_Compare_Polarity */
uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity.
This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
@note This parameter is valid only for TIM1 and TIM8. */
} TIM_OCInitTypeDef;
typedef struct
{
uint16_t TIM_Channel; /*!< Specifies the TIM channel.
This parameter can be a value of @ref TIM_Channel */
uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint16_t TIM_ICSelection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint16_t TIM_ICFilter; /*!< Specifies the input capture filter.
This parameter can be a number between 0x0 and 0xF */
} TIM_ICInitTypeDef;
typedef struct
{
uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode.
This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state.
This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters.
This parameter can be a value of @ref TIM_Lock_level */
uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the
switching-on of the outputs.
This parameter can be a number between 0x00 and 0xFF */
uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not.
This parameter can be a value of @ref TIM_Break_Input_enable_disable */
uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity.
This parameter can be a value of @ref TIM_Break_Polarity */
uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
} TIM_BDTRInitTypeDef;
#define GPIO_PinSource0 ((uint8_t)0x00)
#define GPIO_PinSource1 ((uint8_t)0x01)
#define GPIO_PinSource2 ((uint8_t)0x02)
#define GPIO_PinSource3 ((uint8_t)0x03)
#define GPIO_PinSource4 ((uint8_t)0x04)
#define GPIO_PinSource5 ((uint8_t)0x05)
#define GPIO_PinSource6 ((uint8_t)0x06)
#define GPIO_PinSource7 ((uint8_t)0x07)
#define GPIO_PinSource8 ((uint8_t)0x08)
#define GPIO_PinSource9 ((uint8_t)0x09)
#define GPIO_PinSource10 ((uint8_t)0x0A)
#define GPIO_PinSource11 ((uint8_t)0x0B)
#define GPIO_PinSource12 ((uint8_t)0x0C)
#define GPIO_PinSource13 ((uint8_t)0x0D)
#define GPIO_PinSource14 ((uint8_t)0x0E)
#define GPIO_PinSource15 ((uint8_t)0x0F)
#define GPIO_AF_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
#define GPIO_AF_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
#define GPIO_AF_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
#define GPIO_AF_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
#define TIM4 ((TIM_TypeDef *) TIM4_BASE)
#define TIM8 ((TIM_TypeDef *) TIM8_BASE)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
//#define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
//#define TIM_CR1_CEN ((uint16_t)0x0001) /*!<Counter enable */
#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
(((PERIPH) == TIM13) || \
((PERIPH) == TIM14)))
#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM10) || \
((PERIPH) == TIM11) || \
((PERIPH) == TIM12) || \
((PERIPH) == TIM13) || \
((PERIPH) == TIM14))
#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8) || \
((PERIPH) == TIM9) || \
((PERIPH) == TIM12))
#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
((PERIPH) == TIM2) || \
((PERIPH) == TIM3) || \
((PERIPH) == TIM4) || \
((PERIPH) == TIM5) || \
((PERIPH) == TIM6) || \
((PERIPH) == TIM7) || \
((PERIPH) == TIM8))
#define IS_TIM_LIST6_PERIPH(TIMx)(((TIMx) == TIM2) || \
((TIMx) == TIM5) || \
((TIMx) == TIM11))
#define TIM_OCMode_Timing ((uint16_t)0x0000)
#define TIM_OCMode_Active ((uint16_t)0x0010)
#define TIM_OCMode_Inactive ((uint16_t)0x0020)
#define TIM_OCMode_Toggle ((uint16_t)0x0030)
#define TIM_OCMode_PWM1 ((uint16_t)0x0060)
#define TIM_OCMode_PWM2 ((uint16_t)0x0070)
//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
// ((MODE) == TIM_OCMode_Active) || \
// ((MODE) == TIM_OCMode_Inactive) || \
// ((MODE) == TIM_OCMode_Toggle)|| \
// ((MODE) == TIM_OCMode_PWM1) || \
// ((MODE) == TIM_OCMode_PWM2))
#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \
((MODE) == TIM_OCMode_Active) || \
((MODE) == TIM_OCMode_Inactive) || \
((MODE) == TIM_OCMode_Toggle)|| \
((MODE) == TIM_OCMode_PWM1) || \
((MODE) == TIM_OCMode_PWM2) || \
((MODE) == TIM_ForcedAction_Active) || \
((MODE) == TIM_ForcedAction_InActive))
#define TIM_OPMode_Single ((uint16_t)0x0008)
#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
// ((MODE) == TIM_OPMode_Repetitive))
#define TIM_Channel_1 ((uint16_t)0x0000)
#define TIM_Channel_2 ((uint16_t)0x0004)
#define TIM_Channel_3 ((uint16_t)0x0008)
#define TIM_Channel_4 ((uint16_t)0x000C)
#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3) || \
((CHANNEL) == TIM_Channel_4))
#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2))
#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
((CHANNEL) == TIM_Channel_2) || \
((CHANNEL) == TIM_Channel_3))
#define TIM_CKD_DIV1 ((uint16_t)0x0000)
#define TIM_CKD_DIV2 ((uint16_t)0x0100)
#define TIM_CKD_DIV4 ((uint16_t)0x0200)
#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
((DIV) == TIM_CKD_DIV2) || \
((DIV) == TIM_CKD_DIV4))
#define TIM_CounterMode_Up ((uint16_t)0x0000)
#define TIM_CounterMode_Down ((uint16_t)0x0010)
#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040)
#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060)
//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) || \
// ((MODE) == TIM_CounterMode_Down) || \
// ((MODE) == TIM_CounterMode_CenterAligned1) || \
// ((MODE) == TIM_CounterMode_CenterAligned2) || \
// ((MODE) == TIM_CounterMode_CenterAligned3))
#define TIM_OCPolarity_High ((uint16_t)0x0000)
#define TIM_OCPolarity_Low ((uint16_t)0x0002)
//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
// ((POLARITY) == TIM_OCPolarity_Low))
#define TIM_OCNPolarity_High ((uint16_t)0x0000)
#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
// ((POLARITY) == TIM_OCNPolarity_Low))
#define TIM_OutputState_Disable ((uint16_t)0x0000)
#define TIM_OutputState_Enable ((uint16_t)0x0001)
#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
((STATE) == TIM_OutputState_Enable))
#define TIM_OutputNState_Disable ((uint16_t)0x0000)
#define TIM_OutputNState_Enable ((uint16_t)0x0004)
#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
((STATE) == TIM_OutputNState_Enable))
#define TIM_CCx_Enable ((uint16_t)0x0001)
#define TIM_CCx_Disable ((uint16_t)0x0000)
#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
((CCX) == TIM_CCx_Disable))
#define TIM_CCxN_Enable ((uint16_t)0x0004)
#define TIM_CCxN_Disable ((uint16_t)0x0000)
#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
((CCXN) == TIM_CCxN_Disable))
#define TIM_Break_Enable ((uint16_t)0x1000)
#define TIM_Break_Disable ((uint16_t)0x0000)
//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
// ((STATE) == TIM_Break_Disable))
#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
#define TIM_BreakPolarity_High ((uint16_t)0x2000)
//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
// ((POLARITY) == TIM_BreakPolarity_High))
#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
// ((STATE) == TIM_AutomaticOutput_Disable))
#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
#define TIM_LOCKLevel_3 ((uint16_t)0x0300)
//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
// ((LEVEL) == TIM_LOCKLevel_1) || \
// ((LEVEL) == TIM_LOCKLevel_2) || \
// ((LEVEL) == TIM_LOCKLevel_3))
#define TIM_OSSIState_Enable ((uint16_t)0x0400)
#define TIM_OSSIState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
// ((STATE) == TIM_OSSIState_Disable))
#define TIM_OSSRState_Enable ((uint16_t)0x0800)
#define TIM_OSSRState_Disable ((uint16_t)0x0000)
//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
// ((STATE) == TIM_OSSRState_Disable))
#define TIM_OCIdleState_Set ((uint16_t)0x0100)
#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
// ((STATE) == TIM_OCIdleState_Reset))
//
#define TIM_OCNIdleState_Set ((uint16_t)0x0200)
#define TIM_OCNIdleState_Reset ((uint16_t)0x0000)
//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
// ((STATE) == TIM_OCNIdleState_Reset))
#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
// ((POLARITY) == TIM_ICPolarity_Falling)|| \
// ((POLARITY) == TIM_ICPolarity_BothEdge))
#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be
connected to IC1, IC2, IC3 or IC4, respectively */
#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be
connected to IC2, IC1, IC4 or IC3, respectively. */
#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
// ((SELECTION) == TIM_ICSelection_IndirectTI) || \
// ((SELECTION) == TIM_ICSelection_TRC))
//#define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
//#define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
//#define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
//#define TIM_ICPSC_DIV8 ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
//#define IS_TIM_IC_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ICPSC_DIV1) || \
// ((PRESCALER) == TIM_ICPSC_DIV2) || \
// ((PRESCALER) == TIM_ICPSC_DIV4) || \
// ((PRESCALER) == TIM_ICPSC_DIV8))
#define TIM_IT_Update ((uint16_t)0x0001)
//#define TIM_IT_CC1 ((uint16_t)0x0002)
//#define TIM_IT_CC2 ((uint16_t)0x0004)
//#define TIM_IT_CC3 ((uint16_t)0x0008)
//#define TIM_IT_CC4 ((uint16_t)0x0010)
//#define TIM_IT_COM ((uint16_t)0x0020)
#define TIM_IT_Trigger ((uint16_t)0x0040)
#define TIM_IT_Break ((uint16_t)0x0080)
#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \
((IT) == TIM_IT_CC1) || \
((IT) == TIM_IT_CC2) || \
((IT) == TIM_IT_CC3) || \
((IT) == TIM_IT_CC4) || \
((IT) == TIM_IT_COM) || \
((IT) == TIM_IT_Trigger) || \
((IT) == TIM_IT_Break))
//#define TIM_DMABase_CR1 ((uint16_t)0x0000)
//#define TIM_DMABase_CR2 ((uint16_t)0x0001)
//#define TIM_DMABase_SMCR ((uint16_t)0x0002)
//#define TIM_DMABase_DIER ((uint16_t)0x0003)
//#define TIM_DMABase_SR ((uint16_t)0x0004)
//#define TIM_DMABase_EGR ((uint16_t)0x0005)
//#define TIM_DMABase_CCMR1 ((uint16_t)0x0006)
//#define TIM_DMABase_CCMR2 ((uint16_t)0x0007)
//#define TIM_DMABase_CCER ((uint16_t)0x0008)
//#define TIM_DMABase_CNT ((uint16_t)0x0009)
//#define TIM_DMABase_PSC ((uint16_t)0x000A)
//#define TIM_DMABase_ARR ((uint16_t)0x000B)
//#define TIM_DMABase_RCR ((uint16_t)0x000C)
//#define TIM_DMABase_CCR1 ((uint16_t)0x000D)
//#define TIM_DMABase_CCR2 ((uint16_t)0x000E)
//#define TIM_DMABase_CCR3 ((uint16_t)0x000F)
//#define TIM_DMABase_CCR4 ((uint16_t)0x0010)
//#define TIM_DMABase_BDTR ((uint16_t)0x0011)
//#define TIM_DMABase_DCR ((uint16_t)0x0012)
//#define TIM_DMABase_OR ((uint16_t)0x0013)
//#define IS_TIM_DMA_BASE(BASE) (((BASE) == TIM_DMABase_CR1) || \
// ((BASE) == TIM_DMABase_CR2) || \
// ((BASE) == TIM_DMABase_SMCR) || \
// ((BASE) == TIM_DMABase_DIER) || \
// ((BASE) == TIM_DMABase_SR) || \
// ((BASE) == TIM_DMABase_EGR) || \
// ((BASE) == TIM_DMABase_CCMR1) || \
// ((BASE) == TIM_DMABase_CCMR2) || \
// ((BASE) == TIM_DMABase_CCER) || \
// ((BASE) == TIM_DMABase_CNT) || \
// ((BASE) == TIM_DMABase_PSC) || \
// ((BASE) == TIM_DMABase_ARR) || \
// ((BASE) == TIM_DMABase_RCR) || \
// ((BASE) == TIM_DMABase_CCR1) || \
// ((BASE) == TIM_DMABase_CCR2) || \
// ((BASE) == TIM_DMABase_CCR3) || \
// ((BASE) == TIM_DMABase_CCR4) || \
// ((BASE) == TIM_DMABase_BDTR) || \
// ((BASE) == TIM_DMABase_DCR) || \
// ((BASE) == TIM_DMABase_OR))
//#define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000)
//#define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100)
//#define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200)
//#define TIM_DMABurstLength_4Transfers ((uint16_t)0x0300)
//#define TIM_DMABurstLength_5Transfers ((uint16_t)0x0400)
//#define TIM_DMABurstLength_6Transfers ((uint16_t)0x0500)
//#define TIM_DMABurstLength_7Transfers ((uint16_t)0x0600)
//#define TIM_DMABurstLength_8Transfers ((uint16_t)0x0700)
//#define TIM_DMABurstLength_9Transfers ((uint16_t)0x0800)
//#define TIM_DMABurstLength_10Transfers ((uint16_t)0x0900)
//#define TIM_DMABurstLength_11Transfers ((uint16_t)0x0A00)
//#define TIM_DMABurstLength_12Transfers ((uint16_t)0x0B00)
//#define TIM_DMABurstLength_13Transfers ((uint16_t)0x0C00)
//#define TIM_DMABurstLength_14Transfers ((uint16_t)0x0D00)
//#define TIM_DMABurstLength_15Transfers ((uint16_t)0x0E00)
//#define TIM_DMABurstLength_16Transfers ((uint16_t)0x0F00)
//#define TIM_DMABurstLength_17Transfers ((uint16_t)0x1000)
//#define TIM_DMABurstLength_18Transfers ((uint16_t)0x1100)
//#define IS_TIM_DMA_LENGTH(LENGTH) (((LENGTH) == TIM_DMABurstLength_1Transfer) || \
// ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
// ((LENGTH) == TIM_DMABurstLength_18Transfers))
//#define TIM_DMA_Update ((uint16_t)0x0100)
//#define TIM_DMA_CC1 ((uint16_t)0x0200)
//#define TIM_DMA_CC2 ((uint16_t)0x0400)
//#define TIM_DMA_CC3 ((uint16_t)0x0800)
//#define TIM_DMA_CC4 ((uint16_t)0x1000)
//#define TIM_DMA_COM ((uint16_t)0x2000)
//#define TIM_DMA_Trigger ((uint16_t)0x4000)
//#define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000)
#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
((PRESCALER) == TIM_ExtTRGPSC_DIV8))
//#define TIM_TS_ITR0 ((uint16_t)0x0000)
//#define TIM_TS_ITR1 ((uint16_t)0x0010)
//#define TIM_TS_ITR2 ((uint16_t)0x0020)
//#define TIM_TS_ITR3 ((uint16_t)0x0030)
//#define TIM_TS_TI1F_ED ((uint16_t)0x0040)
//#define TIM_TS_TI1FP1 ((uint16_t)0x0050)
//#define TIM_TS_TI2FP2 ((uint16_t)0x0060)
//#define TIM_TS_ETRF ((uint16_t)0x0070)
//#define IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
// ((SELECTION) == TIM_TS_ITR1) || \
// ((SELECTION) == TIM_TS_ITR2) || \
// ((SELECTION) == TIM_TS_ITR3) || \
// ((SELECTION) == TIM_TS_TI1F_ED) || \
// ((SELECTION) == TIM_TS_TI1FP1) || \
// ((SELECTION) == TIM_TS_TI2FP2) || \
// ((SELECTION) == TIM_TS_ETRF))
#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
((SELECTION) == TIM_TS_ITR1) || \
((SELECTION) == TIM_TS_ITR2) || \
((SELECTION) == TIM_TS_ITR3))
#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
((RELOAD) == TIM_PSCReloadMode_Immediate))
#define TIM_ForcedAction_Active ((uint16_t)0x0050)
#define TIM_ForcedAction_InActive ((uint16_t)0x0040)
#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
((ACTION) == TIM_ForcedAction_InActive))
#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
// ((MODE) == TIM_EncoderMode_TI2) || \
// ((MODE) == TIM_EncoderMode_TI12))
//#define TIM_EventSource_Update ((uint16_t)0x0001)
//#define TIM_EventSource_CC1 ((uint16_t)0x0002)
//#define TIM_EventSource_CC2 ((uint16_t)0x0004)
//#define TIM_EventSource_CC3 ((uint16_t)0x0008)
//#define TIM_EventSource_CC4 ((uint16_t)0x0010)
//#define TIM_EventSource_COM ((uint16_t)0x0020)
//#define TIM_EventSource_Trigger ((uint16_t)0x0040)
//#define TIM_EventSource_Break ((uint16_t)0x0080)
//#define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow
or the setting of UG bit, or an update generation
through the slave mode controller. */
#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
((SOURCE) == TIM_UpdateSource_Regular))
#define TIM_OCPreload_Enable ((uint16_t)0x0008)
#define TIM_OCPreload_Disable ((uint16_t)0x0000)
#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
((STATE) == TIM_OCPreload_Disable))
#define TIM_OCFast_Enable ((uint16_t)0x0004)
#define TIM_OCFast_Disable ((uint16_t)0x0000)
#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
((STATE) == TIM_OCFast_Disable))
#define TIM_OCClear_Enable ((uint16_t)0x0080)
#define TIM_OCClear_Disable ((uint16_t)0x0000)
#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
((STATE) == TIM_OCClear_Disable))
#define TIM_TRGOSource_Reset ((uint16_t)0x0000)
#define TIM_TRGOSource_Enable ((uint16_t)0x0010)
#define TIM_TRGOSource_Update ((uint16_t)0x0020)
#define TIM_TRGOSource_OC1 ((uint16_t)0x0030)
#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040)
#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050)
#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060)
#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070)
//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
// ((SOURCE) == TIM_TRGOSource_Enable) || \
// ((SOURCE) == TIM_TRGOSource_Update) || \
// ((SOURCE) == TIM_TRGOSource_OC1) || \
// ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
// ((SOURCE) == TIM_TRGOSource_OC4Ref))
#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
#define TIM_SlaveMode_External1 ((uint16_t)0x0007)
//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
// ((MODE) == TIM_SlaveMode_Gated) || \
// ((MODE) == TIM_SlaveMode_Trigger) || \
// ((MODE) == TIM_SlaveMode_External1))
#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080)
#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000)
//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
// ((STATE) == TIM_MasterSlaveMode_Disable))
#define TIM2_TIM8_TRGO ((uint16_t)0x0000)
#define TIM2_ETH_PTP ((uint16_t)0x0400)
#define TIM2_USBFS_SOF ((uint16_t)0x0800)
#define TIM2_USBHS_SOF ((uint16_t)0x0C00)
#define TIM5_GPIO ((uint16_t)0x0000)
#define TIM5_LSI ((uint16_t)0x0040)
#define TIM5_LSE ((uint16_t)0x0080)
#define TIM5_RTC ((uint16_t)0x00C0)
#define TIM11_GPIO ((uint16_t)0x0000)
#define TIM11_HSE ((uint16_t)0x0002)
enum EncTimer {
Tim2,
Tim3,
Tim4,
Tim8
};
class Encoder
{
private:
int _pin;
public:
void eattach(int enco);
Encoder();
void SetCount( enum EncTimer enc, int64_t Counter);
uint16_t GetCount( enum EncTimer enc);
void attachh(int encoNumber);
uint16_t c;
};
void rcc_config();
void GpioConfigPortA(GPIO_TypeDef * GPIOx) ;
void GpioConfigPortC(GPIO_TypeDef * GPIOx) ;
void GpioConfigPortD(GPIO_TypeDef * GPIOx) ;
void TIM_EncoderInterConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
#endif

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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

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# 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)

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/*
* 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 */

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/**
* \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.
*/

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/** \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
*/

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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 128
#define MBXSIZEBOOT 128
#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 7
#define MAX_MAPPINGS_SM3 6
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

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Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.c Executable file
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/*
* 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 (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) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
/* Set outputs */
cb_set_outputs();
}
else if (ESCvar.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(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 ();
}

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Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.h Executable file
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/*
* 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 (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__ */

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/*
* 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

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/*
* 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

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Pcb-1-lan9252/Firmware/lib/soes/esc_eep.c Executable file
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/*
* 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));
}
}

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/*
* 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

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Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.c Executable file
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/*
* 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

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Pcb-1-lan9252/Firmware/lib/soes/esc_foe.c Executable file
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/*
* 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
Pcb-1-lan9252/Firmware/lib/soes/esc_foe.h Executable file
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/*
* 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

233
Pcb-1-lan9252/Firmware/lib/soes/esi.json Executable file
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@@ -0,0 +1,233 @@
{
"form": {},
"od": {
"sdo": {
"2000": {
"otype": "RECORD",
"name": "StepperData",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "Period",
"dtype": "UNSIGNED16",
"data": "&Obj.StepperData.Period",
"value": "1000",
"access": "RO"
},
{
"name": "Resolution",
"dtype": "REAL32",
"value": "2.5",
"access": "RO",
"data": "&Obj.StepperData.Resolution"
}
],
"isSDOitem": true
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "New record subitem",
"dtype": "UNSIGNED8"
}
]
}
},
"txpdo": {
"6000": {
"otype": "RECORD",
"name": "EncoderOut",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "ECount",
"dtype": "INTEGER32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderOut.ECount"
},
{
"name": "IndexTriggered",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RW",
"data": "&Obj.EncoderOut.IndexTriggered"
}
],
"pdo_mappings": [
"txpdo"
]
},
"6040": {
"otype": "VAR",
"name": "ControlWord",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED16",
"value": "0",
"data": "&Obj.ControlWord"
},
"6060": {
"otype": "VAR",
"name": "OpMode",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.OpMode"
},
"607A": {
"otype": "VAR",
"name": "TargetPosition",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.TargetPosition"
},
"60FF": {
"otype": "VAR",
"name": "TargetVelocity",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.TargetVelocity"
}
},
"rxpdo": {
"6041": {
"otype": "VAR",
"name": "StatusWord",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED16",
"value": "0",
"data": "&Obj.StatusWord"
},
"6061": {
"otype": "VAR",
"name": "OpModeDisplay",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.OpModeDisplay"
},
"6064": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualPosition"
},
"6077": {
"otype": "VAR",
"name": "ActualTorque",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualTorque"
},
"7000": {
"otype": "RECORD",
"name": "EncoderIn",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IndexEnable",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.IndexEnable"
},
{
"name": "Reset",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Reset"
}
],
"pdo_mappings": [
"rxpdo"
]
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0"
},
"606C": {
"otype": "VAR",
"name": "ActualVelocity",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"data": "&Obj.ActualVelocity"
}
}
},
"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"
}
]
}

458
Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c Executable file
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@@ -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
Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp Executable file
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@@ -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
Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.h Executable file
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@@ -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
Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp Executable file
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@@ -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_ */

291
Pcb-1-lan9252/Firmware/lib/soes/objectlist.c Executable file
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@@ -0,0 +1,291 @@
#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[] = "StatusWord";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "StatusWord";
static const char acName1601[] = "OpModeDisplay";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "OpModeDisplay";
static const char acName1602[] = "ActualPosition";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "ActualPosition";
static const char acName1603[] = "ActualVelocity";
static const char acName1603_00[] = "Max SubIndex";
static const char acName1603_01[] = "ActualVelocity";
static const char acName1604[] = "ActualTorque";
static const char acName1604_00[] = "Max SubIndex";
static const char acName1604_01[] = "ActualTorque";
static const char acName1605[] = "EncoderIn";
static const char acName1605_00[] = "Max SubIndex";
static const char acName1605_01[] = "IndexEnable";
static const char acName1605_02[] = "Reset";
static const char acName1A00[] = "EncoderOut";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "ECount";
static const char acName1A00_02[] = "IndexTriggered";
static const char acName1A01[] = "ControlWord";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "ControlWord";
static const char acName1A02[] = "OpMode";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "OpMode";
static const char acName1A03[] = "TargetPosition";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "TargetPosition";
static const char acName1A04[] = "TargetVelocity";
static const char acName1A04_00[] = "Max SubIndex";
static const char acName1A04_01[] = "TargetVelocity";
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 acName1C12_04[] = "PDO Mapping";
static const char acName1C12_05[] = "PDO Mapping";
static const char acName1C12_06[] = "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 acName1C13_05[] = "PDO Mapping";
static const char acName2000[] = "StepperData";
static const char acName2000_00[] = "Max SubIndex";
static const char acName2000_01[] = "Period";
static const char acName2000_02[] = "Resolution";
static const char acName6000[] = "EncoderOut";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "ECount";
static const char acName6000_02[] = "IndexTriggered";
static const char acName6040[] = "ControlWord";
static const char acName6041[] = "StatusWord";
static const char acName6060[] = "OpMode";
static const char acName6061[] = "OpModeDisplay";
static const char acName6064[] = "ActualPosition";
static const char acName606C[] = "ActualVelocity";
static const char acName6077[] = "ActualTorque";
static const char acName607A[] = "TargetPosition";
static const char acName60FF[] = "TargetVelocity";
static const char acName7000[] = "EncoderIn";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "IndexEnable";
static const char acName7000_02[] = "Reset";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 272, ATYPE_RO, acName1008, 0, "MetalMusings EaserCAT 2000 encoder"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 8, ATYPE_RO, acName1009, 0, "3"},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 8, ATYPE_RO, acName100A, 0, "4"},
};
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 4321, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 1234, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 1, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 2, &Obj.serial},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x60410010, NULL},
};
const _objd SDO1601[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x60610008, NULL},
};
const _objd SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x60640020, NULL},
};
const _objd SDO1603[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x606C0020, NULL},
};
const _objd SDO1604[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x60770020, NULL},
};
const _objd SDO1605[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1605_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_01, 0x70000108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1605_02, 0x70000208, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000120, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_02, 0x60000208, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60400010, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60600008, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x607A0020, NULL},
};
const _objd SDO1A04[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60FF0020, 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, 6, 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},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_06, 0x1605, NULL},
};
const _objd SDO1C13[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, 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},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
};
const _objd SDO2000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName2000_00, 2, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName2000_01, 1000, &Obj.StepperData.Period},
{0x02, DTYPE_REAL32, 32, ATYPE_RO, acName2000_02, 0x40200000, &Obj.StepperData.Resolution},
};
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 2, NULL},
{0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6000_01, 0, &Obj.EncoderOut.ECount},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RW, acName6000_02, 0, &Obj.EncoderOut.IndexTriggered},
};
const _objd SDO6040[] =
{
{0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6040, 0, &Obj.ControlWord},
};
const _objd SDO6041[] =
{
{0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_RXPDO, acName6041, 0, &Obj.StatusWord},
};
const _objd SDO6060[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6060, 0, &Obj.OpMode},
};
const _objd SDO6061[] =
{
{0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName6061, 0, &Obj.OpModeDisplay},
};
const _objd SDO6064[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName6064, 0, &Obj.ActualPosition},
};
const _objd SDO606C[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName606C, 0, &Obj.ActualVelocity},
};
const _objd SDO6077[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName6077, 0, &Obj.ActualTorque},
};
const _objd SDO607A[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName607A, 0, &Obj.TargetPosition},
};
const _objd SDO60FF[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName60FF, 0, &Obj.TargetVelocity},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.EncoderIn.IndexEnable},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Obj.EncoderIn.Reset},
};
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},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
{0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
{0x1605, OTYPE_RECORD, 2, 0, acName1605, SDO1605},
{0x1A00, OTYPE_RECORD, 2, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 6, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
{0x2000, OTYPE_RECORD, 2, 0, acName2000, SDO2000},
{0x6000, OTYPE_RECORD, 2, 0, acName6000, SDO6000},
{0x6040, OTYPE_VAR, 0, 0, acName6040, SDO6040},
{0x6041, OTYPE_VAR, 0, 0, acName6041, SDO6041},
{0x6060, OTYPE_VAR, 0, 0, acName6060, SDO6060},
{0x6061, OTYPE_VAR, 0, 0, acName6061, SDO6061},
{0x6064, OTYPE_VAR, 0, 0, acName6064, SDO6064},
{0x606C, OTYPE_VAR, 0, 0, acName606C, SDO606C},
{0x6077, OTYPE_VAR, 0, 0, acName6077, SDO6077},
{0x607A, OTYPE_VAR, 0, 0, acName607A, SDO607A},
{0x60FF, OTYPE_VAR, 0, 0, acName60FF, SDO60FF},
{0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

50
Pcb-1-lan9252/Firmware/lib/soes/utypes.h Executable file
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#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
struct
{
int32_t ECount;
uint8_t IndexTriggered;
} EncoderOut;
uint16_t ControlWord;
uint8_t OpMode;
int32_t TargetPosition;
int32_t TargetVelocity;
/* Outputs */
uint16_t StatusWord;
uint8_t OpModeDisplay;
int32_t ActualPosition;
int32_t ActualVelocity;
int32_t ActualTorque;
struct
{
uint8_t IndexEnable;
uint8_t Reset;
} EncoderIn;
/* Parameters */
struct
{
uint16_t Period;
float Resolution;
} StepperData;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

22
Pcb-1-lan9252/Firmware/platformio.ini Executable file
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; 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 = COM7
monitor_speed = 115200
build_flags = -Wl,--no-warn-rwx-segment
lib_deps =
SPI

270
Pcb-1-lan9252/Firmware/src/Stepper.cpp Executable file
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#include <Arduino.h>
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "Stepper.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (htim->Instance == TIM1)
{
//__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PA8 ------< TIM1_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_8; // 9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
// HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
}
/**
* @brief The application entry point.
* @retval int
*/
void StepperSetup(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
// HAL_Init();
// SystemClock_Config();
/* Initialize all configured peripherals */
// MX_GPIO_Init();
MX_TIM1_Init();
// htim1.Instance->ARR = 1;
// htim1.Instance->CCR1 = 1;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
TIM_TypeDef *TIMM = TIM1;
#define CLOCK_FREQ (168000000-2000000)
// Best range on timer clock frequency/pulse length/65355 +1 => best resolution in the pulse range
TIM1->PSC = CLOCK_FREQ / 1000 / (1 << 16);
/* Infinite loop */
#if 0
while (1)
{
makePulses(1200, 15);
HAL_Delay(1000);
}
#endif
}
void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses)
{
uint64_t TickFreq = CLOCK_FREQ / (TIM1->PSC+1); // 56 MHz at PSC=2
uint64_t TicksTotal = TickFreq * totalLength / 1000000; // Total number of ticks during this time, ca 56000
uint32_t TicksPerPulse = TicksTotal / nPulses;
TIM1->ARR = TicksPerPulse - 1;
TIM1->CCR1 = TicksPerPulse / 2;
TIM1->RCR = nPulses - 1;
TIM1->EGR = TIM_EGR_UG;
TIM1->CR1 |= TIM_CR1_OPM;
TIM1->CR1 |= TIM_CR1_CEN;
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 70;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 10;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */

352
Pcb-1-lan9252/Firmware/src/Stm32F4_Encoder.cpp Executable file
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#include <Stm32F4_Encoder.h>
/*
Stm32F4_Encoder.cpp
Created on: Nov 20, 2020
Author: GoktugH.
*/
Encoder::Encoder()
{
int unit;
}
void Encoder::eattach(int enco)
{
}
void Encoder::attachh(int encoNumber)
{
eattach(encoNumber);
}
void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
{
if (enc == Tim2)
TIM2->CNT = Counter;
else if (enc == Tim3)
TIM3->CNT = Counter;
else if (enc == Tim4)
TIM4->CNT = Counter;
else if (enc == Tim8)
TIM8->CNT = Counter;
}
uint16_t Encoder::GetCount(enum EncTimer enc)
{
if (enc == Tim2)
c = (TIM2->CNT);
else if (enc == Tim3)
c = (TIM3->CNT);
else if (enc == Tim4)
c = (TIM4->CNT);
else if (enc == Tim8)
c = (TIM8->CNT);
return c;
}
void GpioConfigPortA(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortC(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_6 | GPIO_Pin_7) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void GpioConfigPortD(GPIO_TypeDef *GPIOx)
{
uint32_t pinpos = 0x00, pos = 0x00, currentpin = 0x00;
/* ------------------------- Configure the port pins ---------------- */
/*-- GPIO Mode Configuration --*/
for (pinpos = 0x00; pinpos < 0x10; pinpos++)
{
pos = ((uint32_t)0x01) << pinpos;
/* Get the port pins position */
currentpin = (GPIO_Pin_12 | GPIO_Pin_13) & pos;
if (currentpin == pos)
{
GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (pinpos * 2));
GPIOx->MODER |= (((uint32_t)GPIO_Mode_AF) << (pinpos * 2));
if ((GPIO_Mode_AF == GPIO_Mode_OUT) || (GPIO_Mode_AF == GPIO_Mode_AF))
{
/* Check Speed mode parameters */
/* Speed mode configuration */
GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (pinpos * 2));
GPIOx->OSPEEDR |= ((uint32_t)(GPIO_Speed_50MHz) << (pinpos * 2));
/* Check Output mode parameters */
/* Output mode configuration*/
GPIOx->OTYPER &= ~((GPIO_OTYPER_OT_0) << ((uint16_t)pinpos));
GPIOx->OTYPER |= (uint16_t)(((uint16_t)GPIO_OType_PP) << ((uint16_t)pinpos));
}
/* Pull-up Pull down resistor configuration*/
GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << ((uint16_t)pinpos * 2));
GPIOx->PUPDR |= (((uint32_t)GPIO_PuPd_NOPULL) << (pinpos * 2));
}
}
}
void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)
{
uint16_t tmpsmcr = 0;
uint16_t tmpccmr1 = 0;
uint16_t tmpccer = 0;
/* Get the TIMx SMCR register value */
tmpsmcr = TIMx->SMCR;
/* Get the TIMx CCMR1 register value */
tmpccmr1 = TIMx->CCMR1;
/* Get the TIMx CCER register value */
tmpccer = TIMx->CCER;
/* Set the encoder Mode */
tmpsmcr &= (uint16_t)~TIM_SMCR_SMS;
tmpsmcr |= TIM_EncoderMode;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ((uint16_t)~TIM_CCMR1_CC1S) & ((uint16_t)~TIM_CCMR1_CC2S);
tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
/* Set the TI1 and the TI2 Polarities */
tmpccer &= ((uint16_t)~TIM_CCER_CC1P) & ((uint16_t)~TIM_CCER_CC2P);
tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4));
/* Write to TIMx SMCR */
TIMx->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
TIMx->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
TIMx->CCER = tmpccer;
}
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
/* Set the default configuration */
TIM_TimeBaseInitStruct->TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseInitStruct->TIM_Prescaler = 0x0000;
TIM_TimeBaseInitStruct->TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct->TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct->TIM_RepetitionCounter = 0x0000;
}
void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct)
{
uint16_t tmpcr1 = 0;
tmpcr1 = TIMx->CR1;
if ((TIMx == TIM1) || (TIMx == TIM8) ||
(TIMx == TIM2) || (TIMx == TIM3) ||
(TIMx == TIM4) || (TIMx == TIM5))
{
/* Select the Counter Mode */
tmpcr1 &= (uint16_t)(~(TIM_CR1_DIR | TIM_CR1_CMS));
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode;
}
if ((TIMx != TIM6) && (TIMx != TIM7))
{
/* Set the clock division */
tmpcr1 &= (uint16_t)(~TIM_CR1_CKD);
tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision;
}
TIMx->CR1 = tmpcr1;
/* Set the Autoreload value */
TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period;
/* Set the Prescaler value */
TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler;
if ((TIMx == TIM1) || (TIMx == TIM8))
{
/* Set the Repetition Counter value */
TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter;
}
/* Generate an update event to reload the Prescaler
and the repetition counter(only for TIM1 and TIM8) value immediatly */
TIMx->EGR = TIM_PSCReloadMode_Immediate;
}
TIM_TimeBaseInitTypeDef TIMER_InitStructure;
TIM_TimeBaseInitTypeDef TIMER_InitStructureE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEE;
TIM_TimeBaseInitTypeDef TIMER_InitStructureEEG;
void TIM_Cmd(TIM_TypeDef *TIMx, FunctionalState NewState)
{
if (NewState != DISABLE)
{
/* Enable the TIM Counter */
TIMx->CR1 |= TIM_CR1_CEN;
}
else
{
/* Disable the TIM Counter */
TIMx->CR1 &= (uint16_t)~TIM_CR1_CEN;
}
}
void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
{
uint32_t temp = 0x00;
uint32_t temp_2 = 0x00;
temp = ((uint32_t)(GPIO_AF) << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
GPIOx->AFR[GPIO_PinSource >> 0x03] &= ~((uint32_t)0xF << ((uint32_t)((uint32_t)GPIO_PinSource & (uint32_t)0x07) * 4));
temp_2 = GPIOx->AFR[GPIO_PinSource >> 0x03] | temp;
GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
}
void rcc_config()
{
RCC->AHB1ENR |= 0x1; // GPIOA
RCC->AHB1ENR |= 0x4; // GPIOC
RCC->AHB1ENR |= 0x8; // GPIOD
RCC->AHB1ENR |= 0x10; // GPIOE
RCC->APB1ENR |= 0x20000000; // ENABLE DAC
RCC->APB2ENR |= 0x00000002; // APB2 TIM8
RCC->APB1ENR |= 0x00000004; // APB1 TIM4
RCC->APB1ENR |= 0x00000001; // APB1 TIM2
RCC->APB1ENR |= 0x00000002; // APB1 TIM3
GpioConfigPortA(GPIOA);
GpioConfigPortC(GPIOC);
GpioConfigPortD(GPIOD);
GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructure.TIM_Period = 65535;
TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM8, &TIMER_InitStructure);
TIM_TimeBaseStructInit(&TIMER_InitStructure);
TIM_Cmd(TIM8, ENABLE);
TIM8->CNT = 0;
TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureE.TIM_Period = 65535;
TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM4, &TIMER_InitStructureE);
TIM_TimeBaseStructInit(&TIMER_InitStructureE);
TIM_Cmd(TIM4, ENABLE);
TIM4->CNT = 0;
TIM_EncoderInterConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEE.TIM_Period = 65535;
TIMER_InitStructureEE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM2, &TIMER_InitStructureEE);
TIM_TimeBaseStructInit(&TIMER_InitStructureEE);
TIM_Cmd(TIM2, ENABLE);
TIM2->CNT = 0;
TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
TIMER_InitStructureEEG.TIM_Period = 65535;
TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM3, &TIMER_InitStructureEEG);
TIM_TimeBaseStructInit(&TIMER_InitStructureEEG);
TIM_Cmd(TIM3, ENABLE);
TIM3->CNT = 0;
}

125
Pcb-1-lan9252/Firmware/src/main.cpp Executable file
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@@ -0,0 +1,125 @@
#include <Arduino.h>
#include <stdio.h>
extern "C"
{
#include "ecat_slv.h"
#include "utypes.h"
};
int64_t PreviousEncoderCounterValue = 0;
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
#include <Stm32F4_Encoder.h>
Encoder EncoderInit;
#include "Stepper.h"
HardwareSerial Serial1(PA10, PA9);
_Objects Obj;
void StepGen(void);
volatile uint8_t IndexEnable = 1;
volatile uint8_t IndexTriggered = 0;
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
{
IndexEnable = Obj.EncoderIn.IndexEnable;
if (!IndexEnable)
IndexTriggered = 0;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{
// Obj.EncoderOut.ECount = TIM2->CNT;
Obj.EncoderOut.ECount = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
Obj.EncoderOut.IndexTriggered = IndexTriggered;
uint32_t diffT = ESCvar.Time - ESCvar.PrevTime;
}
void indexPulse(void)
{
if (IndexEnable && !IndexTriggered)
{
TIM2->CNT = 0;
IndexTriggered = 1;
}
}
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 0,
.watchdog_cnt = 150,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = StepGen,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = NULL,
};
void setup(void)
{
uint64_t ff = F_CPU;
Serial1.begin(115200);
rcc_config();
// Set starting count value
// EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
attachInterrupt(digitalPinToInterrupt(PA2), indexPulse, RISING); // PA2 = Index pulse
StepperSetup();
// delay(5000); // To give serial port monitor time to receive
Serial1.printf("Before Ecat config\n");
ecat_slv_init(&config);
Serial1.printf("Started\n");
}
void loop(void)
{
ESCvar.PrevTime = ESCvar.Time;
ecat_slv();
}
#define ONE_PERIOD 65536
#define HALF_PERIOD 32768
int64_t unwrap_encoder(uint16_t in, int64_t *prev)
{
int64_t c64 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
int64_t dif = (c64 - *prev); // 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 < -HALF_PERIOD)
mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
int64_t unwrapped = *prev + mod_dif;
*prev = unwrapped; // load previous value
return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
}
void StepGen(void)
{
uint16_t Period = Obj.StepperData.Period; // Period in microseconds, so 1000 is 1 ms.
float StepperResolution = Obj.StepperData.Resolution; // 2.5 pulses/um
int32_t TargetPosition = Obj.TargetPosition; // um
int32_t ActualPosition = 0; // um
int32_t DistanceToGo = TargetPosition - ActualPosition; // um
int32_t PulsesToMake = DistanceToGo * StepperResolution;
int32_t Frequency = PulsesToMake * 1000000 / Period;
// Check if timer done.
}

11
Pcb-1-lan9252/Firmware/test/README Executable file
View File

@@ -0,0 +1,11 @@
This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

BIN
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32-backups/Ethercat-stm32-2023-12-19_230250.zip Executable file
View File

Binary file not shown.

30072
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_pcb Executable file
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File diff suppressed because it is too large Load Diff

77
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl Executable file
View File

@@ -0,0 +1,77 @@
{
"board": {
"active_layer": 37,
"active_layer_preset": "",
"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": "002ffe8_00000001",
"zone_display_mode": 0
},
"meta": {
"filename": "Ethercat-stm32.kicad_prl",
"version": 3
},
"project": {
"files": []
}
}

493
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_pro Executable file
View File

@@ -0,0 +1,493 @@
{
"board": {
"3dviewports": [],
"design_settings": {
"defaults": {
"board_outline_line_width": 0.09999999999999999,
"copper_line_width": 0.19999999999999998,
"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": 0.049999999999999996,
"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": 0.09999999999999999,
"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": 0.762,
"height": 1.524,
"width": 1.524
},
"silk_line_width": 0.15,
"silk_text_italic": false,
"silk_text_size_h": 1.0,
"silk_text_size_v": 1.0,
"silk_text_thickness": 0.15,
"silk_text_upright": false,
"zones": {
"min_clearance": 0.5
}
},
"diff_pair_dimensions": [],
"drc_exclusions": [],
"meta": {
"version": 2
},
"rule_severities": {
"annular_width": "error",
"clearance": "error",
"connection_width": "warning",
"copper_edge_clearance": "error",
"copper_sliver": "warning",
"courtyards_overlap": "error",
"diff_pair_gap_out_of_range": "error",
"diff_pair_uncoupled_length_too_long": "error",
"drill_out_of_range": "error",
"duplicate_footprints": "warning",
"extra_footprint": "warning",
"footprint": "error",
"footprint_type_mismatch": "ignore",
"hole_clearance": "error",
"hole_near_hole": "error",
"invalid_outline": "error",
"isolated_copper": "warning",
"item_on_disabled_layer": "error",
"items_not_allowed": "error",
"length_out_of_range": "error",
"lib_footprint_issues": "warning",
"lib_footprint_mismatch": "warning",
"malformed_courtyard": "error",
"microvia_drill_out_of_range": "error",
"missing_courtyard": "ignore",
"missing_footprint": "warning",
"net_conflict": "warning",
"npth_inside_courtyard": "ignore",
"padstack": "warning",
"pth_inside_courtyard": "ignore",
"shorting_items": "error",
"silk_edge_clearance": "warning",
"silk_over_copper": "warning",
"silk_overlap": "warning",
"skew_out_of_range": "error",
"solder_mask_bridge": "error",
"starved_thermal": "error",
"text_height": "warning",
"text_thickness": "warning",
"through_hole_pad_without_hole": "error",
"too_many_vias": "error",
"track_dangling": "warning",
"track_width": "error",
"tracks_crossing": "error",
"unconnected_items": "error",
"unresolved_variable": "error",
"via_dangling": "warning",
"zones_intersect": "error"
},
"rules": {
"max_error": 0.005,
"min_clearance": 0.0,
"min_connection": 0.0,
"min_copper_edge_clearance": 0.0,
"min_hole_clearance": 0.25,
"min_hole_to_hole": 0.25,
"min_microvia_diameter": 0.19999999999999998,
"min_microvia_drill": 0.09999999999999999,
"min_resolved_spokes": 2,
"min_silk_clearance": 0.0,
"min_text_height": 0.7999999999999999,
"min_text_thickness": 0.08,
"min_through_hole_diameter": 0.3,
"min_track_width": 0.0,
"min_via_annular_width": 0.09999999999999999,
"min_via_diameter": 0.5,
"solder_mask_clearance": 0.0,
"solder_mask_min_width": 0.0,
"solder_mask_to_copper_clearance": 0.0,
"use_height_for_length_calcs": true
},
"teardrop_options": [
{
"td_allow_use_two_tracks": true,
"td_curve_segcount": 5,
"td_on_pad_in_zone": false,
"td_onpadsmd": true,
"td_onroundshapesonly": false,
"td_ontrackend": false,
"td_onviapad": true
}
],
"teardrop_parameters": [
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_round_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_rect_shape",
"td_width_to_size_filter_ratio": 0.9
},
{
"td_curve_segcount": 0,
"td_height_ratio": 1.0,
"td_length_ratio": 0.5,
"td_maxheight": 2.0,
"td_maxlen": 1.0,
"td_target_name": "td_track_end",
"td_width_to_size_filter_ratio": 0.9
}
],
"track_widths": [],
"via_dimensions": [],
"zones_allow_external_fillets": false
},
"layer_presets": [],
"viewports": []
},
"boards": [],
"cvpcb": {
"equivalence_files": []
},
"erc": {
"erc_exclusions": [],
"meta": {
"version": 0
},
"pin_map": [
[
0,
0,
0,
0,
0,
0,
1,
0,
0,
0,
0,
2
],
[
0,
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0,
0,
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0,
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2,
2,
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],
[
0,
0,
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],
[
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],
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],
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],
[
1,
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],
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],
[
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],
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],
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],
[
2,
2,
2,
2,
2,
2,
2,
2,
2,
2,
2,
2
]
],
"rule_severities": {
"bus_definition_conflict": "error",
"bus_entry_needed": "error",
"bus_to_bus_conflict": "error",
"bus_to_net_conflict": "error",
"conflicting_netclasses": "error",
"different_unit_footprint": "error",
"different_unit_net": "error",
"duplicate_reference": "error",
"duplicate_sheet_names": "error",
"endpoint_off_grid": "warning",
"extra_units": "error",
"global_label_dangling": "warning",
"hier_label_mismatch": "error",
"label_dangling": "error",
"lib_symbol_issues": "warning",
"missing_bidi_pin": "warning",
"missing_input_pin": "warning",
"missing_power_pin": "error",
"missing_unit": "warning",
"multiple_net_names": "warning",
"net_not_bus_member": "warning",
"no_connect_connected": "warning",
"no_connect_dangling": "warning",
"pin_not_connected": "error",
"pin_not_driven": "error",
"pin_to_pin": "warning",
"power_pin_not_driven": "error",
"similar_labels": "warning",
"simulation_model_issue": "ignore",
"unannotated": "error",
"unit_value_mismatch": "error",
"unresolved_variable": "error",
"wire_dangling": "error"
}
},
"libraries": {
"pinned_footprint_libs": [],
"pinned_symbol_libs": []
},
"meta": {
"filename": "Ethercat-stm32.kicad_pro",
"version": 1
},
"net_settings": {
"classes": [
{
"bus_width": 12,
"clearance": 0.2,
"diff_pair_gap": 0.25,
"diff_pair_via_gap": 0.25,
"diff_pair_width": 0.2,
"line_style": 0,
"microvia_diameter": 0.3,
"microvia_drill": 0.1,
"name": "Default",
"pcb_color": "rgba(0, 0, 0, 0.000)",
"schematic_color": "rgba(0, 0, 0, 0.000)",
"track_width": 0.25,
"via_diameter": 0.8,
"via_drill": 0.4,
"wire_width": 6
}
],
"meta": {
"version": 3
},
"net_colors": null,
"netclass_assignments": null,
"netclass_patterns": []
},
"pcbnew": {
"last_paths": {
"gencad": "",
"idf": "",
"netlist": "C:/Program Files/KiCad/7.0/",
"specctra_dsn": "Ethercat-stm32.dsn",
"step": "",
"vrml": ""
},
"page_layout_descr_file": ""
},
"schematic": {
"annotate_start_num": 0,
"drawing": {
"dashed_lines_dash_length_ratio": 12.0,
"dashed_lines_gap_length_ratio": 3.0,
"default_line_thickness": 6.0,
"default_text_size": 50.0,
"field_names": [],
"intersheets_ref_own_page": false,
"intersheets_ref_prefix": "",
"intersheets_ref_short": false,
"intersheets_ref_show": false,
"intersheets_ref_suffix": "",
"junction_size_choice": 3,
"label_size_ratio": 0.375,
"pin_symbol_size": 25.0,
"text_offset_ratio": 0.15
},
"legacy_lib_dir": "",
"legacy_lib_list": [],
"meta": {
"version": 1
},
"net_format_name": "",
"page_layout_descr_file": "",
"plot_directory": "",
"spice_current_sheet_as_root": false,
"spice_external_command": "spice \"%I\"",
"spice_model_current_sheet_as_root": true,
"spice_save_all_currents": false,
"spice_save_all_voltages": false,
"subpart_first_id": 65,
"subpart_id_separator": 0
},
"sheets": [
[
"5597aedc-b607-407f-bbfd-31b3b298ecb1",
""
],
[
"a120273a-c1ae-42b3-935d-01f789f654a3",
"LAN9252"
],
[
"650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03",
"LAN9252_diverse"
],
[
"d564400f-40ba-4aca-9c2a-14ec52a8353b",
"STM32F4"
],
[
"0a376a6c-0f15-42f8-81f6-3a55619be267",
"Peripherals"
]
],
"text_variables": {}
}

87
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_sch Executable file
View File

@@ -0,0 +1,87 @@
(kicad_sch (version 20230121) (generator eeschema)
(uuid 5597aedc-b607-407f-bbfd-31b3b298ecb1)
(paper "A3")
(lib_symbols
)
(text "Huvudsida" (at 162.56 85.09 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid adf2be63-7ec7-44be-837f-901ddbc80717)
)
(sheet (at 144.78 224.79) (size 71.12 16.51) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
(property "Sheetname" "Peripherals" (at 144.78 224.0784 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "peripherals.kicad_sch" (at 144.78 241.8846 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "5"))
)
)
)
(sheet (at 46.99 224.79) (size 82.55 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid 650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03)
(property "Sheetname" "LAN9252_diverse" (at 46.99 224.0784 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "LAN9252_diverse.kicad_sch" (at 46.99 243.1546 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "3"))
)
)
)
(sheet (at 46.99 200.66) (size 82.55 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
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(uuid a120273a-c1ae-42b3-935d-01f789f654a3)
(property "Sheetname" "LAN9252" (at 46.99 199.9484 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "LAN9252.kicad_sch" (at 46.99 219.0246 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "2"))
)
)
)
(sheet (at 142.24 200.66) (size 74.93 17.78) (fields_autoplaced)
(stroke (width 0.1524) (type solid))
(fill (color 0 0 0 0.0000))
(uuid d564400f-40ba-4aca-9c2a-14ec52a8353b)
(property "Sheetname" "STM32F4" (at 142.24 199.9484 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
)
(property "Sheetfile" "STM32F4.kicad_sch" (at 142.24 219.0246 0)
(effects (font (size 1.27 1.27)) (justify left top))
)
(instances
(project "Ethercat-stm32"
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "4"))
)
)
)
(sheet_instances
(path "/" (page "1"))
)
)

2889
Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.xml Executable file
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File diff suppressed because it is too large Load Diff

32
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/2.8 TFT 320x240 led with sd and touch.kicad_mod Executable file
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@@ -0,0 +1,32 @@
(footprint "2.8 TFT 320x240 led with sd and touch" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr smd)
(fp_text reference "REF**" (at -33.782 -7.112 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1dd33759-143b-476c-bb42-c5e5d445a2fc)
)
(fp_text value "2.8 TFT 320x240 led with sd and touch" (at -36.83 -0.254 90 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1ce2bf2b-b61f-46da-a1cb-06e193ac5296)
)
(fp_rect (start -43 25) (end 43 -25)
(stroke (width 0.12) (type solid)) (fill none) (layer "F.SilkS") (tstamp 9717e78c-245e-4b0a-ba7e-ef5374b0c38c))
(pad "1" thru_hole roundrect (at 40.005 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 21623806-8193-49aa-8e86-f5d741ee3217))
(pad "2" thru_hole roundrect (at 40.005 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1c8efd92-4e91-4579-bd5c-5fab3c9a7156))
(pad "3" thru_hole roundrect (at 40.005 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp c0b8101a-448b-46a1-9a8a-2ff22c1b14db))
(pad "4" thru_hole roundrect (at 40.005 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp a34698d6-085b-485a-ba4e-0184bb2cbfd8))
(pad "5" thru_hole roundrect (at -40.3 16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d099de14-88e2-441e-a73e-ff95baeb8e26))
(pad "6" thru_hole roundrect (at -40.3 13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 59a1ecf0-8d7b-4db7-8aa7-b858a90fc7be))
(pad "7" thru_hole roundrect (at -40.3 11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b96d741a-8459-4bdc-b8c3-996255ed9d94))
(pad "8" thru_hole roundrect (at -40.3 8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 378396b7-816f-412c-b398-2bfbec7f6a55))
(pad "9" thru_hole roundrect (at -40.3 6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 3f510b37-3d66-4b1f-a522-569a3c2d8bbf))
(pad "10" thru_hole roundrect (at -40.3 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 434996e1-61bd-42ff-a716-8e2eded0b81d))
(pad "11" thru_hole roundrect (at -40.3 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d04da8c4-1375-40f5-862d-89a40323615e))
(pad "12" thru_hole roundrect (at -40.3 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d3eb6fac-45c7-4fd1-9912-2d8c789ffa62))
(pad "13" thru_hole roundrect (at -40.3 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 925b72f2-8f72-452d-a630-3febc08cc9ad))
(pad "14" thru_hole roundrect (at -40.3 -6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b4fcf448-08be-496d-8886-fa111b5b3ed1))
(pad "15" thru_hole roundrect (at -40.3 -8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 71333f91-0375-4115-aff4-5c1287b2ffc3))
(pad "16" thru_hole roundrect (at -40.3 -11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1da1d33c-0ecb-4e9c-810a-201946bf2333))
(pad "17" thru_hole roundrect (at -40.3 -13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp da71bc08-e42f-44ea-865c-6032dc757532))
(pad "18" thru_hole roundrect (at -40.3 -16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp e630b3ad-972b-48f8-8387-439339d1a82b))
)

36
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/4.0 TFT 480x320 led with sd and touch.kicad_mod Executable file
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@@ -0,0 +1,36 @@
(footprint "4.0 TFT 480x320 led with sd and touch" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr through_hole)
(fp_text reference "REF**" (at 6.858 -7.112 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1dd33759-143b-476c-bb42-c5e5d445a2fc)
)
(fp_text value "4.0 TFT 480x320 led with sd and touch" (at 3.47 -0.254 90 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1ce2bf2b-b61f-46da-a1cb-06e193ac5296)
)
(fp_rect (start -1.93 30.9) (end 106.07 -30.9)
(stroke (width 0.12) (type solid)) (fill none) (layer "F.SilkS") (tstamp 9717e78c-245e-4b0a-ba7e-ef5374b0c38c))
(pad "" np_thru_hole circle (at 1.07 -27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 7ce980db-52dc-41e1-bac4-30a0cf9df4f2))
(pad "" np_thru_hole circle (at 1.07 27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp d2f64eb5-177b-453b-a52e-31c9cd53aa66))
(pad "" np_thru_hole circle (at 103.07 -27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 9edc280a-c2af-4851-92a3-2973bd93b7ea))
(pad "" np_thru_hole circle (at 103.07 27.5) (size 6 6) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp f03fba2d-995e-47a0-b9be-5909be892403))
(pad "1" thru_hole roundrect (at 104.14 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 21623806-8193-49aa-8e86-f5d741ee3217))
(pad "2" thru_hole roundrect (at 104.14 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1c8efd92-4e91-4579-bd5c-5fab3c9a7156))
(pad "3" thru_hole roundrect (at 104.14 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp c0b8101a-448b-46a1-9a8a-2ff22c1b14db))
(pad "4" thru_hole roundrect (at 104.14 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp a34698d6-085b-485a-ba4e-0184bb2cbfd8))
(pad "5" thru_hole roundrect (at 0 16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d099de14-88e2-441e-a73e-ff95baeb8e26))
(pad "6" thru_hole roundrect (at 0 13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 59a1ecf0-8d7b-4db7-8aa7-b858a90fc7be))
(pad "7" thru_hole roundrect (at 0 11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b96d741a-8459-4bdc-b8c3-996255ed9d94))
(pad "8" thru_hole roundrect (at 0 8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 378396b7-816f-412c-b398-2bfbec7f6a55))
(pad "9" thru_hole roundrect (at 0 6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 3f510b37-3d66-4b1f-a522-569a3c2d8bbf))
(pad "10" thru_hole roundrect (at 0 3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 434996e1-61bd-42ff-a716-8e2eded0b81d))
(pad "11" thru_hole roundrect (at 0 1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d04da8c4-1375-40f5-862d-89a40323615e))
(pad "12" thru_hole roundrect (at 0 -1.27 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp d3eb6fac-45c7-4fd1-9912-2d8c789ffa62))
(pad "13" thru_hole roundrect (at 0 -3.81 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 925b72f2-8f72-452d-a630-3febc08cc9ad))
(pad "14" thru_hole roundrect (at 0 -6.35 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp b4fcf448-08be-496d-8886-fa111b5b3ed1))
(pad "15" thru_hole roundrect (at 0 -8.89 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 71333f91-0375-4115-aff4-5c1287b2ffc3))
(pad "16" thru_hole roundrect (at 0 -11.43 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp 1da1d33c-0ecb-4e9c-810a-201946bf2333))
(pad "17" thru_hole roundrect (at 0 -13.97 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp da71bc08-e42f-44ea-865c-6032dc757532))
(pad "18" thru_hole roundrect (at 0 -16.51 180) (size 2.286 1.524) (drill 0.9) (layers "*.Cu" "*.Mask") (roundrect_rratio 0.25) (tstamp e630b3ad-972b-48f8-8387-439339d1a82b))
)

48
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER.kicad_mod Executable file
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@@ -0,0 +1,48 @@
(footprint "IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 6381DD42)
(attr through_hole)
(fp_text reference "REF**" (at -4.445 -12.065) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 1f808c90-825e-49d0-9480-2865cbd239e3)
)
(fp_text value "IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER" (at 17.145 12.065) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp cd8735a2-64b2-46f7-86e5-f65aa6773d1a)
)
(fp_line (start 7.62 10.16) (end -7.62 10.16) (layer "F.SilkS") (width 0.127) (tstamp 184ea5e5-773a-4470-a1d9-ada8f7c72915))
(fp_line (start 7.62 -10.16) (end 7.62 10.16) (layer "F.SilkS") (width 0.127) (tstamp 332001f5-cc71-4238-ac59-603f5e908f28))
(fp_line (start -7.62 -10.16) (end 7.62 -10.16) (layer "F.SilkS") (width 0.127) (tstamp 55d53cb2-4740-441d-b360-53850205a522))
(fp_line (start -7.62 10.16) (end -7.62 -10.16) (layer "F.SilkS") (width 0.127) (tstamp eb50be0a-af3d-4f72-8f32-b836afc4ea23))
(fp_circle (center -8.6 -9) (end -8.5 -9) (layer "F.SilkS") (width 0.2) (fill none) (tstamp c3e53920-591b-41f7-bfa4-cdec252f192d))
(fp_line (start 7.87 10.41) (end -7.87 10.41) (layer "F.CrtYd") (width 0.05) (tstamp 9d0dccba-7ac6-439e-bee8-29aefc9066a6))
(fp_line (start -7.87 10.41) (end -7.87 -10.41) (layer "F.CrtYd") (width 0.05) (tstamp a58804ce-8cb0-4f6a-a098-d45aeb1aae2d))
(fp_line (start 7.87 -10.41) (end 7.87 10.41) (layer "F.CrtYd") (width 0.05) (tstamp df63f6d8-a5ee-4781-9ec1-cc05348d1b96))
(fp_line (start -7.87 -10.41) (end 7.87 -10.41) (layer "F.CrtYd") (width 0.05) (tstamp faf89614-78d8-4859-84c0-3ebe11c19d95))
(fp_line (start -7.62 -10.16) (end 7.62 -10.16) (layer "F.Fab") (width 0.127) (tstamp 5ded9bb8-1156-457b-84b6-685326575cf1))
(fp_line (start 7.62 -10.16) (end 7.62 10.16) (layer "F.Fab") (width 0.127) (tstamp 940db903-16a4-48e2-a98f-adad90558e9e))
(fp_line (start 7.62 10.16) (end -7.62 10.16) (layer "F.Fab") (width 0.127) (tstamp a2ec6ef3-fc2f-46bb-b912-4a1b212ee2aa))
(fp_line (start -7.62 10.16) (end -7.62 -10.16) (layer "F.Fab") (width 0.127) (tstamp b51a4bcf-71d4-420a-bfc9-af8e91ffce12))
(fp_circle (center -8.6 -9) (end -8.5 -9) (layer "F.Fab") (width 0.2) (fill none) (tstamp c5b0755b-ae47-484b-a9d8-a14bc3fe4d6a))
(pad "1" thru_hole rect (at -6.35 -8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 741b3aed-a21f-49e6-afae-979a391e69e3))
(pad "2" thru_hole circle (at -6.35 -6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp e08eefbd-e4db-4df7-81f8-1db4f4624b8e))
(pad "3" thru_hole circle (at -6.35 -3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp fa23c747-4f5a-467c-b9ee-d1568722f9f4))
(pad "4" thru_hole circle (at -6.35 -1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 1526f4b4-4f3a-4309-88e3-e357e5e4fd01))
(pad "5" thru_hole circle (at -6.35 1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 346d4de3-c86e-4f9a-b0cd-327abb4e6e16))
(pad "6" thru_hole circle (at -6.35 3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 2b0dcfb1-04fb-4736-9932-8b443dc4b4db))
(pad "7" thru_hole circle (at -6.35 6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp f5651210-70bd-4ef4-b435-4f5b604ad5ea))
(pad "8" thru_hole circle (at -6.35 8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 4c930822-2577-4b8f-880c-ba5110fe90ca))
(pad "9" thru_hole circle (at 6.35 8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 58a376a7-9b6c-4a01-8858-f7f3b141df35))
(pad "10" thru_hole circle (at 6.35 6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 826cd63c-449b-4341-9d3a-e4f9d7be3522))
(pad "11" thru_hole circle (at 6.35 3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 3ecd8ab0-f3ff-4b33-b61a-ac8f6d635b8d))
(pad "12" thru_hole circle (at 6.35 1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp d98ae056-8cce-485d-8161-65c8fa9131da))
(pad "13" thru_hole circle (at 6.35 -1.27) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp 7b3e4290-3208-4aa1-a099-022dbb423783))
(pad "14" thru_hole circle (at 6.35 -3.81) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp a1c91abb-0590-4d22-9c4d-0cc9face79ef))
(pad "15" thru_hole circle (at 6.35 -6.35) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp bcbd6a36-e817-4130-a8e3-a17958b1b374))
(pad "16" thru_hole circle (at 6.35 -8.89) (size 1.65 1.65) (drill 1.1) (layers *.Cu *.Mask) (tstamp fa5466b9-c748-4ab2-8ed8-0ca9c70ab11e))
(model "C:/Users/Hakan/Downloads/DRV8825 STEPPER MOTOR DRIVER CARRIER--3DModel-STEP-1.STEP"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
(rotate (xyz -90 0 0))
)
)

29
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module-utan motorpads.kicad_mod Executable file
View File

@@ -0,0 +1,29 @@
(footprint "L298N Motor driver module-utan motorpads" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(attr through_hole)
(fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 09a028f6-0462-4b35-a49b-ef2c13c355bf)
)
(fp_text value "L298N Motor driver module-utan motorpads" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 14df8c27-1aca-4de8-bd30-28d03a31e6f6)
)
(fp_line (start -12.192 19.7) (end 9.398 19.7)
(stroke (width 0.12) (type default)) (layer "F.SilkS") (tstamp 317d2810-d3c2-49db-938a-bafe7f4e1e31))
(fp_rect (start -21.7 -21.9) (end 21.7 21.9)
(stroke (width 0.12) (type default)) (fill none) (layer "F.SilkS") (tstamp 5b17b7f5-435b-4a28-afb4-86ded0e884be))
(pad "" np_thru_hole circle (at -18.5 -18.5) (size 3.5 3.5) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp c04b2057-c14b-4dd5-b142-15b98e9d5668))
(pad "" np_thru_hole circle (at -18.5 18.5) (size 3.5 3.5) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 7a2864d1-8946-4dc9-93a0-02a917a24fd8))
(pad "" np_thru_hole circle (at 18.5 -18.5) (size 3.5 3.5) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp 269d31b6-76fe-44b5-8014-0153a125cf89))
(pad "" np_thru_hole circle (at 18.5 18.5) (size 3.5 3.5) (drill 3.5) (layers "F&B.Cu" "*.Mask") (tstamp c86e2980-43bd-4dde-a031-8739fee66cba))
(pad "1" thru_hole oval (at 2 19.7) (size 2 3) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 2a20db31-01a1-4353-ae5f-88685f485774))
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33
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module.kicad_mod Executable file
View File

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348
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias.kicad_mod Executable file
View File

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(pad "81" thru_hole circle (at -0.6 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 3af3c50a-a553-41cb-aaad-4b5d4451be2c))
(pad "81" thru_hole circle (at -0.6 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp c286aaae-6526-436f-930d-3b059458a276))
(pad "81" smd rect (at 0 0) (size 4.1 4.1) (layers "B.Cu") (tstamp 3524f943-29c4-43e0-92bc-5a9a84114d38))
(pad "81" smd rect (at 0 0) (size 5.3 4.5) (layers "F.Cu" "F.Mask") (tstamp 88727049-5477-40c7-8453-c60008c63992))
(pad "81" thru_hole circle (at 0.6 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 7be4eceb-8fd4-44a3-ac4c-9e24c2e9defd))
(pad "81" thru_hole circle (at 0.6 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp b2019f80-ee10-4345-9965-c0bac17c6275))
(pad "81" thru_hole circle (at 0.6 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp da8885f6-e2d7-4797-9607-cfb52f650bf0))
(pad "81" thru_hole circle (at 0.6 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp aa3a8115-8e44-4ad1-bd65-ccd7f22502df))
(pad "81" thru_hole circle (at 1.8 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 6706993c-a834-462c-8357-a40f1869517b))
(pad "81" thru_hole circle (at 1.8 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 726bba8c-e324-4c4f-afdf-f6697cd388e4))
(pad "81" thru_hole circle (at 1.8 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 88fe9863-0350-4442-905f-e914481006f5))
(pad "81" thru_hole circle (at 1.8 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 118dd107-8d39-4899-a0da-068651ad52b7))
(model "${KICAD7_3DMODEL_DIR}/Package_QFP.3dshapes/LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm.wrl"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
(rotate (xyz 0 0 0))
)
)

121
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_DEVKIT_V1.kicad_mod Executable file
View File

@@ -0,0 +1,121 @@
(footprint MODULE_ESP32_DEVKIT_V1 (layer F.Cu) (tedit 6381D09B)
(descr "")
(fp_text reference REF** (at -11.355 -27.36 0) (layer F.SilkS)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(fp_text value MODULE_ESP32_DEVKIT_V1 (at -0.56 27.36 0) (layer F.Fab)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(pad 1 thru_hole rect (at -12.7 -15.515) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 2 thru_hole circle (at -12.7 -12.975) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 3 thru_hole circle (at -12.7 -10.435) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 4 thru_hole circle (at -12.7 -7.895) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 5 thru_hole circle (at -12.7 -5.355) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 6 thru_hole circle (at -12.7 -2.815) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 7 thru_hole circle (at -12.7 -0.275) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 8 thru_hole circle (at -12.7 2.265) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 9 thru_hole circle (at -12.7 4.805) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 10 thru_hole circle (at -12.7 7.345) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 11 thru_hole circle (at -12.7 9.885) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 12 thru_hole circle (at -12.7 12.425) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 13 thru_hole circle (at -12.7 14.965) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 14 thru_hole circle (at -12.7 17.505) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 15 thru_hole circle (at -12.7 20.045) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 30 thru_hole circle (at 12.7 -15.515) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 29 thru_hole circle (at 12.7 -12.975) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 28 thru_hole circle (at 12.7 -10.435) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 27 thru_hole circle (at 12.7 -7.895) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 26 thru_hole circle (at 12.7 -5.355) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 25 thru_hole circle (at 12.7 -2.815) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 24 thru_hole circle (at 12.7 -0.275) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 23 thru_hole circle (at 12.7 2.265) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 22 thru_hole circle (at 12.7 4.805) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 21 thru_hole circle (at 12.7 7.345) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 20 thru_hole circle (at 12.7 9.885) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 19 thru_hole circle (at 12.7 12.425) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 18 thru_hole circle (at 12.7 14.965) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 17 thru_hole circle (at 12.7 17.505) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad 16 thru_hole circle (at 12.7 20.045) (size 2.0 2.0) (drill 1.02) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.28 23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.23 23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.23 -23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.28 -23.475) (size 3.0 3.0) (drill 3.0) (layers *.Cu *.Mask))
(fp_line (start -14.28 -25.475) (end -3.211 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start -3.211 -25.475) (end 3.5 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -25.475) (end 14.23 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 14.23 25.475) (end -14.28 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.Fab) (width 0.127))
(fp_line (start -14.28 -25.475) (end 14.23 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.SilkS) (width 0.127))
(fp_circle (center -14.85 -15.515) (end -14.75 -15.515) (layer F.SilkS) (width 0.2))
(fp_circle (center -14.85 -15.515) (end -14.75 -15.515) (layer F.Fab) (width 0.2))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -14.28 25.475) (end -8.91 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 25.475) (end 8.78 25.475) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 25.475) (end 14.23 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 25.475) (end -8.91 18.985) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 18.985) (end -8.91 6.355) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 6.355) (end 8.78 6.355) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 6.355) (end 8.78 18.985) (layer F.Fab) (width 0.127))
(fp_line (start 8.78 18.985) (end 8.78 25.475) (layer F.Fab) (width 0.127))
(fp_line (start -8.91 18.985) (end 8.78 18.985) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -25.475) (end 3.5 -21.585) (layer F.Fab) (width 0.127))
(fp_line (start 3.5 -21.585) (end -3.211 -21.585) (layer F.Fab) (width 0.127))
(fp_line (start -3.211 -21.585) (end -3.211 -25.475) (layer F.Fab) (width 0.127))
(zone (net 0) (net_name "") (layer F.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed ) (copperpour not_allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(zone (net 0) (net_name "") (layers *.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks allowed) (vias not_allowed) (pads allowed ) (copperpour allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(zone (net 0) (net_name "") (layer B.Cu) (hatch full 0.508)
(connect_pads (clearance 0))
(min_thickness 0.01)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed ) (copperpour not_allowed) (footprints allowed))
(fill (thermal_gap 0.508) (thermal_bridge_width 0.508))
(polygon
(pts
(xy -8.91 18.985)
(xy 8.78 18.985)
(xy 8.78 25.475)
(xy -8.91 25.475)
)
)
)
(fp_line (start -14.28 -25.475) (end -3.211 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -3.211 -25.475) (end 3.5 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 3.5 -25.475) (end 14.23 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -14.28 -25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 14.23 -25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.28 25.475) (end -8.91 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -8.91 25.475) (end 8.78 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start 8.78 25.475) (end 14.23 25.475) (layer F.SilkS) (width 0.127))
(fp_line (start -14.53 -25.725) (end -14.53 25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start -14.53 25.725) (end 14.48 25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.48 25.725) (end 14.48 -25.725) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.48 -25.725) (end -14.53 -25.725) (layer F.CrtYd) (width 0.05))
)

64
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_NODEMCU.kicad_mod Executable file
View File

@@ -0,0 +1,64 @@
(footprint MODULE_ESP32_NODEMCU (layer F.Cu) (tedit 6381D25E)
(descr "")
(fp_text reference REF** (at -11.075 -29.385 0) (layer F.SilkS)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(fp_text value MODULE_ESP32_NODEMCU (at -1.55 29.385 0) (layer F.Fab)
(effects (font (size 1.0 1.0) (thickness 0.15)))
)
(pad J5_19 thru_hole circle (at -13.0 -22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_18 thru_hole circle (at -13.0 -20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_1 thru_hole rect (at -13.0 22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_17 thru_hole circle (at -13.0 -17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_16 thru_hole circle (at -13.0 -15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_15 thru_hole circle (at -13.0 -12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_14 thru_hole circle (at -13.0 -10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_13 thru_hole circle (at -13.0 -7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_12 thru_hole circle (at -13.0 -5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_11 thru_hole circle (at -13.0 -2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_10 thru_hole circle (at -13.0 0.0) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_9 thru_hole circle (at -13.0 2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_8 thru_hole circle (at -13.0 5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_7 thru_hole circle (at -13.0 7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_6 thru_hole circle (at -13.0 10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_5 thru_hole circle (at -13.0 12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_4 thru_hole circle (at -13.0 15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_3 thru_hole circle (at -13.0 17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J5_2 thru_hole circle (at -13.0 20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_19 thru_hole circle (at 13.0 22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_18 thru_hole circle (at 13.0 20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_17 thru_hole circle (at 13.0 17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_16 thru_hole circle (at 13.0 15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_15 thru_hole circle (at 13.0 12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_14 thru_hole circle (at 13.0 10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_13 thru_hole circle (at 13.0 7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_12 thru_hole circle (at 13.0 5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_11 thru_hole circle (at 13.0 2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_10 thru_hole circle (at 13.0 0.0) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_9 thru_hole circle (at 13.0 -2.54) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_8 thru_hole circle (at 13.0 -5.08) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_7 thru_hole circle (at 13.0 -7.62) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_6 thru_hole circle (at 13.0 -10.16) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_5 thru_hole circle (at 13.0 -12.7) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_4 thru_hole circle (at 13.0 -15.24) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_3 thru_hole circle (at 13.0 -17.78) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_2 thru_hole circle (at 13.0 -20.32) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad J4_1 thru_hole rect (at 13.0 -22.86) (size 1.35 1.35) (drill 0.9) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.5 26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.5 26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at -12.5 -26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(pad None np_thru_hole circle (at 12.5 -26.0) (size 2.25 2.25) (drill 2.25) (layers *.Cu *.Mask))
(fp_line (start -14.0 27.5) (end -14.0 -27.5) (layer F.Fab) (width 0.127))
(fp_line (start -14.0 -27.5) (end 14.0 -27.5) (layer F.Fab) (width 0.127))
(fp_line (start 14.0 -27.5) (end 14.0 27.5) (layer F.Fab) (width 0.127))
(fp_line (start 14.0 27.5) (end -14.0 27.5) (layer F.Fab) (width 0.127))
(fp_line (start -14.0 -27.5) (end -14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.0 -27.5) (end 14.0 -27.5) (layer F.SilkS) (width 0.127))
(fp_line (start 14.0 -27.5) (end 14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.0 27.5) (end 14.0 27.5) (layer F.SilkS) (width 0.127))
(fp_line (start -14.25 -27.75) (end -14.25 27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start -14.25 27.75) (end 14.25 27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.25 27.75) (end 14.25 -27.75) (layer F.CrtYd) (width 0.05))
(fp_line (start 14.25 -27.75) (end -14.25 -27.75) (layer F.CrtYd) (width 0.05))
)

19
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PWM_module_ebay.kicad_mod Executable file
View File

@@ -0,0 +1,19 @@
(footprint "PWM_module_ebay" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 0)
(attr smd)
(fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp c8121568-d3f5-48c8-9ecf-a54c1a1074ad)
)
(fp_text value "PWM_module_ebay" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp dd8648e9-e72b-41af-ac5a-778a58f169b2)
)
(fp_rect (start -2 -8.5) (end 31.5 8.5) (layer "F.SilkS") (width 0.12) (fill none) (tstamp 544f39f6-64e8-4f0a-a78a-5e28b7872f5b))
(pad "1" thru_hole roundrect (at 0 -1.27) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 6b50b86c-f9d8-4912-a87b-9d561db19997))
(pad "2" thru_hole roundrect (at 0 1.27) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 5f68daa8-c144-4203-bee1-0e7dc9fd2d2a))
(pad "3" thru_hole roundrect (at 27.94 -3.5) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 109eb1d6-b156-437a-a163-7bcc6259259e))
(pad "4" thru_hole roundrect (at 27.94 0) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp aae80b99-f5f7-4cee-b9d6-1e8589696882))
(pad "5" thru_hole roundrect (at 27.94 3.5) (size 2.286 1.524) (drill 0.9) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 39d93395-0259-4e7b-9e15-e09f030e816a))
)

103
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PulseJack JB0011D01BNL.kicad_mod Executable file
View File

@@ -0,0 +1,103 @@
(footprint "PulseJack JB0011D01BNL" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(descr "1 Port RJ45 Magjack Connector Through Hole 10/100 Base-T, AutoMDIX, https://www.amphenol-cs.com/media/wysiwyg/files/drawing/rjmg1bd3b8k1anr.pdf")
(tags "RJ45 Magjack")
(attr through_hole)
(fp_text reference "REF**" (at -4.445 5.49 180) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp e2f1695c-beea-4fcf-8b80-b8ca5ba8d340)
)
(fp_text value "PulseJack JB0011D01BNL" (at -4.445 -18.23 180) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp ba8f000b-59da-4929-ac44-88846ac40828)
)
(fp_text user "${REFERENCE}" (at -4.445 -6.37 180) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 9ca336cd-ca2e-4358-bf36-988a1e93b470)
)
(fp_line (start -12.42 -17.33) (end 3.53 -17.33)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 6cc8c013-9c97-410e-8b52-798376aa06f9))
(fp_line (start -12.42 -4.89) (end -12.42 -17.33)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp dfe51a95-bf40-4283-8584-c3bd5cc9df9e))
(fp_line (start -12.42 4.59) (end -12.42 -1.69)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 8246d8f2-1c6f-4b33-8d25-c618de02407e))
(fp_line (start 3.53 -17.33) (end 3.53 -4.89)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp f47c6b12-f626-45aa-9068-5767b95e0936))
(fp_line (start 3.53 -1.69) (end 3.53 4.59)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0777e883-a211-4ec6-83de-d3a434fd515e))
(fp_line (start 3.53 4.59) (end -12.42 4.59)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 02396337-73e6-497a-8f0c-d054d6d0c6db))
(fp_line (start 3.73 1) (end 3.73 -1)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0c9cfb1c-8626-45ba-b8d0-0fa1d897dde5))
(fp_line (start -14.02 -4.04) (end -12.82 -5.24)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp 13cdb4cc-fea5-44e3-93ef-ac453a62464a))
(fp_line (start -14.02 -2.54) (end -14.02 -4.04)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a85fb57b-5bbf-4280-850d-8afa2455d39a))
(fp_line (start -12.82 -5.24) (end -12.82 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp e2c5f1ff-8df1-4236-b76c-300e04f8790c))
(fp_line (start -12.82 -1.34) (end -14.02 -2.54)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp ce6674fd-2fbe-4f69-89a7-10eb73acbd10))
(fp_line (start -12.82 4.99) (end -12.82 -1.34)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 60a05c14-e1f9-4ada-a1af-593963ac1586))
(fp_line (start -12.82 4.99) (end 3.93 4.99)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 4fdd4f36-1a01-4604-96b0-b2181006ea98))
(fp_line (start 3.93 -17.73) (end -12.82 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp bfd74dac-89ff-4170-b66a-da6e02ab8a10))
(fp_line (start 3.93 -5.24) (end 3.93 -17.73)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a7ea8871-0814-496d-bea8-76acf87a9f1d))
(fp_line (start 3.93 -1.34) (end 5.13 -2.54)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp ce9b9799-5a6e-4d3c-ad71-51ecb5f3226b))
(fp_line (start 3.93 4.99) (end 3.93 -1.34)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp a7ea8871-0814-496d-bea8-76acf87a9f1d))
(fp_line (start 5.13 -4.04) (end 3.93 -5.24)
(stroke (width 0.05) (type default)) (layer "F.CrtYd") (tstamp 35eb9022-e801-4ec2-b75e-575993ae22a7))
(fp_line (start 5.13 -2.54) (end 5.13 -4.04)
(stroke (width 0.05) (type solid)) (layer "F.CrtYd") (tstamp 42f37172-575a-4e35-ab04-4207d00c9215))
(fp_line (start -12.32 -17.23) (end 3.43 -17.23)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 3bcf90ed-72cf-43f6-9200-1af27dc71125))
(fp_line (start -12.32 4.49) (end -12.32 -17.23)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 0e51847c-5550-4434-a920-3207f3b327a4))
(fp_line (start 0 3.49) (end -1 4.49)
(stroke (width 0.1) (type default)) (layer "F.Fab") (tstamp 2203cc90-7f47-4295-8157-870276d4dc86))
(fp_line (start 0 3.49) (end 1 4.49)
(stroke (width 0.1) (type default)) (layer "F.Fab") (tstamp aa2be614-88ae-4474-8f42-6dcd6743c3ee))
(fp_line (start 3.43 -17.23) (end 3.43 4.49)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 6433be6c-4de7-4dae-a169-d00a015d196a))
(fp_line (start 3.43 4.49) (end -12.32 4.49)
(stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 98f93373-5da4-47b9-a4ca-c4dc9246ed79))
(pad "" np_thru_hole circle (at -10.16 -6.35 180) (size 3.25 3.25) (drill 3.25) (layers "F&B.Cu" "*.Mask") (tstamp f48b1e8e-4538-458d-a65c-3138e85ea983))
(pad "" np_thru_hole circle (at 1.27 -6.35 180) (size 3.25 3.25) (drill 3.25) (layers "F&B.Cu" "*.Mask") (tstamp 185b9caa-e029-4e3c-ac0d-88faa14dbe70))
(pad "1" thru_hole rect (at 0 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp e7b20907-2bab-4e95-a575-a415b5c81d21))
(pad "2" thru_hole circle (at -1.27 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp 795bd836-c6e1-4e60-8c0e-c390a64de36d))
(pad "3" thru_hole circle (at -2.54 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp e8ffc943-c00a-44ac-890a-53d47631b4ca))
(pad "4" thru_hole circle (at -3.81 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp 07a28928-313b-4940-b033-f561fb74708a))
(pad "5" thru_hole circle (at -5.08 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp f45e2541-d577-4c9c-b663-888b4be2cd9d))
(pad "6" thru_hole circle (at -6.35 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp c75da34c-c8bd-4693-b686-9e59682fd0df))
(pad "7" thru_hole circle (at -7.62 0 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp d93d30c2-35fb-434c-a82d-d583066fc83d))
(pad "8" thru_hole circle (at -8.89 2.54 180) (size 1.9 1.9) (drill 0.9) (layers "*.Cu" "*.Mask") (tstamp df23d44a-7a80-4775-875f-744a84f07092))
(pad "9" thru_hole circle (at 1.8796 -11.2522 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 31281c12-ca20-4a5f-84f9-96702a50100e))
(pad "10" thru_hole circle (at -0.6604 -9.7282 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 1481ff80-5f30-4ef2-91da-ead74ebeaa80))
(pad "11" thru_hole circle (at -8.2296 -11.2522 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp 9804c560-faa5-4df3-9d54-539192cf2965))
(pad "12" thru_hole circle (at -10.7696 -9.7282 180) (size 1.89 1.89) (drill 0.89) (layers "*.Cu" "*.Mask") (tstamp f7a2d297-559e-45fa-9e90-075150e8a9fa))
(pad "SH" thru_hole circle (at -12.319 -3.302 180) (size 2.6 2.6) (drill 1.6) (layers "*.Cu" "*.Mask") (tstamp 3a4032e9-a391-42a8-8d46-37a6a669af39))
(pad "SH" thru_hole circle (at 3.429 -3.302 180) (size 2.6 2.6) (drill 1.6) (layers "*.Cu" "*.Mask") (tstamp 9c410289-a5f6-43a2-b6d5-e00c7525c3d4))
(zone (net 0) (net_name "") (layers "F&B.Cu" "F.SilkS") (tstamp 8504694f-c10f-4788-9961-ef566cd97e6b) (name "No trace zone") (hatch edge 0.5)
(connect_pads (clearance 0))
(min_thickness 0.25) (filled_areas_thickness no)
(keepout (tracks not_allowed) (vias not_allowed) (pads not_allowed) (copperpour allowed) (footprints allowed))
(fill (thermal_gap 0.5) (thermal_bridge_width 0.5))
(polygon
(pts
(xy 3.683 -13.97)
(xy -12.573 -13.97)
(xy -12.573 -17.526)
(xy 3.683 -17.526)
)
)
)
(model "${KICAD7_3DMODEL_DIR}/Connector_RJ.3dshapes/RJ45-01-J0011D01BNL.STEP"
(offset (xyz -4.4 6.6 0))
(scale (xyz 1 1 1))
(rotate (xyz -90 0 180))
)
)

19
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/Step-down_converter.kicad_mod Executable file
View File

@@ -0,0 +1,19 @@
(footprint "Step-down_converter" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 0)
(attr smd)
(fp_text reference "REF**" (at 1 -2 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 02961187-d897-402a-8be0-280efa86136e)
)
(fp_text value "Step-down_converter" (at 1 0 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 86ce3e0b-05da-49e1-bbdd-4b8a82d57320)
)
(fp_rect (start 9.398 -6.35) (end -8.382 5.334) (layer "F.SilkS") (width 0.12) (fill none) (tstamp a74d3364-cf5e-4ce8-81ee-30303d1a2fff))
(fp_rect (start -8.382 -6.35) (end 9.398 5.334) (layer "F.CrtYd") (width 0.12) (fill none) (tstamp 2dc45bff-1695-4e57-9525-90c2d17683f1))
(pad "IN+" thru_hole rect (at -7 4) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp f9cef32a-df9e-484b-9b98-5c39bed8e59f))
(pad "IN-" thru_hole rect (at -7 -5) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp b207658a-2d2d-4567-aa6a-a6939ed82d9a))
(pad "OUT+" thru_hole rect (at 8 4) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp 57a92d72-08d9-4070-ae87-6de89c192f43))
(pad "OUT-" thru_hole rect (at 8 -5) (size 2 2) (drill 1) (layers *.Cu *.Mask) (tstamp b3710e17-dffb-4214-b6d9-79b3e34fd05c))
)

41
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/TCA_9548A_module.kicad_mod Executable file
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@@ -0,0 +1,41 @@
(footprint "TCA_9548A_module" (version 20211014) (generator pcbnew)
(layer "F.Cu")
(tedit 0)
(attr through_hole)
(fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp a9653906-1f42-4915-a35e-72517899c891)
)
(fp_text value "TCA_9548A_module" (at 0 1 unlocked) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp ff6d1b7e-1b2c-4d2a-931a-6d4d73547b13)
)
(fp_rect (start -10.16 -17.78) (end 12.7 15.24) (layer "F.SilkS") (width 0.12) (fill none) (tstamp 7f03ab9f-5309-46c6-b1be-aa712f875925))
(fp_rect (start -10.668 -18.288) (end 13.208 15.748) (layer "F.CrtYd") (width 0.12) (fill none) (tstamp 833d74bc-b858-4355-8236-3621ff0bed70))
(pad "" np_thru_hole circle (at 1.27 -15.24) (size 5 5) (drill 3.2) (layers F&B.Cu *.Mask) (tstamp 1dac12bb-e465-4161-9224-558817b46c3a))
(pad "" np_thru_hole circle (at 1.27 12.7) (size 5 5) (drill 3.2) (layers F&B.Cu *.Mask) (tstamp d9f6a103-7845-443a-955a-fd7a87994ee3))
(pad "1" thru_hole rect (at -7.62 -15.24) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (tstamp 4ac03bfa-d64a-4788-b2a5-b070c780ab91))
(pad "2" thru_hole roundrect (at -7.62 -12.7) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp dc981262-75db-4d92-af08-03d80404fd21))
(pad "3" thru_hole roundrect (at -7.62 -10.16) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp b3a63d9e-98fd-4df6-accc-60a5ff53ec03))
(pad "4" thru_hole roundrect (at -7.62 -7.62) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 84fb0130-160c-4ea1-9fbd-21df04542f72))
(pad "5" thru_hole roundrect (at -7.62 -5.08) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 6b46525f-9b03-4252-91ad-bd5bb1da540b))
(pad "6" thru_hole roundrect (at -7.62 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 902e11cb-0aba-4bfd-8498-db20a1300fb2))
(pad "7" thru_hole roundrect (at -7.62 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 4ac83c5e-cd3c-45d0-9b2b-2352c7cc7bbb))
(pad "8" thru_hole roundrect (at -7.62 2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp c41cbd59-e088-4cb9-abf5-0f2ece40d145))
(pad "9" thru_hole roundrect (at -7.62 5.08) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 838a8ff9-57e5-4d8f-9074-564dbdcb1e60))
(pad "10" thru_hole roundrect (at -7.62 7.62) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp c262cfc5-31e3-444a-aec4-8a6e79b57c0d))
(pad "11" thru_hole roundrect (at -7.62 10.16) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp e03aa8f9-49e8-4331-9ae0-c600d010a7d0))
(pad "12" thru_hole roundrect (at -7.62 12.7) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp e048d497-97c9-424b-b599-3cb2dd14dc82))
(pad "13" thru_hole roundrect (at 10.16 12.7) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 48e6fec1-2792-457f-9d81-2980b94f33bd))
(pad "14" thru_hole roundrect (at 10.16 10.16) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 71041c6e-ef70-4e01-90b1-876593a19699))
(pad "15" thru_hole roundrect (at 10.16 7.62) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp dd299121-d1fc-45c2-9757-c34a748f5f5a))
(pad "16" thru_hole roundrect (at 10.16 5.08) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 13a0a00f-bf02-49b6-9651-f1124311b2dc))
(pad "17" thru_hole roundrect (at 10.16 2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 600d6432-936e-444c-981a-00e5908475ae))
(pad "18" thru_hole roundrect (at 10.16 0) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp cf975e27-2002-4acb-acfb-c5ceeee2ab70))
(pad "19" thru_hole roundrect (at 10.16 -2.54) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 32867613-7e95-40e0-a5e2-fdec80342970))
(pad "20" thru_hole roundrect (at 10.16 -5.08) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 7aadf216-889b-49f9-9450-f3202ed6213b))
(pad "21" thru_hole roundrect (at 10.16 -7.62) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 8dc3033e-c4c1-48b9-8ce5-522f131bdf3d))
(pad "22" thru_hole roundrect (at 10.16 -10.16) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 598aba67-4064-4582-940b-15dc2358a70c))
(pad "23" thru_hole roundrect (at 10.16 -12.7) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp d394e805-e59f-4704-bcc0-fd7e52a23959))
(pad "24" thru_hole roundrect (at 10.16 -15.24) (size 1.524 1.524) (drill 0.762) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp c83cae79-a3e6-46dd-83e7-fe9b6c86a3f1))
)

91
Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/USB_Micro-Hakan.kicad_mod Executable file
View File

@@ -0,0 +1,91 @@
(footprint "USB_Micro-Hakan" (version 20221018) (generator pcbnew)
(layer "F.Cu")
(descr "Micro USB AB receptable, right-angle inverted (https://www.molex.com/pdm_docs/sd/475900001_sd.pdf)")
(tags "Micro AB USB SMD")
(attr smd)
(fp_text reference "REF**" (at 0 -4.8 -180) (layer "F.SilkS")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 934339ec-1cb6-463e-8be7-53de8c8333c7)
)
(fp_text value "USB_Micro-Hakan" (at 0 3.5) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp cbe7cf3e-519b-4cc6-bb14-9eb244b4d642)
)
(fp_text user "PCB Edge" (at 0 1.45) (layer "Dwgs.User")
(effects (font (size 0.4 0.4) (thickness 0.04)))
(tstamp bab58309-66f6-4101-abc0-1146c4c6eb53)
)
(fp_text user "${REFERENCE}" (at 0 -1.5) (layer "F.Fab")
(effects (font (size 1 1) (thickness 0.15)))
(tstamp 9a98430f-5a6a-4beb-9df6-2ff5de8ad42d)
)
(fp_line (start -3.87 -3.27) (end -3.87 -1.2)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2d37630d-fc20-46e3-9f0a-37884fe92080))
(fp_line (start -3.87 -3.27) (end -3 -3.27)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 7a091366-bda5-4ae9-b8bb-05ca09dde226))
(fp_line (start -3.87 1.2) (end -3.87 1.45)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 0d46e52b-92f1-4829-89fc-4aaac518b86c))
(fp_line (start 1 -3.8) (end 1.6 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 2da27fd0-40d0-4d12-8acb-9b0c4746f591))
(fp_line (start 1.3 -3.5) (end 1 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp ec3cbbc1-7abb-4a2b-9614-d47a3494480c))
(fp_line (start 1.3 -3.5) (end 1.6 -3.8)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 35601a70-353f-406d-bbd0-8caf92f19c0b))
(fp_line (start 3 -3.27) (end 3.87 -3.27)
(stroke (width 0.12) (type solid)) (layer "F.SilkS") (tstamp 40a7b295-350d-4143-baec-c6f8ff9d76d2))
(fp_line (start 3.87 -3.27) (end 3.87 -1.2)
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Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252.kicad_sch Executable file
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Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252_diverse.kicad_sch Executable file
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Pcb-1-lan9252/Kicad/Ethercat-stm32/STM32F4.kicad_sch Executable file
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Pcb-1-lan9252/Kicad/Ethercat-stm32/Symbols/HakansLibrary.kicad_sym Executable file
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Pcb-1-lan9252/Kicad/Ethercat-stm32/Symbols/LAN9252_PT.kicad_sym Executable file
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### EtherCAT PCB based on LAN9252 and STM34F407
The firmware is in Firmware
Open this in PlatformIO. PlatformIO might be able to install all necessary software. If not, you need at least Arduino for STM32 (STM32duino) and SPI. PlatformIO might be able to figure that out, I hope so.
SPI settings are in lib/soes/hal/spi.cpp if you are interested.
SOES is the Arduino port of SOES from https://github.com/kubabuda/ecat_servo/tree/main/examples/SOES_arduino
My own code is in main.cpp. The encoder counter code is in STM34_Encoder.cpp
The PCB design is in Kicad. Open with Kicad. I have put the symbols and footprints in there, just set th right paths.
The design is in the state I ordered it at Aisler, Germany.
Schematics contains reference documentation, schematics of LAN9252 evaluation boards and other boards. This is from where I got inspiration and ideas to the design. No I didn't read all the reference documentation - I copied most from these designs and that's why it also worked the first time.
ESI xml file generator is in EEPROM_genrator. Access with a file browser and click on index.html to make your own xml file (and other necessary files, incl eeprom bin). Copy the contents to Firmware/lib/soes
and to Twincat esi xml file directory c:\twincat\3.1\io\modules\ethercat
The original EEPROM_generator is found here https://github.com/kubabuda/EEPROM_generator

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README.md
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# MyOwnEtherCATDevice
# Making my own EtherCAT device
This repository contains software, pcb shematics and layouts, reference documentation etc
that I used during my creation of my own EtherCAT device.
This job is documented in a series of Youtube videos, from my first attempts to understand
how EtherCAT works, to making my own pcb, program it and testing it in LinuxCNC.
## My own EtherCat 4. My PCB and details
In this video it starts to be inteeresting. I have got the pcb and I try to make it work.
Now I finally make documentation available, see [a link](Pcb-1-lan9252/README.md).
[![Watch the video](https://img.youtube.com/vi/nTQUwghvy5Q/default.jpg)](https://youtu.be/nTQUwghvy5Q)
## Make my own EtherCAT device 3. Encoder
[![Watch the video](https://img.youtube.com/vi/oNIBOpeTpQ4/default.jpg)](https://youtu.be/oNIBOpeTpQ4)
## Make my own EtherCAT device. 2. MCU and SPI
[![Watch the video](https://img.youtube.com/vi/F9HdCEG6kow/default.jpg)](https://youtu.be/F9HdCEG6kow)
## Make my own EtherCAT device. 1 Digital IO
[![Watch the video](https://img.youtube.com/vi/IGmXsXSSA4s/default.jpg)](https://youtu.be/IGmXsXSSA4s)