diff --git a/.gitignore b/.gitignore new file mode 100755 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/Pcb-1-lan9252/EEPROM_generator b/Pcb-1-lan9252/EEPROM_generator new file mode 160000 index 0000000..1e62377 --- /dev/null +++ b/Pcb-1-lan9252/EEPROM_generator @@ -0,0 +1 @@ +Subproject commit 1e6237732ee53f8d62897f9b7a2e58c68bca3e5b diff --git a/Pcb-1-lan9252/Firmware/.gitignore b/Pcb-1-lan9252/Firmware/.gitignore new file mode 100755 index 0000000..89cc49c --- /dev/null +++ b/Pcb-1-lan9252/Firmware/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/Pcb-1-lan9252/Firmware/.vscode/extensions.json b/Pcb-1-lan9252/Firmware/.vscode/extensions.json new file mode 100755 index 0000000..080e70d --- /dev/null +++ b/Pcb-1-lan9252/Firmware/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/Pcb-1-lan9252/Firmware/.vscode/settings.json b/Pcb-1-lan9252/Firmware/.vscode/settings.json new file mode 100755 index 0000000..4d135b6 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/.vscode/settings.json @@ -0,0 +1,6 @@ +{ + "files.associations": { + "ecat_slv.h": "c", + "compare": "cpp" + } +} \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/include/README b/Pcb-1-lan9252/Firmware/include/README new file mode 100755 index 0000000..45496b1 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/Pcb-1-lan9252/Firmware/include/Stepper.h b/Pcb-1-lan9252/Firmware/include/Stepper.h new file mode 100755 index 0000000..526aeb0 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/include/Stepper.h @@ -0,0 +1,38 @@ +/* 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 */ diff --git a/Pcb-1-lan9252/Firmware/include/Stm32F4_Encoder.h b/Pcb-1-lan9252/Firmware/include/Stm32F4_Encoder.h new file mode 100755 index 0000000..fae78b3 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/include/Stm32F4_Encoder.h @@ -0,0 +1,717 @@ + +#ifndef __Stm32F4_Encoder_H__ +#define __Stm32F4_Encoder_H__ +#include + + +#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) /*! THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/CMakeLists.txt b/Pcb-1-lan9252/Firmware/lib/soes/CMakeLists.txt new file mode 100755 index 0000000..d39dfd9 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/CMakeLists.txt @@ -0,0 +1,29 @@ + +# NOTE: add headers to make them show up in an IDE +add_library (soes + esc.c + esc.h + esc_coe.c + esc_coe.h + esc_foe.c + esc_foe.h + esc_eoe.c + esc_eoe.h + esc_eep.c + esc_eep.h + ecat_slv.c + ecat_slv.h + options.h + ${HAL_SOURCES} + ) + +include_directories(${HAL_INCLUDES}) + +install (TARGETS soes DESTINATION bin) +install (FILES + esc.h + esc_coe.h + esc_foe.h + esc_eoe.h + esc_eep.h + DESTINATION include) diff --git a/Pcb-1-lan9252/Firmware/lib/soes/Doxyfile b/Pcb-1-lan9252/Firmware/lib/soes/Doxyfile new file mode 100755 index 0000000..3c634b2 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/Doxyfile @@ -0,0 +1,1742 @@ +# Doxyfile 1.7.3 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = SOES + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = v1.0.0 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. 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Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. 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This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. 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An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. 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If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = YES + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = . \ + ../os_al/rtl_slavedemo \ + ../os_hw/rtl_spi \ + doc/tutorial.txt \ + doc/soes.dox \ + + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.d \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.idl \ + *.odl \ + *.cs \ + *.php \ + *.php3 \ + *.inc \ + *.m \ + *.mm \ + *.dox \ + *.py \ + *.f90 \ + *.f \ + *.vhd \ + *.vhdl \ + *.C \ + *.CC \ + *.C++ \ + *.II \ + *.I++ \ + *.H \ + *.HH \ + *.H++ \ + *.CS \ + *.PHP \ + *.PHP3 \ + *.M \ + *.MM \ + *.PY \ + *.F90 \ + *.F \ + *.VHD \ + *.VHDL \ + *.inc + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = doc/images + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [0,1..20]) +# that doxygen will group on one line in the generated HTML documentation. +# Note that a value of 0 will completely suppress the enum values from +# appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = NO + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will write a font called Helvetica to the output +# directory and reference it in all dot files that doxygen generates. +# When you want a differently looking font you can specify the font name +# using DOT_FONTNAME. You need to make sure dot is able to find the font, +# which can be done by putting it in a standard location or by setting the +# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory +# containing the font. + +DOT_FONTNAME = FreeSans + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the output directory to look for the +# FreeSans.ttf font (which doxygen will put there itself). If you specify a +# different font using DOT_FONTNAME you can set the path where dot +# can find it using this tag. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, svg, gif or svg. +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 1000 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = YES + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000_encoder.xml b/Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000_encoder.xml new file mode 100755 index 0000000..b123ab5 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/MetalMusings_EaserCAT_2000_encoder.xml @@ -0,0 +1,1462 @@ + + + + 4321 + MetalMusings + + + + + myEncoder + lan9252 + + + + + EaserCAT2000 + MetalMusings EaserCAT 2000 encoder + myEncoder + + 5001 + 0 + 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+ #x6040 + #x0 + 16 + ControlWord + UINT + + + + #x1A02 + OpMode + + #x6060 + #x0 + 8 + OpMode + USINT + + + + #x1A03 + TargetPosition + + #x607A + #x0 + 32 + TargetPosition + DINT + + + + #x1A04 + TargetVelocity + + #x60FF + #x0 + 32 + TargetVelocity + DINT + + + + + + + + SM-Synchron + SM-Synchron + #x000 + + + DC + DC-Synchron + #x300 + + + + 2048 + 80060344640000 + + + + + \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/lib/soes/cc.h b/Pcb-1-lan9252/Firmware/lib/soes/cc.h new file mode 100755 index 0000000..b3067b0 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/cc.h @@ -0,0 +1,88 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +#ifndef CC_H +#define CC_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include +#include +#ifdef __linux__ + #include +#else + #include +#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 +#define DPRINT(...) rprintp ("soes: "__VA_ARGS__) +#else +#include +#define DPRINT(...) printf ("soes: "__VA_ARGS__) +#endif +#else +#define DPRINT(...) +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* CC_H */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/doc/images/esi_pdo.png b/Pcb-1-lan9252/Firmware/lib/soes/doc/images/esi_pdo.png new file mode 100755 index 0000000..1b21c36 Binary files /dev/null and b/Pcb-1-lan9252/Firmware/lib/soes/doc/images/esi_pdo.png differ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/doc/images/sii_pdo.png b/Pcb-1-lan9252/Firmware/lib/soes/doc/images/sii_pdo.png new file mode 100755 index 0000000..7298379 Binary files /dev/null and b/Pcb-1-lan9252/Firmware/lib/soes/doc/images/sii_pdo.png differ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/doc/soes.dox b/Pcb-1-lan9252/Firmware/lib/soes/doc/soes.dox new file mode 100755 index 0000000..58d9a7a --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/doc/soes.dox @@ -0,0 +1,50 @@ +/** + * \mainpage Simple Open EtherCAT Slave or SOES + * + * \section start Tutorial + * For a tutorial on SOES See tutorial.txt + * + * \section overview Overview + * SOES is an EtherCAT slave stack written in c. Its purpose is to learn and + * to use. All users are invited to study the source to get an understanding + * how an EtherCAT slave function + * + * Features as of 1.0.0 : + * - Address offset based HAL for easy ESC read/write access via any interface + * - Mailbox with data link layer + * - CoE + * - Object dictionary + * - SDO read and write for all sizes including segmented transfers + * - Easy portable C-code suited for embedded applications + * - Fixed PDO mapping + * - FoE with bootstrap template + * - Support for Little and Big endian targets. + * - Polling for interrupts + * + * \section legal Legal notice + * SOES Simple Open EtherCAT Slave \n + * Copyright (C) 2007-2013 Arthur Ketels \n + * Copyright (C) 2012-2013 rt-labs \n + * + * SOES is free software; you can redistribute it and/or modify it under + * the terms of the GNU General Public License version 2 as published by the Free + * Software Foundation. + * + * SOES is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * As a special exception, if other files instantiate templates or use macros + * or inline functions from this file, or you compile this file and link it + * with other works to produce a work based on this file, this file does not + * by itself cause the resulting work to be covered by the GNU General Public + * License. However the source code for this file must still be made available + * in accordance with section (3) of the GNU General Public License. + * + * This exception does not invalidate any other reasons why a work based on + * this file might be covered by the GNU General Public License. + * + * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual + * property of, and protected by Beckhoff Automation GmbH. + */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/doc/tutorial.txt b/Pcb-1-lan9252/Firmware/lib/soes/doc/tutorial.txt new file mode 100755 index 0000000..53e1b1c --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/doc/tutorial.txt @@ -0,0 +1,476 @@ +/** \file + +\section general General + +The SOES is a library that provides the Micro Controller user application with + the means to access the EtherCAT fieldbus communication environment: + - EtherCAT State Machine + - Mailbox Interfaces + - Protocols + - CoE + - FoE + bootstrap template + +Support for mailbox and protocols are typical examples when you need a slave +stack to control the Application Layer of EtherCAT. The PDI used for such +applications is either SPI or some Micro Controller Interface + +The following sections show some basic examples on how to get the SOES up +and running, as well as a lightweight example on howto design your slave. +Since all code is local to the application or global variables, it is possible + to tweak and optimize when possible. + +Our target Application: + - Inputs 40bit + - One button 8bit + - One encoder value 32bit + - Outputs 8bit + - LED 8bit + - Parameters + - Encoder settings + - Slave commands + - Reset counter + +Now to translate and implement on top of SOES. + +First look on the start up code. This example shows how to add a +main function that will be called by startup code. In this example +main's only purpose is to spawn two new tasks. One that executes +SOES and one that control the ERROR LED. Some ESCs provided a pin +for the RUN LED, some even for the ERROR LED, if it don't you can +control them from the slave Micro Controller. We'll focus on the "soes" task. + +\code + +int main (void) +{ + rprintp ("SOES (Simple Open EtherCAT Slave)\nsoes test\n"); + + /* task_spawn ("led_run", led_error, 15, 512, NULL); / + task_spawn ("led_error", led_error, 15, 512, NULL); + task_spawn ("soes", soes, 9, 1024, NULL); + + return (0); +} + +\endcode + +\section configuration Configuration +The function soes is our EtherCAT slave device and can be split in 3 parts. +Hardware Init, Software Init and Application loop. We will start with the +Hardware Init. + + - Hardware Init + - esc_reset, special function used for ESC reset if no Physical + EEPROM used. This is local to the Application not part of the generic + ESC handling. + - ESC_init, initialise SPI communication or similar + - Wait for ESC is started, waiting for SPI to be up and running, + we'll query the ESC register DL status if EEPROM loaded OK and PDI + operational, eg. SPI OK. + +\code + +void soes (void *arg) +{ + TXPDOsize = SM3_sml = sizeTXPDO (); + RXPDOsize = SM2_sml = sizeRXPDO (); + + esc_reset (); + ESC_init ((void *)spi_name); + + task_delay (tick_from_ms (200)); + + // wait until ESC is started up + while ((ESCvar.DLstatus & 0x0001) == 0) + { + ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus, + sizeof (ESCvar.DLstatus)); + ESCvar.DLstatus = etohs (ESCvar.DLstatus); + } + + // reset ESC to init state + ESC_ALstatus (ESCinit); +... +} + +\endcode + + - Software Init + - Reset the slave into Init state by writing AL Status register. + - Clear Errors by writing AL Status Code register. + - Stop the Application Layer, basically we disable the SyncManagers + that implicitly block the data exchange. + +\code + +void soes (void *arg) +{ +... + while ((ESCvar.DLstatus & 0x0001) == 0) + { + ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus, + sizeof (ESCvar.DLstatus)); + ESCvar.DLstatus = etohs (ESCvar.DLstatus); + } + + // reset ESC to init state + ESC_ALstatus (ESCinit); + ESC_ALerror (ALERR_NONE); + ESC_stopmbx (); + ESC_stopinput (); + ESC_stopoutput (); + + // application run loop + while (1) +... +} +\endcode + + - Application loop + - ALevent handling, ALevent hold information on changes in ALControl or + SyncManagers. ALControl for state changes and SyncManagers for changes written + by EtherCAT in local memory mapped to active SyncManagers + - ESC_state for state handling, such as state step up or down with correct + error and acknowledge response. + - Mailbox handler, generic support of mailboxes used by all Application Layer + protocols. + - On mailbox actions we'll also check if we need to use a specific protocol + handler to handle the incoming or outgoing Mailbox data. + +Up until the now we're using the SOES protocol stack without any application specific +calls. Next up we'll look at the application Code, here named DIG_process (). + +\code + +void soes (void *arg) +{ +... + // application run loop + while (1) + { + if((ESCvar.ALstatus & 0x0f) == ESCinit) + { + txpdomap = DEFAULTTXPDOMAP; + rxpdomap = DEFAULTRXPDOMAP; + txpdoitems = DEFAULTTXPDOITEMS; + rxpdoitems = DEFAULTTXPDOITEMS; + } + ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time)); + ESCvar.Time = etohl (ESCvar.Time); + + ESC_state (); + if (ESC_mbxprocess ()) + { + ESC_coeprocess (); + ESC_foeprocess (); + ESC_xoeprocess (); + } + DIG_process (); + }; +} + +\endcode + +\section application Application +The function DIG_process is the User part of the application and could be joined +by more cyclic User functions for executing other parts of the application. +The example code can be split in 2 parts + - Outputs + - Start by evaluating if we're in a state supporting update of outputs, eg. + Operational state. + - If we're in OP we can read the current PDO data in the 3-buffer SyncManager + mapped to the output SM, the default is SyncManager2, we read the ESC RAM address + of SM2 and store it at the local address of the local variable Wb.LED. + We'll read RXPDOsize bytes to trigger a complete SyncManager read. + - After local variables have been refreshed we basically write the local + PDO variables to the User application, ex. a GPIO. + - Basically this is the API of the SOES toward the User Application. + - This function also include a watchdog mechanism, if triggered it will + shutdown the outputs and trigger a state changes to safe operational. + AlError is updated with cause of error to inform the Master. + +\code + +void RXPDO_update (void) +{ + ESC_read (SM2_sma, &Wb.LED, RXPDOsize); +} + +void DIG_process (void) +{ + if (App.state & APPSTATE_OUTPUT) + { + if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ? + { + RXPDO_update (); + reset_wd (); + gpio_set(GPIO_LED, Wb.LED & BIT(0)); + + } + if (!wd_cnt) + { + ESC_stopoutput (); + // watchdog, invalid outputs + ESC_ALerror (ALERR_WATCHDOG); + // goto safe-op with error bit set + ESC_ALstatus (ESCsafeop | ESCerror); + wd_trigger = 1; + } + } + else + { + reset_wd (); + } +... +} + +\endcode + + - Inputs + - Is handled a bit simpler than outputs but in reverse order, the slave will + continue update the inputs in state Safe Operational. + - Here we first read User application data from ex. GPIO and then write to + local PDO variables. + - After the local variables have been refreshed we write those to the current + PDO data 3-buffer SyncManager mapped to the input SM, the default is SyncManager3. + This way we update the ESC RAM address with User Application data accessed by + the EtherCAT master. + +\code + +void TXPDO_update (void) +{ + ESC_write (SM3_sma, &Rb.button, TXPDOsize); +} + +void DIG_process (void) +{ +... + Rb.button = gpio_get(GPIO_WAKEUP); + Cb.reset_counter++; + Rb.encoder = Cb.reset_counter; + + TXPDO_update (); +} + +\endcode + +\section ApplicationdataProcessdata ApplicationdataProcessdata +To run application data through EtherCAT processdata we need to describe for +the fieldbus what data we have and will read/write. For this we have 3 objects, +the ESI file, SII-EEPROM and CoE Object Dictionary. The first 2 are mandatory +and the third is a very convenient way of describing complex slaves. + +Our strategy is to keep the ESI file and the SII-EEPROM as thin as possible to +avoid duplication of data that need to be maintained. Both will hold the bare +minimum of mandatory + optional data to pass CTT. Optional data will be +included to tell EtherCAT that detailed information can be retrieved via CoE +from the OD stored in the slave it self. + +\section SII-EEPROM SII-EEPROM +Snapshot from SII information matrix from EtherCAT communication slides. + +\image html sii_pdo.png "Our target slave is Fixed PDO and OD" +\image latex sii_pdo.png "Our target slave is Fixed PDO and OD" width=15cm + + +\section ESI-file ESI-file +Snapshot from ESI tree from EtherCAT communication slides. + +\image html esi_pdo.png "mandatory and optional ESI data" +\image latex esi_pdo.png "mandatory and optional ESI data" width=15cm + +To briefly give a hint what are describe in the ESI and SII we're listing +a set of included elements marked M for mandatory and O for optional. + +\code + - Vendor (M) , Describes the identity. + - Id (M), Hex, EtherCAT Vendor ID, OD 1018.01 + - Name (M), NameType, Expedient vendor name + - Descriptions (M), Describes the EtherCAT device(s) using elements. + - Groups (M), Similar devices can be assigned to one group. + - Group (M), One group groups similar devices with slightly different features + - Type (M), A reference handle corresponding to the GroupType value in Description:Devices:Device:Group + - Name (M), Name for this group show by a configuration tool + - Devices (M), Element devices may describe one or several devices with their EtherCAT features such as SyncManagers, FMMUs and Dictionaries + - Device (O), Holds all information about the device like syncmanagers and FMMU, object dictionary, data types and the PDO mapping and assign description + - Device ATT: Physics (M),string, Physics at individual ports + - Type (M), Device identity + - Type ATT:ProductCode="#x98123467" + - Type ATT:RevisionNo="#x00000001" + - Name (M), Detailed name of device shown by a configuration tool (not used for identification) + - GroupType (M), Reference to a group (described in element Groups) to which this device should be assigned to. Name of the handle used in element Groups:Group:Type + - Fmmu (O), String to describe function, Outputs -> RxPDO, Inputs -> TxPDO , MBoxState -> FMMU is used to poll Input Mailbox + - Sm (O), Description of SyncManager including start address and direction. + - MBoxOut Mailbox Data Master -> Slave + - MBoxIn Mailbox Data Slave -> Master + - Outputs Process Data Master -> Slave + - Inputs Process Data Slave -> master + - Sm ATT:DefaultSize="128" , Size + - Sm ATT:StartAddress="#x1000" , Start address + - Sm ATT:ControlByte="#x26" , Settings , Bit [1][0] = 10, Operation mode Mailbox, 00 Buffered 3. + - Sm ATT:Enable="1", Enabled + - Mailbox (O), Description of available mailbox protocols + - Mailbox ATT: DataLinkLayer="true", Support of Mailbox Data Link Layer is mandatory. + - CoE (O), Device support CoE + - CoE (O) ATT: SdoInfo="true" , SDO Information Service + - CoE (O) ATT: CompleteAccess="false" , SDO complete access not supported + - CoE (O) ATT: PdoUpload="true", PDO description uploaded from the slave's object dictionary and SyncManager length calculated based on the same + - Dc (O), describes synchronization modes supported by the device. + - OpMode (O), Definition of supported operation modes + - Name (M), Internal Handle of operation mode + - Desc (O(M)), description of operation mode, recommended, Free Run (no sync), SM Synchronous, DC Synchronous + - AssignActive (M), Value of Latch and Sync Control registers + - Eeprom (O, use is mandatory) + - Data (M) + Or + - ByteSize (M), Byte Size of connected EEPROM device + - ConfigData (M), First 7 words of EEPROM, Configuration Areas + - BootStrap (O), Start address and length of mailboxes for BootStrap +\endcode + +So to describe the application we use CoE and Object Dictionary. The mapping between +Object Dictionary and the User Application are done via local variables defined as +user types. The Object Dictionary itself is stored in a matrix where all +the indexes are listed. Every index then have a submatrix with its subindex. + +\section ObjectDictionary ObjectDictionary +The Object Dictionary used as example follow the CANopen DS301 ranges. + + - 0x0000 - 0x0FFF, Data Type Area + - 0x1000 - 0x1FFF, Communication Area + - 0x2000 - 0x5FFF, Manufacture specific area + - 0x6000 - 0x6FFF, Input area + - 0x7000 - 0x7FFF, Output area + - 0x8000 - 0x8FFF, Configuration area + - 0x9000 - 0x9FFF, Information area + - 0xA000 - 0xAFFF, Diagnosis Area + - 0xB000 - 0xBFFF, Service Transfer Area + - 0xC000 - 0xEFFF, Reserved Area + - 0xF000 - 0xFFFF, Device Area + +RxPDO , 0x1600 - 0x17FF +TxPDO , 0x1A00 - 0x1BFF + +Example, on how the the OD index are linked. +Top index, SyncManagers Communication Types. In index 0 the 0x04 indicates we have 4 +SyncManagers defined. Every SyncManager is assigned a type, in index 1-4, we have standard +settings SM0 = 1, SM1 = 2, SM2 = 3, SM3 = 4 from ETG 1000.6, 5.6.7.4. + - 0, Unused + - 1, MailBox Receive, master to slave + - 2, MailBox Send, slave to master + - 3, Processdata output, master to slave + - 4, Processdata input, slave to master + +\code +objectlist.h +FLASHSTORE _objectlist SDOobjects[] = +... + {0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]}, + +FLASHSTORE _objd SDO1C00[] = +{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil}, + {0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_01[0], 0x01, nil}, + {0x02, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_02[0], 0x02, nil}, + {0x03, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_03[0], 0x03, nil}, + {0x04, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C00_04[0], 0x04, nil} + +\endcode + +SyncManagers channels 0-31 are listed in SDO1C10-SDO1C2F. If we look +at SyncManager channel 2, we see. + + - Type 3, Processdata output, master to slave + +It got one RxPDO index 0x1600 connected, and the submatrix for 0x1600 link +one PDO object index 0x7000 subindex 1. The output object 0x70000108 give +you the index 0x7000, subindex 1 and PDO object length 1(byte). + +\code +objectlist.h +FLASHSTORE _objd SDO1C12[] = +{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil}, + {0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil} +}; + +FLASHSTORE _objd SDO1600[] = +{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil}, + {0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil} +}; + +\endcode + +At PDO level we make the connection between the local application and +the object dictionary. For all subindex in the PDO the last element +is the address to the local variable. + +\code + +objectlist.h +FLASHSTORE _objd SDO7000[] = +{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil}, + {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)} +}; + +utypes.h +typedef struct +{ + uint8 LED; +} _Wbuffer; + +\endcode + +Beside SyncManager to PDO mapping we also have mandatory data as + +0x1000 Device Type +0x1018 Object Identity +0x10C0 SyncManager Communication Type, as we used as top index when +figuring out our PDOs in the Object Dictionary. + +For a complete description of the object dictionary you can get guidance +by the ETG1000.6 EcatAlProtocols + +A useful feature is the Asynchronous use of SDO parameters. In the example +we have Parameter set holding an encoder scale value, just for show we also +have a read only mirror value of the encoder scale. Parameters defined as a +RW SDO parameter and can be written/read by SDO Download or Upload. In +addition there is a ESC_objecthandler Hook on SDO Download where you can +add additional logic, ex. we execute the mirror of the encoder scale value +by assigning the encoder scale value to the mirror. + +\code + +objectlist.h +FLASHSTORE _objd SDO7100[] = +{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil}, + {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)}, + {0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName7100_02[0], 0, &(encoder_scale_mirror)} +}; + +soes.c +void ESC_objecthandler (uint16 index, uint8 subindex) +{ + switch (index) + { +... + case 0x7100: + { + switch (subindex) + { + case 0x01: + { + encoder_scale_mirror = encoder_scale; + break; + } + } + break; + } +... +} + +\endcode +This tutorial is just one way of doing it. +Enjoy and happy coding! + +Andreas Karlsson, rt-labs AB, www.rt-labs.com + */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h b/Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h new file mode 100755 index 0000000..61675e3 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h @@ -0,0 +1,42 @@ +#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__ */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.c b/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.c new file mode 100755 index 0000000..147a11a --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.c @@ -0,0 +1,385 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ +#include +#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 (); +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.h b/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.h new file mode 100755 index 0000000..c6053c0 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/ecat_slv.h @@ -0,0 +1,69 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +#ifndef __ECAT_SLV_H__ +#define __ECAT_SLV_H__ + +#include "ecat_options.h" +#include "esc.h" + +/** + * This function is called when to get input values + */ +void cb_get_inputs(); + +/** +* This function is called when to set outputs values + */ +void cb_set_outputs(); + +/** Set the watchdog count value + * + * @param[in] watchdogcnt = new watchdog count value + */ +void APP_setwatchdog (int watchdogcnt); + +#define DIG_PROCESS_INPUTS_FLAG 0x01 +#define DIG_PROCESS_OUTPUTS_FLAG 0x02 +#define DIG_PROCESS_WD_FLAG 0x04 +#define DIG_PROCESS_APP_HOOK_FLAG 0x08 +/** Implements the watch-dog counter to count if we should make a state change + * due to missing incoming SM2 events. Updates local I/O and run the application + * in the following order, call read EtherCAT outputs, execute user provided + * application hook and call write EtherCAT inputs. + * + * @param[in] flags = User input what to execute + */ +void DIG_process (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__ */ diff 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+:20076000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF99 +:20078000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF79 +:2007A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF59 +:2007C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF39 +:2007E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF19 +:00000001FF \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc.c b/Pcb-1-lan9252/Firmware/lib/soes/esc.c new file mode 100755 index 0000000..582c1e0 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc.c @@ -0,0 +1,1179 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ +#include +#include +#include "esc.h" +#include "esc_coe.h" +#include "esc_foe.h" + +/** \file + * \brief + * Base EtherCAT functions for handling the Data Link Layer and Malilboxes + * + * + * State machine and mailbox support. + */ + +/** Write AL Status Code to the ESC. + * + * @param[in] errornumber = Write an by EtherCAT specified Error number register 0x134 AL Status Code + */ +void ESC_ALerror (uint16_t errornumber) +{ + uint16_t dummy; + ESCvar.ALerror = errornumber; + dummy = htoes (errornumber); + ESC_write (ESCREG_ALERROR, &dummy, sizeof (dummy)); +} + +/** Write AL Status to the ESC. + * + * @param[in] status = Write current slave status to register 0x130 AL Status + * reflecting actual state and error indication if present + */ +void ESC_ALstatus (uint8_t status) +{ + uint16_t dummy; + ESCvar.ALstatus = status; + dummy = htoes ((uint16_t) status); + ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy)); +} + +/** Write AL Status and AL Status code to the ESC. + * Call pre- and poststate change hook + * + * @param[in] status = Write current slave status to register 0x130 AL Status + * reflecting actual state and error indication if present + * @param[in] errornumber = Write an by EtherCAT specified Error number + * register 0x134 AL Status Code + */ +void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber) +{ + uint8_t an, as; + + if(status & ESCop) + { + /* Erroneous input, ignore */ + return; + } + /* Mask error ack of current state */ + as = ESCvar.ALstatus & ESCREG_AL_ERRACKMASK; + an = as; + /* Set the state transition, new state in high bits and old in bits */ + as = ((status & ESCREG_AL_ERRACKMASK) << 4) | (as & 0x0f); + /* Call post state change hook case it have been configured */ + if (ESCvar.pre_state_change_hook != NULL) + { + ESCvar.pre_state_change_hook (&as, &an); + } + /* Stop outputs if active */ + if ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) + { + ESC_stopoutput(); + } + ESC_ALerror(errornumber); + ESC_ALstatus(status); + an = status; + /* Call post state change hook case it have been configured */ + if (ESCvar.post_state_change_hook != NULL) + { + ESCvar.post_state_change_hook (&as, &an); + } +} + +/** Write ALeventMask register 0x204. + * + * @param[in] n = AL Event Mask + */ +void ESC_ALeventmaskwrite (uint32_t mask) +{ + uint32_t aleventmask; + aleventmask = htoel(mask); + ESC_write (ESCREG_ALEVENTMASK, &aleventmask, sizeof(aleventmask)); +} + +/** Read AleventMask register 0x204. + * + * @return value of register AL Event Mask + */ +uint32_t ESC_ALeventmaskread (void) +{ + uint32_t aleventmask; + + ESC_read (ESCREG_ALEVENTMASK, &aleventmask, sizeof(aleventmask)); + return htoel(aleventmask); +} + +/** Write ALevent register 0x220. + * + * @param[in] n = AL Event Mask + */ +void ESC_ALeventwrite (uint32_t event) +{ + uint32_t alevent; + alevent = htoel(event); + ESC_write (ESCREG_ALEVENT, &alevent, sizeof(alevent)); +} + +/** Read Alevent register 0x220. + * + * @return value of register AL Event Mask + */ +uint32_t ESC_ALeventread (void) +{ + uint32_t alevent; + ESC_read (ESCREG_ALEVENT, &alevent, sizeof(alevent)); + return htoel(alevent); +} + +/** Read SM Activate register 0x806(+ offset to SyncManager n) to acknowledge a + * Sync Manager event Bit 3 in ALevent. The result is not used. + * + * @param[in] n = Read Sync Manager no. n + */ +void ESC_SMack (uint8_t n) +{ + uint8_t dummy; + ESC_read (ESCREG_SM0ACTIVATE + (n << 3), &dummy, 1); +} + +/** Read SM Status register 0x805(+ offset to SyncManager n) and save the + * result in global variable ESCvar.SM[n]. + * + * @param[in] n = Read Sync Manager no. n + */ +void ESC_SMstatus (uint8_t n) +{ + _ESCsm2 *sm; + sm = (_ESCsm2 *)&ESCvar.SM[n]; + ESC_read (ESCREG_SM0STATUS + (n << 3), &(sm->Status), 1); +} + +/** Write ESCvar.SM[n] data to ESC PDI control register 0x807(+ offset to SyncManager n). + * + * @param[in] n = Write to Sync Manager no. n + */ +void ESC_SMwritepdi (uint8_t n) +{ + _ESCsm2 *sm; + sm = (_ESCsm2 *)&ESCvar.SM[n]; + ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1); +} + +/** Write 0 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to Activate the Sync Manager n. + * + * @param[in] n = Write to Sync Manager no. n + */ +void ESC_SMenable (uint8_t n) +{ + _ESCsm2 *sm; + sm = (_ESCsm2 *)&ESCvar.SM[n]; + sm->ActPDI &= ~ESCREG_SMENABLE_BIT; + ESC_SMwritepdi (n); +} +/** Write 1 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to De-activte the Sync Manager n. + * + * @param[in] n = Write to Sync Manager no. n + */ +void ESC_SMdisable (uint8_t n) +{ + _ESCsm2 *sm; + sm = (_ESCsm2 *)&ESCvar.SM[n]; + sm->ActPDI |= ESCREG_SMENABLE_BIT; + ESC_SMwritepdi (n); +} +/** Read Configured Station Address register 0x010 assigned by the Master. + * + */ +void ESC_address (void) +{ + ESC_read (ESCREG_ADDRESS, (void *) &ESCvar.address, sizeof (ESCvar.address)); + ESCvar.address = etohs (ESCvar.address); +} + +/** Read Watchdog Status register 0x440. Result Bit0 0= Expired, 1= Active or disabled. + * + * @return value of register Watchdog Status. + */ +uint8_t ESC_WDstatus (void) +{ + uint16_t wdstatus; + ESC_read (ESCREG_WDSTATUS, &wdstatus, 2); + wdstatus = etohs (wdstatus); + return (uint8_t) wdstatus; +} + +/** Read SYNC Out Unit activation registers 0x981 + * + * @return value of register Activation. + */ +uint8_t ESC_SYNCactivation (void) +{ + uint8_t activation; + ESC_read (ESCREG_SYNC_ACT, &activation, sizeof(activation)); + return activation; +} + +/** Read SYNC0 cycle time + * + * @return value of register SYNC0 cycle time + */ +uint32_t ESC_SYNC0cycletime (void) +{ + uint32_t cycletime; + ESC_read (ESCREG_SYNC0_CYCLE_TIME, &cycletime, sizeof(cycletime)); + cycletime = etohl (cycletime); + return cycletime; +} + +/** Read SYNC1 cycle time + * + * @return value of register SYNC1 cycle time + */ +uint32_t ESC_SYNC1cycletime (void) +{ + uint32_t cycletime; + ESC_read (ESCREG_SYNC1_CYCLE_TIME, &cycletime, 4); + cycletime = etohl (cycletime); + return cycletime; +} + + +/** Validate the DC values if the SYNC unit is activated. + * + * @return = 0 if OK, else ERROR code to be set by caller. + */ +uint16_t ESC_checkDC (void) +{ + uint16_t ret = 0; + + uint8_t sync_act = ESC_SYNCactivation(); + /* Do we need to check sync settings? */ + if((sync_act & (ESCREG_SYNC_ACT_ACTIVATED | ESCREG_SYNC_AUTO_ACTIVATED)) > 0) + { + /* Trigger a by the application given DC check handler, return error if + * non is given + */ + ret = ALERR_DCINVALIDSYNCCFG; + if(ESCvar.esc_check_dc_handler != NULL) + { + ret = (ESCvar.esc_check_dc_handler)(); + } + } + else + { + ESCvar.dcsync = 0; + ESCvar.synccounter = 0; + } + + return ret; +} + +/** Check mailbox status by reading all SyncManager 0 and 1 data. The read values + * are compared with local definitions for SM Physical Address, SM Length and SM Control. + * If we check fails we disable Mailboxes by disabling SyncManager 0 and 1 and return + * state Init with Error flag set. + * + * @param[in] state = Current state request read from ALControl 0x0120 + * @return if all Mailbox values is correct we return incoming state request, otherwise + * we return state Init with Error flag set. + */ +uint8_t ESC_checkmbx (uint8_t state) +{ + _ESCsm2 *SM; + ESC_read (ESCREG_SM0, (void *) &ESCvar.SM[0], sizeof (ESCvar.SM[0])); + ESC_read (ESCREG_SM1, (void *) &ESCvar.SM[1], sizeof (ESCvar.SM[1])); + SM = (_ESCsm2 *) & ESCvar.SM[0]; + if ((etohs (SM->PSA) != ESC_MBX0_sma) || (etohs (SM->Length) != ESC_MBX0_sml) + || (SM->Command != ESC_MBX0_smc) || (ESCvar.SM[0].ECsm == 0)) + { + ESCvar.SMtestresult = SMRESULT_ERRSM0; + ESC_SMdisable (0); + ESC_SMdisable (1); + return (uint8_t) (ESCinit | ESCerror); //fail state change + } + SM = (_ESCsm2 *) & ESCvar.SM[1]; + if ((etohs (SM->PSA) != ESC_MBX1_sma) || (etohs (SM->Length) != ESC_MBX1_sml) + || (SM->Command != ESC_MBX1_smc) || (ESCvar.SM[1].ECsm == 0)) + { + ESCvar.SMtestresult = SMRESULT_ERRSM1; + ESC_SMdisable (0); + ESC_SMdisable (1); + return ESCinit | ESCerror; //fail state change + } + return state; +} +/** Try to start mailboxes for current ALControl state request by enabling SyncManager 0 and 1. + * If all mailbox settings is correct we return incoming state request, otherwise + * we return state Init with Error flag set and update local ALerror with code 0x16 Invalid + * mailbox configuration. + * + * @param[in] state = Current state request read from ALControl 0x0120 + * @return if all Mailbox values is correct we return incoming state, otherwise + * we return state Init with Error flag set. + */ +uint8_t ESC_startmbx (uint8_t state) +{ + /* Assign SM settings */ + ESCvar.activembxsize = MBXSIZE; + ESCvar.activemb0 = &ESCvar.mb[0]; + ESCvar.activemb1 = &ESCvar.mb[1]; + + + ESC_SMenable (0); + ESC_SMenable (1); + ESC_SMstatus (0); + ESC_SMstatus (1); + if ((state = ESC_checkmbx (state)) & ESCerror) + { + ESC_ALerror (ALERR_INVALIDMBXCONFIG); + ESCvar.MBXrun = 0; + } + else + { + ESCvar.toggle = ESCvar.SM[1].ECrep; //sync repeat request toggle state + ESCvar.MBXrun = 1; + } + return state; +} + +/** Try to start bootstrap mailboxes for current ALControl state request by enabling SyncManager 0 and 1. + * If all mailbox settings is correct we return incoming state request, otherwise + * we return state Init with Error flag set and update local ALerror with code 0x16 Invalid + * mailbox configuration. + * + * @param[in] state = Current state request read from ALControl 0x0120 + * @return if all Mailbox values is correct we return incoming state, otherwise + * we return state Init with Error flag set. + */ +uint8_t ESC_startmbxboot (uint8_t state) +{ + /* Assign SM settings */ + ESCvar.activembxsize = MBXSIZEBOOT; + ESCvar.activemb0 = &ESCvar.mbboot[0]; + ESCvar.activemb1 = &ESCvar.mbboot[1]; + + ESC_SMenable (0); + ESC_SMenable (1); + ESC_SMstatus (0); + ESC_SMstatus (1); + if ((state = ESC_checkmbx (state)) & ESCerror) + { + ESC_ALerror (ALERR_INVALIDBOOTMBXCONFIG); + ESCvar.MBXrun = 0; + } + else + { + ESCvar.toggle = ESCvar.SM[1].ECrep; //sync repeat request toggle state + ESCvar.MBXrun = 1; + } + return state; +} + +/** Stop mailboxes by disabling SyncManager 0 and 1. Clear local mailbox variables + * stored in ESCvar. + */ +void ESC_stopmbx (void) +{ + uint8_t n; + ESCvar.MBXrun = 0; + ESC_SMdisable (0); + ESC_SMdisable (1); + for (n = 0; n < ESC_MBXBUFFERS; n++) + { + MBXcontrol[n].state = MBXstate_idle; + } + ESCvar.mbxoutpost = 0; + ESCvar.mbxbackup = 0; + ESCvar.xoe = 0; + ESCvar.mbxfree = 1; + ESCvar.toggle = 0; + ESCvar.mbxincnt = 0; + ESCvar.segmented = 0; + ESCvar.frags = 0; + ESCvar.fragsleft = 0; + ESCvar.txcue = 0; + ESCvar.index = 0; + ESCvar.subindex = 0; + ESCvar.flags = 0; +} + +/** Read Receive mailbox and store data in local ESCvar.MBX variable. + * Combined function for bootstrap and other states. State check decides + * which one to read. + */ +void ESC_readmbx (void) +{ + _MBX *MB = (_MBX *)&MBX[0]; + uint16_t length; + + ESC_read (ESC_MBX0_sma, MB, ESC_MBXHSIZE); + length = etohs (MB->header.length); + + if (length > (ESC_MBX0_sml - ESC_MBXHSIZE)) + { + length = ESC_MBX0_sml - ESC_MBXHSIZE; + } + ESC_read (ESC_MBX0_sma + ESC_MBXHSIZE, MB->b, length); + if (length + ESC_MBXHSIZE < ESC_MBX0_sml) + { + ESC_read (ESC_MBX0_sme, &length, 1); + } + + MBXcontrol[0].state = MBXstate_inclaim; +} +/** Write local mailbox buffer ESCvar.MBX[n] to Send mailbox. + * Combined function for bootstrap and other states. State check decides + * which one to write. + * + * @param[in] n = Which local mailbox buffer n to send. + */ +void ESC_writembx (uint8_t n) +{ + _MBXh *MBh = (_MBXh *)&MBX[n * ESC_MBXSIZE]; + uint8_t dummy = 0; + uint16_t length; + length = etohs (MBh->length); + + if (length > (ESC_MBX1_sml - ESC_MBXHSIZE)) + { + length = ESC_MBX1_sml - ESC_MBXHSIZE; + } + ESC_write (ESC_MBX1_sma, MBh, ESC_MBXHSIZE + length); + if (length + ESC_MBXHSIZE < ESC_MBX1_sml) + { + ESC_write (ESC_MBX1_sme, &dummy, 1); + } + + ESCvar.mbxfree = 0; +} + +/** TBD + */ +void ESC_ackmbxread (void) +{ + uint8_t dummy = 0; + + ESC_write (ESC_MBX1_sma, &dummy, 1); + ESCvar.mbxfree = 1; +} + +/** Allocate and prepare a mailbox buffer. Take the first Idle buffer from the End. + * Set Mailbox control state to be used for outbox and fill the mailbox buffer with + * address master and mailbox next CNT value between 1-7. + * + * @return The index of Mailbox buffer prepared for outbox. IF no buffer is available return 0. + */ +uint8_t ESC_claimbuffer (void) +{ + _MBXh *MBh; + uint8_t n = ESC_MBXBUFFERS - 1; + while ((n > 0) && (MBXcontrol[n].state)) + { + n--; + } + if (n) + { + MBXcontrol[n].state = MBXstate_outclaim; + MBh = (_MBXh *)&MBX[n * ESC_MBXSIZE]; + ESCvar.mbxcnt++; + ESCvar.mbxcnt = (ESCvar.mbxcnt & 0x07); + if (ESCvar.mbxcnt == 0) + { + ESCvar.mbxcnt = 1; + } + MBh->address = htoes (0x0000); // destination is master + MBh->channel = 0; + MBh->priority = 0; + MBh->mbxcnt = ESCvar.mbxcnt; + ESCvar.txcue++; + } + return n; +} + +/** Look for any present requests for posting to the outbox. + * + * @return the index of Mailbox buffer ready to be posted. + */ +uint8_t ESC_outreqbuffer (void) +{ + uint8_t n = ESC_MBXBUFFERS - 1; + while ((n > 0) && (MBXcontrol[n].state != MBXstate_outreq)) + { + n--; + } + return n; +} +/** Allocate and prepare a mailbox buffer for sending an error message. Take the first Idle + * buffer from the end. Set Mailbox control state to be used for outbox and fill the mailbox + * buffer with error information. + * + * @param[in] n = Error number to be sent in mailbox error message. + */ +void MBX_error (uint16_t error) +{ + uint8_t MBXout; + _MBXerr *mbxerr; + MBXout = ESC_claimbuffer (); + if (MBXout) + { + mbxerr = (_MBXerr *) &MBX[MBXout * ESC_MBXSIZE]; + mbxerr->mbxheader.length = htoes ((uint16_t) 0x04); + mbxerr->mbxheader.mbxtype = MBXERR; + mbxerr->type = htoes ((uint16_t) 0x01); + mbxerr->detail = htoes (error); + MBXcontrol[MBXout].state = MBXstate_outreq; + } +} + +/** Mailbox routine for implementing the low-level part of the mailbox protocol + * used by Application Layers running on-top of mailboxes. It takes care of sending + * a mailbox, re-sending a mailbox, reading a mailbox and handles a mailbox full event. + * + * @return =0 if nothing to do. =1 if something to be handled by mailbox protocols. + */ +uint8_t ESC_mbxprocess (void) +{ + uint8_t mbxhandle = 0; + _MBXh *MBh = (_MBXh *)&MBX[0]; + + if (ESCvar.MBXrun == 0) + { + /* nothing to do */ + return 0; + } + + /* SM0/1 access */ + if (ESCvar.ALevent & (ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1)) + { + ESC_SMstatus (0); + ESC_SMstatus (1); + } + + /* outmbx read by master */ + if (ESCvar.mbxoutpost && (ESCvar.ALevent & ESCREG_ALEVENT_SM1)) + { + ESC_ackmbxread (); + /* dispose old backup */ + if (ESCvar.mbxbackup) + { + MBXcontrol[ESCvar.mbxbackup].state = MBXstate_idle; + } + /* if still to do */ + if (MBXcontrol[ESCvar.mbxoutpost].state == MBXstate_again) + { + ESC_writembx (ESCvar.mbxoutpost); + } + /* create new backup */ + MBXcontrol[ESCvar.mbxoutpost].state = MBXstate_backup; + ESCvar.mbxbackup = ESCvar.mbxoutpost; + ESCvar.mbxoutpost = 0; + /* Do we have any ongoing protocol transfers, return 1 */ + if(ESCvar.xoe > 0) + { + return 1; + } + return 0; + } + + /* repeat request */ + if (ESCvar.SM[1].ECrep != ESCvar.toggle) + { + if (ESCvar.mbxoutpost || ESCvar.mbxbackup) + { + /* if outmbx empty */ + if (ESCvar.mbxoutpost == 0) + { + /* use backup mbx */ + ESC_writembx (ESCvar.mbxbackup); + } + else + { + /* reset mailbox */ + ESC_SMdisable (1); + /* have to resend later */ + MBXcontrol[ESCvar.mbxoutpost].state = MBXstate_again; + /* activate mailbox */ + ESC_SMenable (1); + /* use backup mbx */ + ESC_writembx (ESCvar.mbxbackup); + } + ESCvar.toggle = ESCvar.SM[1].ECrep; + ESCvar.SM[1].PDIrep = ESCvar.toggle; + ESC_SMwritepdi (1); + } + return 0; + } + + /* if the outmailbox is free check if we have something to send */ + if (ESCvar.txcue && (ESCvar.mbxfree || !ESCvar.SM[1].MBXstat)) + { + /* check out request mbx */ + mbxhandle = ESC_outreqbuffer (); + /* outmbx empty and outreq mbx available */ + if (mbxhandle) + { + ESC_writembx (mbxhandle); + /* Refresh SM status */ + ESC_SMstatus (1); + /* change state */ + MBXcontrol[mbxhandle].state = MBXstate_outpost; + ESCvar.mbxoutpost = mbxhandle; + if (ESCvar.txcue) + { + ESCvar.txcue--; + } + } + } + + /* read mailbox if full and no xoe in progress */ + if ((ESCvar.SM[0].MBXstat != 0) && (MBXcontrol[0].state == 0) + && (ESCvar.mbxoutpost == 0) && (ESCvar.xoe == 0)) + { + ESC_readmbx (); + ESCvar.SM[0].MBXstat = 0; + if (etohs (MBh->length) == 0) + { + MBX_error (MBXERR_INVALIDHEADER); + /* drop mailbox */ + MBXcontrol[0].state = MBXstate_idle; + } + if ((MBh->mbxcnt != 0) && (MBh->mbxcnt == ESCvar.mbxincnt)) + { + /* drop mailbox */ + MBXcontrol[0].state = MBXstate_idle; + } + ESCvar.mbxincnt = MBh->mbxcnt; + return 1; + } + + return 0; +} +/** Handler for incorrect or unsupported mailbox data. Write error response + * in Mailbox. + */ +void ESC_xoeprocess (void) +{ + _MBXh *mbh; + if (ESCvar.MBXrun == 0) + { + return; + } + if ((ESCvar.xoe == 0) && (MBXcontrol[0].state == MBXstate_inclaim)) + { + mbh = (_MBXh *) &MBX[0]; + if ((mbh->mbxtype == 0) || (etohs (mbh->length) == 0)) + { + MBX_error (MBXERR_INVALIDHEADER); + } + else + { + MBX_error (MBXERR_UNSUPPORTEDPROTOCOL); + } + /* mailbox type not supported, drop mailbox */ + MBXcontrol[0].state = MBXstate_idle; + } +} + +/** Validate the values of Sync Manager 2 & 3 that the current ESC values is + * equal to configured and calculated local values. + * + * @param[in] state = Requested state. + * @return = incoming state request if every thing checks out OK. = state (PREOP | ERROR) if something isn't correct. + */ +uint8_t ESC_checkSM23 (uint8_t state) +{ + _ESCsm2 *SM; + ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2])); + SM = (_ESCsm2 *) & ESCvar.SM[2]; + if ((etohs (SM->PSA) != ESC_SM2_sma) || (etohs (SM->Length) != ESCvar.ESC_SM2_sml) + || (SM->Command != ESC_SM2_smc) || !(SM->ActESC & ESC_SM2_act)) + { + ESCvar.SMtestresult = SMRESULT_ERRSM2; + /* fail state change */ + return (ESCpreop | ESCerror); + } + if ((ESC_SM2_sma + (etohs (SM->Length) * 3)) > ESC_SM3_sma) + { + ESCvar.SMtestresult = SMRESULT_ERRSM2; + /* SM2 overlaps SM3, fail state change */ + return (ESCpreop | ESCerror); + } + ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3])); + SM = (_ESCsm2 *) & ESCvar.SM[3]; + if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESCvar.ESC_SM3_sml) + || (SM->Command != ESC_SM3_smc) || !(SM->ActESC & ESC_SM3_act)) + { + ESCvar.SMtestresult = SMRESULT_ERRSM3; + /* fail state change */ + return (ESCpreop | ESCerror); + } + return state; +} + +/** Function trying to enable start updating the process data inputs. It calls the check SM 2 & 3 + * routine, based on the result from there if enables or disables the Input SyncManager, in addition + * it updates the ALStatusCode case something didn't pass the check. + * + * @param[in] state = Requested state. + * @return = state, incoming state request if every thing checks out OK. =state (PREOP | ERROR) if something isn't correct. + */ +uint8_t ESC_startinput (uint8_t state) +{ + + state = ESC_checkSM23 (state); + + if (state != (ESCpreop | ESCerror)) + { + ESC_SMenable (3); + CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_INPUT); + } + else + { + ESC_SMdisable (2); + ESC_SMdisable (3); + if (ESCvar.SMtestresult & SMRESULT_ERRSM3) + { + ESC_ALerror (ALERR_INVALIDINPUTSM); + } + else + { + ESC_ALerror (ALERR_INVALIDOUTPUTSM); + } + } + + /* Exit here if polling */ + if (ESCvar.use_interrupt == 0) + { + return state; + } + + if (state != (ESCpreop | ESCerror)) + { + uint16_t dc_check_result; + dc_check_result = ESC_checkDC(); + if(dc_check_result > 0) + { + ESC_ALerror (dc_check_result); + state = (ESCpreop | ESCerror); + + ESC_SMdisable (2); + ESC_SMdisable (3); + CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_IDLE); + } + else + { + if (ESCvar.esc_hw_interrupt_enable != NULL) + { + if(ESCvar.dcsync > 0) + { + ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_DC_SYNC0 | + ESCREG_ALEVENT_SM2); + } + else + { + ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_SM2); + } + } + } + } + + return state; +} + +/** Unconditional stop of updating inputs by disabling Sync Manager 2 & 3. + * Set the App.state to APPSTATE_IDLE. + * + */ +void ESC_stopinput (void) +{ + CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_IDLE); + ESC_SMdisable (3); + ESC_SMdisable (2); + + /* Call interrupt disable hook case it have been configured */ + if ((ESCvar.use_interrupt != 0) && + (ESCvar.esc_hw_interrupt_disable != NULL)) + { + ESCvar.esc_hw_interrupt_disable (ESCREG_ALEVENT_DC_SYNC0 | + ESCREG_ALEVENT_SM2); + } +} + + +/** Unconditional start of updating outputs by enabling Sync Manager 2. + * Set the App.state to APPSTATE_OUTPUT. + * + * @param[in] state = Not used. + * @return = state unchanged. + * + */ +uint8_t ESC_startoutput (uint8_t state) +{ + + ESC_SMenable (2); + CC_ATOMIC_OR(ESCvar.App.state, APPSTATE_OUTPUT); + return state; + +} + +/** Unconditional stop of updating outputs by disabling Sync Manager 2. + * Set the App.state to APPSTATE_INPUT. Call application hook APP_safeoutput + * letting the user to set safe state values on outputs. + * + */ +void ESC_stopoutput (void) +{ + CC_ATOMIC_AND(ESCvar.App.state, APPSTATE_INPUT); + ESC_SMdisable (2); + APP_safeoutput (); +} + +/** The state handler acting on SyncManager Activation BIT(4) + * events in the Al Event Request register 0x220. + * + */ +void ESC_sm_act_event (void) +{ + uint8_t ac, an, as, ax, ax23; + + /* Have at least on Sync Manager changed */ + if ((ESCvar.ALevent & ESCREG_ALEVENT_SMCHANGE) == 0) + { + /* nothing to do */ + return; + } + + /* Mask state request bits + Error ACK */ + ac = ESCvar.ALcontrol & ESCREG_AL_STATEMASK; + as = ESCvar.ALstatus & ESCREG_AL_STATEMASK; + an = as; + if (((ac & ESCerror) || (ac == ESCinit))) + { + /* if error bit confirmed reset */ + ac &= ESCREG_AL_ERRACKMASK; + an &= ESCREG_AL_ERRACKMASK; + } + /* Enter SM changed handling for all steps but Init and Boot when Mailboxes + * is up and running + */ + if ((as & ESCREG_AL_ALLBUTINITMASK) && + ((as == ESCboot) == 0) && ESCvar.MBXrun) + { + /* Validate Sync Managers, reading the Activation register will + * acknowledge the SyncManager Activation event making us enter + * this execution path. + */ + ax = ESC_checkmbx (as); + ax23 = ESC_checkSM23 (as); + if ((an & ESCerror) && ((ac & ESCerror) == 0)) + { + /* if in error then stay there */ + } + /* Have we been forced to step down to INIT we will stop mailboxes, + * update AL Status Code and exit ESC_state + */ + else if (ax == (ESCinit | ESCerror)) + { + /* If we have activated Inputs and Outputs we need to disable them */ + if (CC_ATOMIC_GET(ESCvar.App.state)) + { + ESC_stopoutput (); + ESC_stopinput (); + } + /* Stop mailboxes and update ALStatus code */ + ESC_stopmbx (); + ESC_ALerror (ALERR_INVALIDMBXCONFIG); + ESCvar.MBXrun = 0; + ESC_ALstatus (ax); + return; + } + /* Have we been forced to step down to PREOP we will stop inputs + * and outputs, update AL Status Code and exit ESC_state + */ + else if (CC_ATOMIC_GET(ESCvar.App.state) && (ax23 == (ESCpreop | ESCerror))) + { + ESC_stopoutput (); + ESC_stopinput (); + if (ESCvar.SMtestresult & SMRESULT_ERRSM3) + { + ESC_ALerror (ALERR_INVALIDINPUTSM); + } + else + { + ESC_ALerror (ALERR_INVALIDOUTPUTSM); + } + ESC_ALstatus (ax23); + } + } + else + { + ESC_SMack (0); + ESC_SMack (1); + ESC_SMack (2); + ESC_SMack (3); + ESC_SMack (4); + ESC_SMack (5); + ESC_SMack (6); + ESC_SMack (7); + } +} +/** The state handler acting on ALControl Bit(0) + * events in the Al Event Request register 0x220. + * + */ +void ESC_state (void) +{ + uint8_t ac, an, as; + + /* Do we have a state change request pending */ + if (ESCvar.ALevent & ESCREG_ALEVENT_CONTROL) + { + ESC_read (ESCREG_ALCONTROL, (void *) &ESCvar.ALcontrol, + sizeof (ESCvar.ALcontrol)); + ESCvar.ALcontrol = etohs (ESCvar.ALcontrol); + } + else + { + /* nothing to do */ + return; + } + /* Mask state request bits + Error ACK */ + ac = ESCvar.ALcontrol & ESCREG_AL_STATEMASK; + as = ESCvar.ALstatus & ESCREG_AL_STATEMASK; + an = as; + if (((ac & ESCerror) || (ac == ESCinit))) + { + /* if error bit confirmed reset */ + ac &= ESCREG_AL_ERRACKMASK; + an &= ESCREG_AL_ERRACKMASK; + } + + /* Error state not acked, leave original */ + if ((an & ESCerror) && ((ac & ESCerror) == 0)) + { + return; + } + + /* Mask high bits ALcommand, low bits ALstatus */ + as = (ac << 4) | (as & 0x0f); + + /* Call post state change hook case it have been configured */ + if (ESCvar.pre_state_change_hook != NULL) + { + ESCvar.pre_state_change_hook (&as, &an); + } + + /* Switch through the state change requested via AlControl from + * current state read in AL status + */ + switch (as) + { + case INIT_TO_INIT: + case PREOP_TO_PREOP: + case OP_TO_OP: + { + break; + } + case INIT_TO_PREOP: + { + /* get station address */ + ESC_address (); + an = ESC_startmbx (ac); + break; + } + case INIT_TO_BOOT: + case BOOT_TO_BOOT: + { + /* get station address */ + ESC_address (); + an = ESC_startmbxboot (ac); + break; + } + case INIT_TO_SAFEOP: + case INIT_TO_OP: + { + an = ESCinit | ESCerror; + ESC_ALerror (ALERR_INVALIDSTATECHANGE); + break; + } + case OP_TO_INIT: + { + ESC_stopoutput (); + ESC_stopinput (); + ESC_stopmbx (); + an = ESCinit; + break; + } + case SAFEOP_TO_INIT: + { + ESC_stopinput (); + ESC_stopmbx (); + an = ESCinit; + break; + } + case PREOP_TO_INIT: + { + ESC_stopmbx (); + an = ESCinit; + break; + } + case BOOT_TO_INIT: + { + ESC_stopmbx (); + an = ESCinit; + break; + } + case PREOP_TO_BOOT: + case BOOT_TO_PREOP: + case BOOT_TO_SAFEOP: + case BOOT_TO_OP: + { + an = ESCpreop | ESCerror; + ESC_ALerror (ALERR_INVALIDSTATECHANGE); + break; + } + case PREOP_TO_SAFEOP: + case SAFEOP_TO_SAFEOP: + { + ESCvar.ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX, &ESCvar.sm2mappings, + SMmap2, MAX_MAPPINGS_SM2); + if (ESCvar.sm2mappings < 0) + { + an = ESCpreop | ESCerror; + ESC_ALerror (ALERR_INVALIDOUTPUTSM); + break; + } + + ESCvar.ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX, &ESCvar.sm3mappings, + SMmap3, MAX_MAPPINGS_SM3); + if (ESCvar.sm3mappings < 0) + { + an = ESCpreop | ESCerror; + ESC_ALerror (ALERR_INVALIDINPUTSM); + break; + } + + an = ESC_startinput (ac); + if (an == ac) + { + ESC_SMenable (2); + } + break; + } + case PREOP_TO_OP: + { + an = ESCpreop | ESCerror; + ESC_ALerror (ALERR_INVALIDSTATECHANGE); + break; + } + case OP_TO_PREOP: + { + ESC_stopoutput (); + ESC_stopinput (); + an = ESCpreop; + break; + } + case SAFEOP_TO_PREOP: + { + ESC_stopinput (); + an = ESCpreop; + break; + } + case SAFEOP_TO_BOOT: + { + an = ESCsafeop | ESCerror; + ESC_ALerror (ALERR_INVALIDSTATECHANGE); + break; + } + case SAFEOP_TO_OP: + { + an = ESC_startoutput (ac); + break; + } + case OP_TO_BOOT: + { + an = ESCsafeop | ESCerror; + ESC_ALerror (ALERR_INVALIDSTATECHANGE); + ESC_stopoutput (); + break; + } + case OP_TO_SAFEOP: + { + an = ESCsafeop; + ESC_stopoutput (); + break; + } + default: + { + if (an == ESCop) + { + ESC_stopoutput (); + an = ESCsafeop; + } + if (as == ESCsafeop) + { + ESC_stopinput (); + } + an |= ESCerror; + ESC_ALerror (ALERR_UNKNOWNSTATE); + break; + } + } + + /* Call post state change hook case it have been configured */ + if (ESCvar.post_state_change_hook != NULL) + { + ESCvar.post_state_change_hook (&as, &an); + } + + if (!(an & ESCerror) && (ESCvar.ALerror)) + { + /* clear error */ + ESC_ALerror (ALERR_NONE); + } + + ESC_ALstatus (an); + DPRINT ("state %x\n", an); +} +/** Function copying the application configuration variable + * data to the stack local variable. + * + * @param[in] cfg = Pointer to the Application configuration variable + * holding application specific details. Data is copied. + */ +void ESC_config (esc_cfg_t * cfg) +{ + static sm_cfg_t mb0 = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0}; + static sm_cfg_t mb1 = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0}; + static sm_cfg_t mbboot0 = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0}; + static sm_cfg_t mbboot1 = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0}; + + /* Configure stack */ + ESCvar.use_interrupt = cfg->use_interrupt; + ESCvar.watchdogcnt = cfg->watchdog_cnt; + + ESCvar.mb[0] = mb0; + ESCvar.mb[1] = mb1; + ESCvar.mbboot[0] = mbboot0; + ESCvar.mbboot[1] = mbboot1; + + ESCvar.skip_default_initialization = cfg->skip_default_initialization; + ESCvar.set_defaults_hook = cfg->set_defaults_hook; + ESCvar.pre_state_change_hook = cfg->pre_state_change_hook; + ESCvar.post_state_change_hook = cfg->post_state_change_hook; + ESCvar.application_hook = cfg->application_hook; + ESCvar.safeoutput_override = cfg->safeoutput_override; + ESCvar.pre_object_download_hook = cfg->pre_object_download_hook; + ESCvar.post_object_download_hook = cfg->post_object_download_hook; + ESCvar.pre_object_upload_hook = cfg->pre_object_upload_hook; + ESCvar.post_object_upload_hook = cfg->post_object_upload_hook; + ESCvar.rxpdo_override = cfg->rxpdo_override; + ESCvar.txpdo_override = cfg->txpdo_override; + ESCvar.esc_hw_interrupt_enable = cfg->esc_hw_interrupt_enable; + ESCvar.esc_hw_interrupt_disable = cfg->esc_hw_interrupt_disable; + ESCvar.esc_hw_eep_handler = cfg->esc_hw_eep_handler; + ESCvar.esc_check_dc_handler = cfg->esc_check_dc_handler; +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc.h b/Pcb-1-lan9252/Firmware/lib/soes/esc.h new file mode 100755 index 0000000..2d08e61 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc.h @@ -0,0 +1,769 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +/** \file + * \brief + * Headerfile for esc.h + */ + +#ifndef __esc__ +#define __esc__ + +#include +#include +#include +#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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.c b/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.c new file mode 100755 index 0000000..58fe954 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.c @@ -0,0 +1,1783 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + + /** \file + * \brief + * CAN over EtherCAT (CoE) module. + * + * SDO read / write and SDO service functions + */ + +#include +#include +#include +#include +#include +#include "esc.h" +#include "esc_coe.h" + +#define BITS2BYTES(b) ((b + 7) >> 3) + +/* Fetch value from object dictionary */ +#define OBJ_VALUE_FETCH(v, o) \ + ((o).data ? *(__typeof__ (v) *)(o).data : (__typeof__ (v))(o).value) + +#define SDO_COMMAND(byte) \ + (byte & 0xe0) +#define SDO_COMPLETE_ACCESS(byte) \ + ((byte & COE_COMPLETEACCESS) == COE_COMPLETEACCESS) + +#define READ_ACCESS(access, state) \ + (((access & ATYPE_Rpre) && (state == ESCpreop)) || \ + ((access & ATYPE_Rsafe) && (state == ESCsafeop)) || \ + ((access & ATYPE_Rop) && (state == ESCop))) + +#define WRITE_ACCESS(access, state) \ + (((access & ATYPE_Wpre) && (state == ESCpreop)) || \ + ((access & ATYPE_Wsafe) && (state == ESCsafeop)) || \ + ((access & ATYPE_Wop) && (state == ESCop))) + +typedef enum { UPLOAD, DOWNLOAD } load_t; + +/** Search for an object sub-index. + * + * @param[in] nidx = local array index of object we want to find sub-index to + * @param[in] subindex = value on sub-index of object we want to locate + * @return local array index if we succeed, -1 if we didn't find the index. + */ +int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex) +{ + const _objd *objd; + int16_t n = 0; + uint8_t maxsub; + objd = SDOobjects[nidx].objdesc; + maxsub = SDOobjects[nidx].maxsub; + + /* Since most objects contain all subindexes (i.e. are not sparse), + * check the most likely scenario first + */ + if ((subindex <= maxsub) && ((objd + subindex)->subindex == subindex)) + { + return subindex; + } + + while (((objd + n)->subindex < subindex) && (n < maxsub)) + { + n++; + } + if ((objd + n)->subindex != subindex) + { + return -1; + } + return n; +} + +/** Search for an object index matching the wanted value in the Object List. + * + * @param[in] index = value on index of object we want to locate + * @return local array index if we succeed, -1 if we didn't find the index. + */ +int32_t SDO_findobject (uint16_t index) +{ + int32_t n = 0; + while (SDOobjects[n].index < index) + { + n++; + } + if (SDOobjects[n].index != index) + { + return -1; + } + return n; +} + +/** + * Calculate the size in Bytes of RxPDO or TxPDOs by adding the + * objects in SyncManager SDO 1C1x. + * + * A list of mapped objects is created for fast lookup of + * dynamically mapped process data. The max size of the list (@a + * max_mappings) can be set to 0 if dynamic processdata is not + * supported. + * + * The output variable @a nmappings is set to 0 if dynamic processdata + * is not supported. It is set to the number of mapped objects if + * dynamic processdata is supported, or -1 if the mapping was + * incorrect. + + * @param[in] index = SM index + * @param[out] nmappings = number of mapped objects in SM, or -1 if + * mapping is invalid + * @param[out] mappings = list of mapped objects in SM + * @param[out] max_mappings = max number of mapped objects in SM + * @return size of RxPDO or TxPDOs in Bytes. + */ +uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * mappings, + int max_mappings) +{ + uint16_t offset = 0, hobj; + uint8_t si, sic, c; + int16_t nidx; + const _objd *objd; + const _objd *objd1c1x; + int mapIx = 0; + + if ((index != RX_PDO_OBJIDX) && (index != TX_PDO_OBJIDX)) + { + return 0; + } + + nidx = SDO_findobject (index); + if(nidx < 0) + { + return 0; + } + + objd1c1x = SDOobjects[nidx].objdesc; + + si = OBJ_VALUE_FETCH (si, objd1c1x[0]); + if (si) + { + for (sic = 1; sic <= si; sic++) + { + hobj = OBJ_VALUE_FETCH (hobj, objd1c1x[sic]); + nidx = SDO_findobject (hobj); + if (nidx >= 0) + { + uint8_t maxsub; + + objd = SDOobjects[nidx].objdesc; + maxsub = OBJ_VALUE_FETCH (maxsub, objd[0]); + + for (c = 1; c <= maxsub; c++) + { + uint32_t value = OBJ_VALUE_FETCH (value, objd[c]); + uint8_t bitlength = value & 0xFF; + + if (max_mappings > 0) + { + uint16_t index = value >> 16; + uint8_t subindex = (value >> 8) & 0xFF; + const _objd * mapping; + + if (mapIx == max_mappings) + { + /* Too many mapped objects */ + *nmappings = -1; + return 0; + } + + DPRINT ("%04x:%02x @ %d\n", index, subindex, offset); + + if (index == 0 && subindex == 0) + { + /* Padding element */ + mapping = NULL; + } + else + { + nidx = SDO_findobject (index); + if (nidx >= 0) + { + int16_t nsub; + + nsub = SDO_findsubindex (nidx, subindex); + if (nsub < 0) + { + /* Mapped subindex does not exist */ + *nmappings = -1; + return 0; + } + + mapping = &SDOobjects[nidx].objdesc[nsub]; + } + else + { + /* Mapped index does not exist */ + *nmappings = -1; + return 0; + } + } + + mappings[mapIx].obj = mapping; + mappings[mapIx++].offset = offset; + } + + offset += bitlength; + } + } + } + } + + if (max_mappings > 0) + { + *nmappings = mapIx; + } + else + { + *nmappings = 0; + } + + return BITS2BYTES (offset); +} + +/** Copy to mailbox. + * + * @param[in] source = pointer to source + * @param[in] dest = pointer to destination + * @param[in] size = Size to copy + */ +static void copy2mbx (void *source, void *dest, uint16_t size) +{ + memcpy (dest, source, size); +} + +/** Function for sending an SDO Abort reply. + * + * @param[in] index = index of object causing abort reply + * @param[in] sub-index = sub-index of object causing abort reply + * @param[in] abortcode = abort code to send in reply + */ +void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode) +{ + uint8_t MBXout; + _COEsdo *coeres; + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH); + coeres->mbxheader.mbxtype = MBXCOE; + coeres->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOREQUEST << 12)); + coeres->index = htoes (index); + coeres->subindex = subindex; + coeres->command = COE_COMMAND_SDOABORT; + coeres->size = htoel (abortcode); + MBXcontrol[MBXout].state = MBXstate_outreq; + } +} + +static void set_state_idle(uint16_t index, + uint8_t subindex, + uint32_t abortcode) +{ + if (abortcode != 0) + { + SDO_abort (index, subindex, abortcode); + } + + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; +} + +/** Function for responding on requested SDO Upload, sending the content + * requested in a free Mailbox buffer. Depending of size of data expedited, + * normal or segmented transfer is used. On error an SDO Abort will be sent. + */ +static void SDO_upload (void) +{ + _COEsdo *coesdo, *coeres; + uint16_t index; + uint8_t subindex; + int16_t nidx, nsub; + uint8_t MBXout; + uint32_t size; + uint8_t dss; + uint32_t abort = 1; + const _objd *objd; + coesdo = (_COEsdo *) &MBX[0]; + index = etohs (coesdo->index); + subindex = coesdo->subindex; + nidx = SDO_findobject (index); + if (nidx >= 0) + { + nsub = SDO_findsubindex (nidx, subindex); + if (nsub >= 0) + { + objd = SDOobjects[nidx].objdesc; + uint8_t access = (objd + nsub)->flags & 0x3f; + uint8_t state = ESCvar.ALstatus & 0x0f; + if (!READ_ACCESS(access, state)) + { + set_state_idle (index, subindex, ABORT_WRITEONLY); + return; + } + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH); + coeres->mbxheader.mbxtype = MBXCOE; + coeres->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDORESPONSE << 12)); + size = (objd + nsub)->bitlength; + /* expedited bits used calculation */ + dss = 0x0c; + if (size > 8) + { + dss = 0x08; + } + if (size > 16) + { + dss = 0x04; + } + if (size > 24) + { + dss = 0x00; + } + coeres->index = htoes (index); + coeres->subindex = subindex; + if (size <= 32) + { + /* expedited response i.e. length<=4 bytes */ + coeres->command = COE_COMMAND_UPLOADRESPONSE + + COE_SIZE_INDICATOR + COE_EXPEDITED_INDICATOR + dss; + /* convert bits to bytes */ + size = BITS2BYTES(size); + void *dataptr = ((objd + nsub)->data) ? + (objd + nsub)->data : (void *)&((objd + nsub)->value); + abort = ESC_upload_pre_objecthandler (index, subindex, + dataptr, size, (objd + nsub)->flags); + if (abort == 0) + { + if ((objd + nsub)->data == NULL) + { + /* use constant value */ + coeres->size = htoel ((objd + nsub)->value); + } + else + { + /* use dynamic data */ + copy2mbx ((objd + nsub)->data, &(coeres->size), size); + } + } + else + { + SDO_abort (index, subindex, abort); + } + } + else + { + /* normal response i.e. length>4 bytes */ + coeres->command = COE_COMMAND_UPLOADRESPONSE + + COE_SIZE_INDICATOR; + /* convert bits to bytes */ + size = BITS2BYTES(size); + /* set total size in bytes */ + ESCvar.frags = size; + coeres->size = htoel (size); + if ((size + COE_HEADERSIZE) > ESC_MBXDSIZE) + { + /* segmented transfer needed */ + /* limit to mailbox size */ + size = ESC_MBXDSIZE - COE_HEADERSIZE; + /* number of bytes done */ + ESCvar.fragsleft = size; + /* signal segmented transfer */ + ESCvar.segmented = MBXSEU; + ESCvar.data = (objd + nsub)->data; + ESCvar.flags = (objd + nsub)->flags; + } + else + { + ESCvar.segmented = 0; + } + coeres->mbxheader.length = htoes (COE_HEADERSIZE + size); + abort = ESC_upload_pre_objecthandler (index, subindex, + (objd + nsub)->data, ESCvar.frags, (objd + nsub)->flags); + if (abort == 0) + { + /* use dynamic data */ + copy2mbx ((objd + nsub)->data, (&(coeres->size)) + 1, size); + } + else + { + SDO_abort (index, subindex, abort); + } + } + if ((abort == 0) && (ESCvar.segmented == 0)) + { + abort = ESC_upload_post_objecthandler (index, subindex, + (objd + nsub)->flags); + if (abort != 0) + { + SDO_abort (index, subindex, abort); + } + } + MBXcontrol[MBXout].state = MBXstate_outreq; + } + } + else + { + SDO_abort (index, subindex, ABORT_NOSUBINDEX); + } + } + else + { + SDO_abort (index, subindex, ABORT_NOOBJECT); + } + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; +} + +static uint32_t complete_access_get_variables(_COEsdo *coesdo, uint16_t *index, + uint8_t *subindex, int16_t *nidx, + int16_t *nsub) +{ + *index = etohs (coesdo->index); + *subindex = coesdo->subindex; + + /* A Complete Access must start with Subindex 0 or Subindex 1 */ + if (*subindex > 1) + { + return ABORT_UNSUPPORTED; + } + + *nidx = SDO_findobject (*index); + if (*nidx < 0) + { + return ABORT_NOOBJECT; + } + + *nsub = SDO_findsubindex (*nidx, *subindex); + if (*nsub < 0) + { + return ABORT_NOSUBINDEX; + } + + return 0; +} + +static uint32_t complete_access_subindex_loop(const _objd *objd, + int16_t nidx, + int16_t nsub, + uint8_t *mbxdata, + load_t load_type, + uint16_t max_bytes) +{ + /* Objects with dynamic entries cannot be accessed with Complete Access */ + if ((objd->datatype == DTYPE_VISIBLE_STRING) || + (objd->datatype == DTYPE_OCTET_STRING) || + (objd->datatype == DTYPE_UNICODE_STRING)) + { + return ABORT_CA_NOT_SUPPORTED; + } + + uint32_t size = 0; + + while (nsub <= SDOobjects[nidx].maxsub) + { + uint8_t bitlen = (objd + nsub)->bitlength; + void *ul_source = ((objd + nsub)->data != NULL) ? + (objd + nsub)->data : (void *)&((objd + nsub)->value); + uint8_t bitoffset = size % 8; + uint8_t access = (objd + nsub)->flags & 0x3f; + uint8_t state = ESCvar.ALstatus & 0x0f; + + if ((bitlen % 8) == 0) + { + if (bitoffset != 0) + { + /* move on to next byte boundary */ + size += (8 - bitoffset); + } + if (mbxdata != NULL) + { + /* copy a non-bit data type to a byte boundary */ + if (load_type == UPLOAD) + { + if (READ_ACCESS(access, state)) + { + memcpy(&mbxdata[BITS2BYTES(size)], ul_source, + BITS2BYTES(bitlen)); + } + else + { + /* return zeroes for upload of WO objects */ + memset(&mbxdata[BITS2BYTES(size)], 0, BITS2BYTES(bitlen)); + } + } + /* download of RO objects shall be ignored */ + else if (WRITE_ACCESS(access, state)) + { + memcpy((objd + nsub)->data, &mbxdata[BITS2BYTES(size)], + BITS2BYTES(bitlen)); + } + } + } + else if ((load_type == UPLOAD) && (mbxdata != NULL)) + { + /* copy a bit data type into correct position */ + uint8_t bitmask = (1 << bitlen) - 1; + if (READ_ACCESS(access, state)) + { + mbxdata[BITS2BYTES(size)] |= + (*(uint8_t *)ul_source & bitmask) << bitoffset; + } + else + { + mbxdata[BITS2BYTES(size)] &= ~(bitmask << bitoffset); + } + } + + /* Subindex 0 is padded to 16 bit */ + size += (nsub == 0) ? 16 : bitlen; + nsub++; + + if ((max_bytes > 0) && (BITS2BYTES(size) >= max_bytes)) + { + break; + } + } + + return size; +} + +static void init_coesdo(_COEsdo *coesdo, + uint8_t sdoservice, + uint8_t command, + uint16_t index, + uint8_t subindex) +{ + coesdo->mbxheader.length = htoes(COE_DEFAULTLENGTH); + coesdo->mbxheader.mbxtype = MBXCOE; + coesdo->coeheader.numberservice = htoes(sdoservice << 12); + coesdo->command = command; + coesdo->index = htoes(index); + coesdo->subindex = subindex; +} + +/** Function for responding on requested SDO Upload with Complete Access, + * sending the content requested in a free Mailbox buffer. Depending of + * size of data expedited, normal or segmented transfer is used. + * On error an SDO Abort will be sent. + */ +static void SDO_upload_complete_access (void) +{ + _COEsdo *coesdo = (_COEsdo *) &MBX[0]; + uint16_t index; + uint8_t subindex; + int16_t nidx, nsub; + uint32_t abortcode = complete_access_get_variables + (coesdo, &index, &subindex, &nidx, &nsub); + if (abortcode != 0) + { + set_state_idle (index, subindex, abortcode); + return; + } + + uint8_t MBXout = ESC_claimbuffer (); + if (MBXout == 0) + { + /* It is a bad idea to call SDO_abort when ESC_claimbuffer fails, + * because SDO_abort will also call ESC_claimbuffer ... + */ + set_state_idle (index, subindex, 0); + return; + } + + const _objd *objd = SDOobjects[nidx].objdesc; + + /* loop through the subindexes to get the total size */ + uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD, 0); + if (size > 0xffff) + { + /* 'size' is in this case actually an abort code */ + set_state_idle (index, subindex, size); + return; + } + + /* check that upload data fits in the preallocated buffer */ + if ((size + PREALLOC_FACTOR * COE_HEADERSIZE) > PREALLOC_BUFFER_SIZE) + { + set_state_idle (index, subindex, ABORT_GENERALERROR); + return; + } + + abortcode = ESC_upload_pre_objecthandler(index, subindex, + objd->data, BITS2BYTES(size), objd->flags | COMPLETE_ACCESS_FLAG); + if (abortcode != 0) + { + SDO_abort (index, subindex, abortcode); + } + + /* copy subindex data into the preallocated buffer */ + complete_access_subindex_loop(objd, nidx, nsub, ESCvar.mbxdata, UPLOAD, 0); + + _COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + init_coesdo(coeres, COE_SDORESPONSE, + COE_COMMAND_UPLOADRESPONSE | COE_COMPLETEACCESS | COE_SIZE_INDICATOR, + index, subindex); + + /* expedited bits used calculation */ + uint8_t dss = (size > 24) ? 0 : (4 * (3 - ((size - 1) >> 3))); + + /* convert bits to bytes */ + size = BITS2BYTES(size); + + ESCvar.segmented = 0; + + if (size <= 4) + { + /* expedited response, i.e. length <= 4 bytes */ + coeres->command |= (COE_EXPEDITED_INDICATOR | dss); + memcpy(&(coeres->size), ESCvar.mbxdata, size); + } + else + { + /* normal response, i.e. length > 4 bytes */ + coeres->size = htoel (size); + + if ((size + COE_HEADERSIZE) > ESC_MBXDSIZE) + { + /* segmented transfer needed */ + /* set total size in bytes */ + ESCvar.frags = size; + /* limit to mailbox size */ + size = ESC_MBXDSIZE - COE_HEADERSIZE; + /* number of bytes done */ + ESCvar.fragsleft = size; + /* signal segmented transfer */ + ESCvar.segmented = MBXSEU; + ESCvar.data = ESCvar.mbxdata; + ESCvar.flags = COMPLETE_ACCESS_FLAG; + } + + coeres->mbxheader.length = htoes (COE_HEADERSIZE + size); + memcpy((&(coeres->size)) + 1, ESCvar.mbxdata, size); + } + + if (ESCvar.segmented == 0) + { + abortcode = ESC_upload_post_objecthandler (index, subindex, + objd->flags | COMPLETE_ACCESS_FLAG); + + if (abortcode != 0) + { + SDO_abort (index, subindex, abortcode); + } + } + + MBXcontrol[MBXout].state = MBXstate_outreq; + + set_state_idle (index, subindex, 0); +} + +/** Function for handling the following SDO Upload if previous SDOUpload + * response was flagged it needed to be segmented. + */ +static void SDO_uploadsegment (void) +{ + _COEsdo *coesdo, *coeres; + uint8_t MBXout; + uint32_t size, offset, abort; + coesdo = (_COEsdo *) &MBX[0]; + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + offset = ESCvar.fragsleft; + size = ESCvar.frags - ESCvar.fragsleft; + uint8_t command = COE_COMMAND_UPLOADSEGMENT + + (coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */ + init_coesdo(coeres, COE_SDORESPONSE, command, + coesdo->index, coesdo->subindex); + if ((size + COE_SEGMENTHEADERSIZE) > ESC_MBXDSIZE) + { + /* more segmented transfer needed */ + /* limit to mailbox size */ + size = ESC_MBXDSIZE - COE_SEGMENTHEADERSIZE; + /* number of bytes done */ + ESCvar.fragsleft += size; + coeres->mbxheader.length = htoes (COE_SEGMENTHEADERSIZE + size); + } + else + { + /* last segment */ + ESCvar.segmented = 0; + ESCvar.frags = 0; + ESCvar.fragsleft = 0; + coeres->command += COE_COMMAND_LASTSEGMENTBIT; + if (size >= 7) + { + coeres->mbxheader.length = htoes (COE_SEGMENTHEADERSIZE + size); + } + else + { + coeres->command += (7 - size) << 1; + coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH); + } + } + copy2mbx ((uint8_t *) ESCvar.data + offset, (&(coeres->command)) + 1, + size); /* copy to mailbox */ + + if (ESCvar.segmented == 0) + { + abort = ESC_upload_post_objecthandler (etohs (coesdo->index), + coesdo->subindex, ESCvar.flags); + if (abort != 0) + { + SDO_abort (etohs (coesdo->index), coesdo->subindex, abort); + } + } + + MBXcontrol[MBXout].state = MBXstate_outreq; + } + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; +} + + +/** Function for handling incoming requested SDO Download, validating the + * request and sending an response. On error an SDO Abort will be sent. + */ +static void SDO_download (void) +{ + _COEsdo *coesdo, *coeres; + uint16_t index; + uint8_t subindex; + int16_t nidx, nsub; + uint8_t MBXout; + uint16_t size, actsize; + const _objd *objd; + uint32_t *mbxdata; + uint32_t abort; + + coesdo = (_COEsdo *) &MBX[0]; + index = etohs (coesdo->index); + subindex = coesdo->subindex; + nidx = SDO_findobject (index); + if (nidx >= 0) + { + nsub = SDO_findsubindex (nidx, subindex); + if (nsub >= 0) + { + objd = SDOobjects[nidx].objdesc; + uint8_t access = (objd + nsub)->flags & 0x3f; + uint8_t state = ESCvar.ALstatus & 0x0f; + if (WRITE_ACCESS(access, state)) + { + /* expedited? */ + if (coesdo->command & COE_EXPEDITED_INDICATOR) + { + size = 4 - ((coesdo->command & 0x0c) >> 2); + mbxdata = &(coesdo->size); + } + else + { + /* normal download */ + size = (etohl (coesdo->size) & 0xffff); + mbxdata = (&(coesdo->size)) + 1; + } + actsize = BITS2BYTES((objd + nsub)->bitlength); + if (actsize != size) + { + /* entries with data types VISIBLE_STRING, OCTET_STRING, + * UNICODE_STRING, ARRAY_OF_INT, ARRAY_OF_SINT, + * ARRAY_OF_DINT, and ARRAY_OF_UDINT may have flexible length + */ + uint16_t type = (objd + nsub)->datatype; + if (type == DTYPE_VISIBLE_STRING) + { + /* pad with zeroes up to the maximum size of the entry */ + memset((objd + nsub)->data + size, 0, actsize - size); + } + else if ((type != DTYPE_OCTET_STRING) && + (type != DTYPE_UNICODE_STRING) && + (type != DTYPE_ARRAY_OF_INT) && + (type != DTYPE_ARRAY_OF_SINT) && + (type != DTYPE_ARRAY_OF_DINT) && + (type != DTYPE_ARRAY_OF_UDINT)) + { + set_state_idle (index, subindex, ABORT_TYPEMISMATCH); + return; + } + } + abort = ESC_download_pre_objecthandler ( + index, + subindex, + mbxdata, + size, + (objd + nsub)->flags + ); + if (abort == 0) + { + if ((size > 4) && + (size > (coesdo->mbxheader.length - COE_HEADERSIZE))) + { + size = coesdo->mbxheader.length - COE_HEADERSIZE; + /* signal segmented transfer */ + ESCvar.segmented = MBXSED; + ESCvar.data = (objd + nsub)->data + size; + ESCvar.index = index; + ESCvar.subindex = subindex; + ESCvar.flags = (objd + nsub)->flags; + } + else + { + ESCvar.segmented = 0; + } + copy2mbx (mbxdata, (objd + nsub)->data, size); + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + coeres->mbxheader.length = htoes (COE_DEFAULTLENGTH); + coeres->mbxheader.mbxtype = MBXCOE; + coeres->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDORESPONSE << 12)); + coeres->index = htoes (index); + coeres->subindex = subindex; + coeres->command = COE_COMMAND_DOWNLOADRESPONSE; + coeres->size = htoel (0); + MBXcontrol[MBXout].state = MBXstate_outreq; + } + if (ESCvar.segmented == 0) + { + /* external object write handler */ + abort = ESC_download_post_objecthandler (index, subindex, (objd + nsub)->flags); + if (abort != 0) + { + SDO_abort (index, subindex, abort); + } + } + } + else + { + SDO_abort (index, subindex, abort); + } + } + else + { + if (access == ATYPE_RWpre) + { + SDO_abort (index, subindex, ABORT_NOTINTHISSTATE); + } + else + { + SDO_abort (index, subindex, ABORT_READONLY); + } + } + } + else + { + SDO_abort (index, subindex, ABORT_NOSUBINDEX); + } + } + else + { + SDO_abort (index, subindex, ABORT_NOOBJECT); + } + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; +} + +/** Function for handling incoming requested SDO Download with Complete Access, + * validating the request and sending a response. On error an SDO Abort will + * be sent. + */ +static void SDO_download_complete_access (void) +{ + _COEsdo *coesdo = (_COEsdo *) &MBX[0]; + uint16_t index; + uint8_t subindex; + int16_t nidx, nsub; + uint32_t abortcode = complete_access_get_variables + (coesdo, &index, &subindex, &nidx, &nsub); + if (abortcode != 0) + { + set_state_idle (index, subindex, abortcode); + return; + } + + uint16_t bytes; + uint32_t *mbxdata = &(coesdo->size); + + if (coesdo->command & COE_EXPEDITED_INDICATOR) + { + /* expedited download */ + bytes = 4 - ((coesdo->command & 0x0c) >> 2); + } + else + { + /* normal download */ + bytes = (etohl (coesdo->size) & 0xffff); + mbxdata++; + } + + const _objd *objd = SDOobjects[nidx].objdesc; + + /* loop through the subindexes to get the total size */ + uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, DOWNLOAD, 0); + if (size > 0xffff) + { + /* 'size' is in this case actually an abort code */ + set_state_idle (index, subindex, size); + return; + } + /* The document ETG.1020 S (R) V1.3.0, chapter 12.2, states that + * "The SDO Download Complete Access data length shall always match + * the full current object size (defined by SubIndex0)". + * But EtherCAT Conformance Test Tool doesn't follow this rule for some test + * cases, which is the reason to here only check for 'less than or equal'. + */ + else if (bytes <= BITS2BYTES(size)) + { + abortcode = ESC_download_pre_objecthandler(index, subindex, mbxdata, + size, objd->flags | COMPLETE_ACCESS_FLAG); + if (abortcode != 0) + { + set_state_idle (index, subindex, abortcode); + return; + } + + /* copy download data to subindexes */ + complete_access_subindex_loop(objd, nidx, nsub, (uint8_t *)mbxdata, DOWNLOAD, bytes); + + abortcode = ESC_download_post_objecthandler(index, subindex, + objd->flags | COMPLETE_ACCESS_FLAG); + if (abortcode != 0) + { + set_state_idle (index, subindex, abortcode); + return; + } + } + else + { + set_state_idle (index, subindex, ABORT_TYPEMISMATCH); + return; + } + + uint8_t MBXout = ESC_claimbuffer (); + if (MBXout > 0) + { + _COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + init_coesdo(coeres, COE_SDORESPONSE, + COE_COMMAND_DOWNLOADRESPONSE | COE_COMPLETEACCESS, + index, subindex); + + coeres->size = 0; + MBXcontrol[MBXout].state = MBXstate_outreq; + } + + set_state_idle (index, subindex, 0); +} + +static void SDO_downloadsegment (void) +{ + _COEsdo *coesdo = (_COEsdo *) &MBX[0]; + uint8_t MBXout = ESC_claimbuffer (); + if (MBXout) + { + _COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE]; + uint32_t size = coesdo->mbxheader.length - 3; + if (size == 7) + { + size = 7 - ((coesdo->command >> 1) & 7); + } + uint8_t command = COE_COMMAND_DOWNLOADSEGRESP + + (coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */ + init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0); + + uint32_t *mbxdata = (uint32_t *)&(coesdo->index); /* data pointer */ + copy2mbx (mbxdata, (uint8_t *)ESCvar.data, size); + + if (coesdo->command & COE_COMMAND_LASTSEGMENTBIT) + { + /* last segment */ + ESCvar.segmented = 0; + + /* external object write handler */ + uint32_t abort = ESC_download_post_objecthandler + (ESCvar.index, ESCvar.subindex, ESCvar.flags); + if (abort != 0) + { + set_state_idle (ESCvar.index, ESCvar.subindex, abort); + return; + } + } + else + { + /* more segmented transfer needed: increase offset */ + ESCvar.data += size; + } + + MBXcontrol[MBXout].state = MBXstate_outreq; + } + + set_state_idle (0, 0, 0); +} + +/** Function for sending an SDO Info Error reply. + * + * @param[in] abortcode = = abort code to send in reply + */ +static void SDO_infoerror (uint32_t abortcode) +{ + uint8_t MBXout; + _COEobjdesc *coeres; + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coeres = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; + coeres->mbxheader.length = htoes ((uint16_t) COE_HEADERSIZE); + coeres->mbxheader.mbxtype = MBXCOE; + coeres->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); + /* SDO info error request */ + coeres->infoheader.opcode = COE_INFOERROR; + coeres->infoheader.incomplete = 0; + coeres->infoheader.reserved = 0x00; + coeres->infoheader.fragmentsleft = 0; + coeres->index = (uint16_t)htoel (abortcode); + coeres->datatype = (uint16_t)(htoel (abortcode) >> 16); + MBXcontrol[MBXout].state = MBXstate_outreq; + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + } +} + +#define ODLISTSIZE ((ESC_MBX1_sml - ESC_MBXHSIZE - sizeof(_COEh) - sizeof(_INFOh) - 2) & 0xfffe) + +/** Function for handling incoming requested SDO Get OD List, validating the + * request and sending an response. On error an SDO Info Error will be sent. + */ +static void SDO_getodlist (void) +{ + uint16_t frags; + uint8_t MBXout = 0; + uint16_t entries = 0; + uint16_t i, n; + uint16_t *p; + _COEobjdesc *coel, *coer; + + while (SDOobjects[entries].index != 0xffff) + { + entries++; + } + ESCvar.entries = entries; + frags = ((entries << 1) + ODLISTSIZE - 1); + frags /= ODLISTSIZE; + coer = (_COEobjdesc *) &MBX[0]; + /* check for unsupported opcodes */ + if (etohs (coer->index) > 0x01) + { + SDO_infoerror (ABORT_UNSUPPORTED); + } + else + { + MBXout = ESC_claimbuffer (); + } + if (MBXout) + { + coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; + coel->mbxheader.mbxtype = MBXCOE; + coel->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); + coel->infoheader.opcode = COE_GETODLISTRESPONSE; + /* number of objects request */ + if (etohs (coer->index) == 0x00) + { + coel->index = htoes ((uint16_t) 0x00); + coel->infoheader.incomplete = 0; + coel->infoheader.reserved = 0x00; + coel->infoheader.fragmentsleft = htoes ((uint16_t) 0); + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + ESCvar.frags = frags; + ESCvar.fragsleft = frags - 1; + p = &(coel->datatype); + *p = htoes (entries); + p++; + *p = 0; + p++; + *p = 0; + p++; + *p = 0; + p++; + *p = 0; + coel->mbxheader.length = htoes (0x08 + (5 << 1)); + } + /* only return all objects */ + if (etohs (coer->index) == 0x01) + { + if (frags > 1) + { + coel->infoheader.incomplete = 1; + ESCvar.xoe = MBXCOE + MBXODL; + n = ODLISTSIZE >> 1; + } + else + { + coel->infoheader.incomplete = 0; + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + n = entries; + } + coel->infoheader.reserved = 0x00; + ESCvar.frags = frags; + ESCvar.fragsleft = frags - 1; + coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft); + coel->index = htoes ((uint16_t) 0x01); + + p = &(coel->datatype); + for (i = 0; i < n; i++) + { + *p = htoes (SDOobjects[i].index); + p++; + } + + coel->mbxheader.length = htoes (0x08 + (n << 1)); + } + MBXcontrol[MBXout].state = MBXstate_outreq; + } +} +/** Function for continuing sending left overs from previous requested + * SDO Get OD List, validating the request and sending an response. + */ +static void SDO_getodlistcont (void) +{ + uint8_t MBXout; + uint16_t i, n, s; + uint16_t *p; + _COEobjdesc *coel; + + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; + coel->mbxheader.mbxtype = MBXCOE; + coel->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); + coel->infoheader.opcode = COE_GETODLISTRESPONSE; + s = (ESCvar.frags - ESCvar.fragsleft) * (ODLISTSIZE >> 1); + if (ESCvar.fragsleft > 1) + { + coel->infoheader.incomplete = 1; + n = s + (ODLISTSIZE >> 1); + } + else + { + coel->infoheader.incomplete = 0; + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + n = ESCvar.entries; + } + coel->infoheader.reserved = 0x00; + ESCvar.fragsleft--; + coel->infoheader.fragmentsleft = htoes (ESCvar.fragsleft); + /* pointer 2 bytes back to exclude index */ + p = &(coel->index); + for (i = s; i < n; i++) + { + *p = htoes (SDOobjects[i].index); + p++; + } + coel->mbxheader.length = htoes (0x06 + ((n - s) << 1)); + MBXcontrol[MBXout].state = MBXstate_outreq; + } +} + +/** Function for handling incoming requested SDO Get Object Description, + * validating the request and sending an response. On error an + * SDO Info Error will be sent. + */ +static void SDO_getod (void) +{ + uint8_t MBXout; + uint16_t index; + int32_t nidx; + uint8_t *d; + const uint8_t *s; + uint8_t n = 0; + _COEobjdesc *coer, *coel; + coer = (_COEobjdesc *) &MBX[0]; + index = etohs (coer->index); + nidx = SDO_findobject (index); + if (nidx >= 0) + { + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coel = (_COEobjdesc *) &MBX[MBXout * ESC_MBXSIZE]; + coel->mbxheader.mbxtype = MBXCOE; + coel->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); + coel->infoheader.opcode = COE_GETODRESPONSE; + coel->infoheader.incomplete = 0; + coel->infoheader.reserved = 0x00; + coel->infoheader.fragmentsleft = htoes (0); + coel->index = htoes (index); + if (SDOobjects[nidx].objtype == OTYPE_VAR) + { + int32_t nsub = SDO_findsubindex (nidx, 0); + const _objd *objd = SDOobjects[nidx].objdesc; + coel->datatype = htoes ((objd + nsub)->datatype); + coel->maxsub = SDOobjects[nidx].maxsub; + } + else if (SDOobjects[nidx].objtype == OTYPE_ARRAY) + { + int32_t nsub = SDO_findsubindex (nidx, 0); + const _objd *objd = SDOobjects[nidx].objdesc; + coel->datatype = htoes ((objd + nsub)->datatype); + coel->maxsub = SDOobjects[nidx].objdesc->value; + } + else + { + coel->datatype = htoes (0); + coel->maxsub = SDOobjects[nidx].objdesc->value; + } + coel->objectcode = SDOobjects[nidx].objtype; + s = (uint8_t *) SDOobjects[nidx].name; + d = (uint8_t *) &(coel->name); + while (*s && (n < (ESC_MBXDSIZE - 0x0c))) + { + *d = *s; + n++; + s++; + d++; + } + *d = *s; + coel->mbxheader.length = htoes ((uint16_t) 0x0c + n); + MBXcontrol[MBXout].state = MBXstate_outreq; + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + } + } + else + { + SDO_infoerror (ABORT_NOOBJECT); + } +} + +/** Function for handling incoming requested SDO Get Entry Description, + * validating the request and sending an response. On error an + * SDO Info Error will be sent. + */ +static void SDO_geted (void) +{ + uint8_t MBXout; + uint16_t index; + int32_t nidx, nsub; + uint8_t subindex; + uint8_t *d; + const uint8_t *s; + const _objd *objd; + uint8_t n = 0; + _COEentdesc *coer, *coel; + coer = (_COEentdesc *) &MBX[0]; + index = etohs (coer->index); + subindex = coer->subindex; + nidx = SDO_findobject (index); + if (nidx >= 0) + { + nsub = SDO_findsubindex (nidx, subindex); + if (nsub >= 0) + { + objd = SDOobjects[nidx].objdesc; + MBXout = ESC_claimbuffer (); + if (MBXout) + { + coel = (_COEentdesc *) &MBX[MBXout * ESC_MBXSIZE]; + coel->mbxheader.mbxtype = MBXCOE; + coel->coeheader.numberservice = + htoes ((0 & 0x01f) | (COE_SDOINFORMATION << 12)); + coel->infoheader.opcode = COE_ENTRYDESCRIPTIONRESPONSE; + coel->infoheader.incomplete = 0; + coel->infoheader.reserved = 0x00; + coel->infoheader.fragmentsleft = htoes ((uint16_t) 0); + coel->index = htoes (index); + coel->subindex = subindex; + coel->valueinfo = COE_VALUEINFO_ACCESS + + COE_VALUEINFO_OBJECT + COE_VALUEINFO_MAPPABLE; + coel->datatype = htoes ((objd + nsub)->datatype); + coel->bitlength = htoes ((objd + nsub)->bitlength); + coel->access = htoes ((objd + nsub)->flags); + s = (uint8_t *) (objd + nsub)->name; + d = (uint8_t *) &(coel->name); + while (*s && (n < (ESC_MBXDSIZE - 0x10))) + { + *d = *s; + n++; + s++; + d++; + } + *d = *s; + coel->mbxheader.length = htoes ((uint16_t) 0x10 + n); + MBXcontrol[MBXout].state = MBXstate_outreq; + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + } + } + else + { + SDO_infoerror (ABORT_NOSUBINDEX); + } + } + else + { + SDO_infoerror (ABORT_NOOBJECT); + } +} + +/** Main CoE function checking the status on current mailbox buffers carrying + * data, distributing the mailboxes to appropriate CoE functions. + * On Error an MBX_error or SDO Abort will be sent depending on error cause. + */ +void ESC_coeprocess (void) +{ + _MBXh *mbh; + _COEsdo *coesdo; + _COEobjdesc *coeobjdesc; + uint8_t service; + if (ESCvar.MBXrun == 0) + { + return; + } + if (!ESCvar.xoe && (MBXcontrol[0].state == MBXstate_inclaim)) + { + mbh = (_MBXh *) &MBX[0]; + if (mbh->mbxtype == MBXCOE) + { + if (etohs (mbh->length) < COE_MINIMUM_LENGTH) + { + MBX_error (MBXERR_INVALIDSIZE); + } + else + { + ESCvar.xoe = MBXCOE; + } + } + } + if ((ESCvar.xoe == (MBXCOE + MBXODL)) && (!ESCvar.mbxoutpost)) + { + /* continue get OD list */ + SDO_getodlistcont (); + } + if (ESCvar.xoe == MBXCOE) + { + coesdo = (_COEsdo *) &MBX[0]; + coeobjdesc = (_COEobjdesc *) &MBX[0]; + service = etohs (coesdo->coeheader.numberservice) >> 12; + if (service == COE_SDOREQUEST) + { + if ((SDO_COMMAND(coesdo->command) == COE_COMMAND_UPLOADREQUEST) + && (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE)) + { + /* initiate SDO upload request */ + if (SDO_COMPLETE_ACCESS(coesdo->command)) + { + SDO_upload_complete_access (); + } + else + { + SDO_upload (); + } + } + else if (((coesdo->command & 0xef) == COE_COMMAND_UPLOADSEGREQ) + && (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE) + && (ESCvar.segmented == MBXSEU)) + { + /* SDO upload segment request */ + SDO_uploadsegment (); + } + else if (SDO_COMMAND(coesdo->command) == COE_COMMAND_DOWNLOADREQUEST) + { + /* initiate SDO download request */ + if (SDO_COMPLETE_ACCESS(coesdo->command)) + { + SDO_download_complete_access (); + } + else + { + SDO_download (); + } + } + else if (SDO_COMMAND(coesdo->command) == COE_COMMAND_DOWNLOADSEGREQ) + { + /* SDO download segment request */ + SDO_downloadsegment (); + } + } + /* initiate SDO get OD list */ + else + { + if ((service == COE_SDOINFORMATION) + && (coeobjdesc->infoheader.opcode == 0x01)) + { + SDO_getodlist (); + } + /* initiate SDO get OD */ + else + { + if ((service == COE_SDOINFORMATION) + && (coeobjdesc->infoheader.opcode == 0x03)) + { + SDO_getod (); + } + /* initiate SDO get ED */ + else + { + if ((service == COE_SDOINFORMATION) + && (coeobjdesc->infoheader.opcode == 0x05)) + { + SDO_geted (); + } + else + { + /* COE not recognised above */ + if (ESCvar.xoe == MBXCOE) + { + if (service == 0) + { + MBX_error (MBXERR_INVALIDHEADER); + } + else + { + SDO_abort (etohs (coesdo->index), coesdo->subindex, ABORT_UNSUPPORTED); + } + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + } + } + } + } + } + } +} + +/** + * Get value from bitmap + * + * This function gets a value from a bitmap. + * + * @param[in] bitmap = bitmap containing value + * @param[in] offset = start offset + * @param[in] length = number of bits to get + * @return bitslice value + */ +static uint64_t COE_bitsliceGet (uint64_t * bitmap, int offset, int length) +{ + const int word_offset = offset / 64; + const int bit_offset = offset % 64; + const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1; + uint64_t w0; + uint64_t w1 = 0; + + /* Get the least significant word */ + w0 = bitmap[word_offset]; + w0 = w0 >> bit_offset; + + /* Get the most significant word, if required */ + if (length + bit_offset > 64) + { + w1 = bitmap[word_offset + 1]; + w1 = w1 << (64 - bit_offset); + } + + w0 = (w1 | w0); + return (w0 & mask); +} + +/** + * Set value in bitmap + * + * This function sets a value in a bitmap. + * + * @param[in] bitmap = bitmap to contain value + * @param[in] offset = start offset + * @param[in] length = number of bits to set + * @param[in] value = value to set + */ +static void COE_bitsliceSet (uint64_t * bitmap, int offset, int length, + uint64_t value) +{ + const int word_offset = offset / 64; + const int bit_offset = offset % 64; + const uint64_t mask = (length == 64) ? UINT64_MAX : (1ULL << length) - 1; + const uint64_t mask0 = mask << bit_offset; + uint64_t v0 = value << bit_offset; + uint64_t w0 = bitmap[word_offset]; + + /* Set the least significant word */ + w0 = (w0 & ~mask0) | (v0 & mask0); + bitmap[word_offset] = w0; + + /* Set the most significant word, if required */ + if (length + bit_offset > 64) + { + const uint64_t mask1 = mask >> (64 - bit_offset); + uint64_t v1 = value >> (64 - bit_offset); + uint64_t w1 = bitmap[word_offset + 1]; + + w1 = (w1 & ~mask1) | (v1 & mask1); + bitmap[word_offset + 1] = w1; + } +} + +/** + * Get object value + * + * This function atomically gets an object value. + * + * @param[in] obj = object description + * @return object value + */ +static uint64_t COE_getValue (const _objd * obj) +{ + uint64_t value = 0; + + /* TODO: const data */ + + switch(obj->datatype) + { + case DTYPE_BIT1: + case DTYPE_BIT2: + case DTYPE_BIT3: + case DTYPE_BIT4: + case DTYPE_BIT5: + case DTYPE_BIT6: + case DTYPE_BIT7: + case DTYPE_BIT8: + case DTYPE_BOOLEAN: + case DTYPE_UNSIGNED8: + case DTYPE_INTEGER8: + case DTYPE_BITARR8: + value = *(uint8_t *)obj->data; + break; + + case DTYPE_UNSIGNED16: + case DTYPE_INTEGER16: + case DTYPE_BITARR16: + value = *(uint16_t *)obj->data; + break; + + case DTYPE_REAL32: + case DTYPE_UNSIGNED32: + case DTYPE_INTEGER32: + case DTYPE_BITARR32: + value = *(uint32_t *)obj->data; + break; + + case DTYPE_REAL64: + case DTYPE_UNSIGNED64: + case DTYPE_INTEGER64: + /* FIXME: must be atomic */ + value = *(uint64_t *)obj->data; + break; + + default: + CC_ASSERT (0); + } + + return value; +} + +/** + * Set object value + * + * This function atomically sets an object value. + * + * @param[in] obj = object description + * @param[in] value = new value + */ +static void COE_setValue (const _objd * obj, uint64_t value) +{ + switch(obj->datatype) + { + case DTYPE_BIT1: + case DTYPE_BIT2: + case DTYPE_BIT3: + case DTYPE_BIT4: + case DTYPE_BIT5: + case DTYPE_BIT6: + case DTYPE_BIT7: + case DTYPE_BIT8: + case DTYPE_BOOLEAN: + case DTYPE_UNSIGNED8: + case DTYPE_INTEGER8: + case DTYPE_BITARR8: + *(uint8_t *)obj->data = value & UINT8_MAX; + break; + + case DTYPE_UNSIGNED16: + case DTYPE_INTEGER16: + case DTYPE_BITARR16: + *(uint16_t *)obj->data = value & UINT16_MAX; + break; + + case DTYPE_REAL32: + case DTYPE_UNSIGNED32: + case DTYPE_INTEGER32: + case DTYPE_BITARR32: + *(uint32_t *)obj->data = value & UINT32_MAX; + break; + + case DTYPE_REAL64: + case DTYPE_UNSIGNED64: + case DTYPE_INTEGER64: + /* FIXME: must be atomic */ + *(uint64_t *)obj->data = value; + break; + + default: + DPRINT ("ignored\n"); + break; + } +} + +/** + * Init default values for SDO objects + */ +void COE_initDefaultValues (void) +{ + int i; + const _objd *objd; + int n; + uint8_t maxsub; + + /* Let application decide if initialization will be skipped */ + if (ESCvar.skip_default_initialization) + { + return; + } + + /* Set default values from object descriptor */ + for (n = 0; SDOobjects[n].index != 0xffff; n++) + { + objd = SDOobjects[n].objdesc; + maxsub = SDOobjects[n].maxsub; + + i = 0; + do + { + if (objd[i].data != NULL) + { + COE_setValue (&objd[i], objd[i].value); + DPRINT ("%04x:%02x = %x\n", SDOobjects[n].index, objd[i].subindex, objd[i].value); + } + } while (objd[i++].subindex < maxsub); + } + + /* Let application override default values */ + if (ESCvar.set_defaults_hook != NULL) + { + ESCvar.set_defaults_hook(); + } +} + +/** + * Pack process data + * + * This function reads mapped objects and constructs the process data + * inputs (TXPDO). + * + * @param[in] buffer = input process data + * @param[in] nmappings = number of mappings in sync manager + * @param[in] mappings = list of mapped objects in sync manager + */ +void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * mappings) +{ + int ix; + + /* Check that buffer is aligned on 64-bit boundary */ + CC_ASSERT (((uintptr_t)buffer & 0x07) == 0); + + for (ix = 0; ix < nmappings; ix++) + { + const _objd * obj = mappings[ix].obj; + uint16_t offset = mappings[ix].offset; + + if (obj != NULL) + { + if (obj->bitlength > 64) + { + memcpy ( + &buffer[BITS2BYTES (offset)], + obj->data, + BITS2BYTES (obj->bitlength) + ); + } + else + { + /* Atomically get object value */ + uint64_t value = COE_getValue (obj); + COE_bitsliceSet ( + (uint64_t *)buffer, + offset, + obj->bitlength, + value + ); + } + } + } +} + +/** + * Unpack process data + * + * This function unpacks process data output (RXPDO) and writes to the + * mapped objects. + * + * @param[in] buffer = output process data + * @param[in] nmappings = number of mappings in sync manager + * @param[in] mappings = list of mapped objects in sync manager + */ +void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * mappings) +{ + int ix; + + /* Check that buffer is aligned on 64-bit boundary */ + CC_ASSERT (((uintptr_t)buffer & 0x07) == 0); + + for (ix = 0; ix < nmappings; ix++) + { + const _objd * obj = mappings[ix].obj; + uint16_t offset = mappings[ix].offset; + + if (obj != NULL) + { + if (obj->bitlength > 64) + { + memcpy ( + obj->data, + &buffer[BITS2BYTES (offset)], + BITS2BYTES (obj->bitlength) + ); + } + else + { + /* Atomically set object value */ + uint64_t value = COE_bitsliceGet ( + (uint64_t *)buffer, + offset, + obj->bitlength + ); + COE_setValue (obj, value); + } + } + } +} + +/** + * Fetch max subindex + * + * This function fetches the value of subindex 0 (max subindex). + * + * @param[in] index = object index + */ +uint8_t COE_maxSub (uint16_t index) +{ + int nidx; + uint8_t maxsub; + + nidx = SDO_findobject (index); + if (nidx == -1) + return 0; + + maxsub = OBJ_VALUE_FETCH (maxsub, SDOobjects[nidx].objdesc[0]); + return maxsub; +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.h b/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.h new file mode 100755 index 0000000..689750c --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_coe.h @@ -0,0 +1,135 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + + /** \file + * \brief + * Headerfile for esc_coe.c + */ + +#ifndef __esc_coe__ +#define __esc_coe__ + +#include + +CC_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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.c b/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.c new file mode 100755 index 0000000..8736ac0 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.c @@ -0,0 +1,80 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + + /** \file + * \brief + * ESI EEPROM emulator module. + */ + +#include "cc.h" +#include "esc.h" +#include "esc_eep.h" + +#include + +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)); + } +} + diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.h b/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.h new file mode 100755 index 0000000..b94f3d4 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_eep.h @@ -0,0 +1,77 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +/** \file + * \brief + * Headerfile for esc_eep.c + */ + +#ifndef __esc_eep__ +#define __esc_eep__ + +#include +#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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.c b/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.c new file mode 100755 index 0000000..6332cf8 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.c @@ -0,0 +1,1066 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + + /** \file + * \brief + * Ethernet over EtherCAT (EoE) module. + */ + +#include +#include +#include "esc.h" +#include "esc_eoe.h" + + +#if defined(EC_BIG_ENDIAN) +#define EOE_HTONS(x) (x) +#define EOE_NTOHS(x) (x) +#define EOE_HTONL(x) (x) +#define EOE_NTOHL(x) (x) +#else +#define EOE_HTONS(x) ((((x) & 0x00ffUL) << 8) | (((x) & 0xff00UL) >> 8)) +#define EOE_NTOHS(x) EOE_HTONS(x) +#define EOE_HTONL(x) ((((x) & 0x000000ffUL) << 24) | \ + (((x) & 0x0000ff00UL) << 8) | \ + (((x) & 0x00ff0000UL) >> 8) | \ + (((x) & 0xff000000UL) >> 24)) +#define EOE_NTOHL(x) EOE_HTONL(x) +#endif /* #if defined(EC_BIG_ENDIAN) */ + +#define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \ + ((uint32_t)((b) & 0xff) << 16) | \ + ((uint32_t)((c) & 0xff) << 8) | \ + (uint32_t)((d) & 0xff)) + +/** Get one byte from the 4-byte address */ +#define eoe_ip4_addr1(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[0]) +#define eoe_ip4_addr2(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[1]) +#define eoe_ip4_addr3(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[2]) +#define eoe_ip4_addr4(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[3]) + +/** Set an IP address given by the four byte-parts */ +#define EOE_IP4_ADDR_TO_U32(ipaddr,a,b,c,d) \ + (ipaddr)->addr = EOE_HTONL(EOE_MAKEU32(a,b,c,d)) + +/** Header frame info 1 */ +#define EOE_HDR_FRAME_TYPE_OFFSET 0 +#define EOE_HDR_FRAME_TYPE (0xF << 0) +#define EOE_HDR_FRAME_TYPE_SET(x) (((x) & 0xF) << 0) +#define EOE_HDR_FRAME_TYPE_GET(x) (((x) >> 0) & 0xF) +#define EOE_HDR_FRAME_PORT_OFFSET 4 +#define EOE_HDR_FRAME_PORT (0xF << 4) +#define EOE_HDR_FRAME_PORT_SET(x) (((x) & 0xF) << 4) +#define EOE_HDR_FRAME_PORT_GET(x) (((x) >> 4) & 0xF) +#define EOE_HDR_LAST_FRAGMENT_OFFSET 8 +#define EOE_HDR_LAST_FRAGMENT (0x1 << 8) +#define EOE_HDR_LAST_FRAGMENT_SET(x) (((x) & 0x1) << 8) +#define EOE_HDR_LAST_FRAGMENT_GET(x) (((x) >> 8) & 0x1) +#define EOE_HDR_TIME_APPEND_OFFSET 9 +#define EOE_HDR_TIME_APPEND (0x1 << 9) +#define EOE_HDR_TIME_APPEND_SET(x) (((x) & 0x1) << 9) +#define EOE_HDR_TIME_APPEND_GET(x) (((x) >> 9) & 0x1) +#define EOE_HDR_TIME_REQUEST_OFFSET 10 +#define EOE_HDR_TIME_REQUEST (0x1 << 10) +#define EOE_HDR_TIME_REQUEST_SET(x) (((x) & 0x1) << 10) +#define EOE_HDR_TIME_REQUEST_GET(x) (((x) >> 10) & 0x1) + +/** Header frame info 2 */ +#define EOE_HDR_FRAG_NO_OFFSET 0 +#define EOE_HDR_FRAG_NO (0x3F << 0) +#define EOE_HDR_FRAG_NO_SET(x) (((x) & 0x3F) << 0) +#define EOE_HDR_FRAG_NO_GET(x) (((x) >> 0) & 0x3F) +#define EOE_HDR_FRAME_OFFSET_OFFSET 6 +#define EOE_HDR_FRAME_OFFSET (0x3F << 6) +#define EOE_HDR_FRAME_OFFSET_SET(x) (((x) & 0x3F) << 6) +#define EOE_HDR_FRAME_OFFSET_GET(x) (((x) >> 6) & 0x3F) +#define EOE_HDR_FRAME_NO_OFFSET 12 +#define EOE_HDR_FRAME_NO (0xF << 12) +#define EOE_HDR_FRAME_NO_SET(x) (((x) & 0xF) << 12) +#define EOE_HDR_FRAME_NO_GET(x) (((x) >> 12) & 0xF) + +/** EOE param */ +#define EOE_PARAM_OFFSET 4 +#define EOE_PARAM_MAC_INCLUDE (0x1 << 0) +#define EOE_PARAM_IP_INCLUDE (0x1 << 1) +#define EOE_PARAM_SUBNET_IP_INCLUDE (0x1 << 2) +#define EOE_PARAM_DEFAULT_GATEWAY_INCLUDE (0x1 << 3) +#define EOE_PARAM_DNS_IP_INCLUDE (0x1 << 4) +#define EOE_PARAM_DNS_NAME_INCLUDE (0x1 << 5) + +/** EoE frame types */ +#define EOE_FRAG_DATA 0 +#define EOE_INIT_RESP_TIMESTAMP 1 +#define EOE_INIT_REQ 2 /* Spec SET IP REQ */ +#define EOE_INIT_RESP 3 /* Spec SET IP RESP */ +#define EOE_SET_ADDR_FILTER_REQ 4 +#define EOE_SET_ADDR_FILTER_RESP 5 +#define EOE_GET_IP_PARAM_REQ 6 +#define EOE_GET_IP_PARAM_RESP 7 +#define EOE_GET_ADDR_FILTER_REQ 8 +#define EOE_GET_ADDR_FILTER_RESP 9 + +/** Define number of ports available.(Only one is supported currently */ +#define EOE_NUMBER_OF_PORTS 1 +#define EOE_PORT_INDEX(x) ((x > 0) ? (x - 1) : 0) +/** DNS length according to ETG 1000.6 */ +#define EOE_DNS_NAME_LENGTH 32 +/** Ethernet address length not including VLAN */ +#define EOE_ETHADDR_LENGTH 6 +/** IPv4 address length */ +#define EOE_IP4_LENGTH sizeof(uint32_t) + +/** EOE ip4 address in network order */ +struct eoe_ip4_addr { + uint32_t addr; +}; +typedef struct eoe_ip4_addr eoe_ip4_addr_t; + +/** EOE ethernet address */ +CC_PACKED_BEGIN +typedef struct CC_PACKED eoe_ethaddr +{ + uint8_t addr[EOE_ETHADDR_LENGTH]; +} eoe_ethaddr_t; +CC_PACKED_END + +typedef struct +{ + /** Pointer to current RX buffer to fill */ + eoe_pbuf_t rxebuf; + /** Pointer to current TX buff to Send */ + eoe_pbuf_t txebuf; + + /** Current RX fragment number */ + uint8_t rxfragmentno; + /** Complete RX frame size of current frame */ + uint16_t rxframesize; + /** Current RX data offset in frame */ + uint16_t rxframeoffset; + /** Current RX frame number */ + uint16_t rxframeno; + + /** Current TX fragment number */ + uint8_t txfragmentno; + /** Complete TX frame size of current frame */ + uint16_t txframesize; + /** Current TX data offset in frame */ + uint16_t txframeoffset; +} _EOEvar; + +/** EoE IP request structure */ +typedef struct eoe_param +{ + uint8_t mac_set:1; + uint8_t ip_set:1; + uint8_t subnet_set:1; + uint8_t default_gateway_set:1; + uint8_t dns_ip_set:1; + uint8_t dns_name_set:1; + eoe_ethaddr_t mac; + eoe_ip4_addr_t ip; + eoe_ip4_addr_t subnet; + eoe_ip4_addr_t default_gateway; + eoe_ip4_addr_t dns_ip; + char dns_name[EOE_DNS_NAME_LENGTH]; +} eoe_param_t; + +/** Main EoE status data array. Structure gets filled with current information + * variables during EoE receive and send operations. + */ +static _EOEvar EOEvar; + +/** Main FoE configuration pointer data array. Structure is allocated and filled + * by the application defining what preferences it requires. + */ +static eoe_cfg_t * eoe_cfg; + +/** Local EoE variable holding cached IP information values. + * To be set or read from the user application, eg. TCP/IP stack. + */ +static eoe_param_t nic_ports[EOE_NUMBER_OF_PORTS]; + +/** Local init/reset functions on frame receive init */ +static void EOE_init_rx (); +/** Local init/reset functions on frame send completion */ +static void EOE_init_tx (); + +/** EoE utility function to convert uint32 to eoe ip bytes. + * @param[in] ip = ip in uint32 + * @param[out] byte_ip = eoe ip 4th octet, 3ed octet, 2nd octet, 1st octet + */ +static void EOE_ip_uint32_to_byte (eoe_ip4_addr_t * ip, uint8_t * byte_ip) +{ + byte_ip[3] = eoe_ip4_addr1(ip); /* 1st octet */ + byte_ip[2] = eoe_ip4_addr2(ip); /* 2nd octet */ + byte_ip[1] = eoe_ip4_addr3(ip); /* 3ed octet */ + byte_ip[0] = eoe_ip4_addr4(ip); /* 4th octet */ +} + +/** EoE utility function to convert eoe ip bytes to uint32. + * @param[in] byte_ip = eoe ip 4th octet, 3ed octet, 2nd octet, 1st octet + * @param[out] ip = ip in uint32 + */ +static void EOE_ip_byte_to_uint32 (uint8_t * byte_ip, eoe_ip4_addr_t * ip) +{ + EOE_IP4_ADDR_TO_U32(ip, + byte_ip[3], /* 1st octet */ + byte_ip[2], /* 2nd octet */ + byte_ip[1], /* 3ed octet */ + byte_ip[0]) ;/* 4th octet */ +} + +/** Get EoE cached MAC address + * + * @param[in] port = get MAC for port + * @param[out] mac = variable to store mac in, should fit EOE_ETHADDR_LENGTH + * @return 0= if we succeed, -1 if not set + */ +int EOE_get_mac(uint8_t port, uint8_t mac[]) +{ + int ret = -1; + int port_ix; + + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].mac_set) + { + memcpy(mac, nic_ports[port_ix].mac.addr, + sizeof(nic_ports[port_ix].mac)); + nic_ports[port_ix].mac_set = 1; + ret = 0; + } + } + return ret; +} + +/** Set EoE cached MAC address + * + * @param[in] port = get MAC for port + * @param[in] mac = mac address to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_mac(uint8_t port, uint8_t mac[]) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + memcpy(nic_ports[port_ix].mac.addr, mac, + sizeof(nic_ports[port_ix].mac)); + ret = 0; + } + return ret; +} + +/** Get EoE cached ip address + * + * @param[in] port = get ip address for port + * @param[out] ip = variable to store ip in + * @return 0= if we succeed, -1 if not set + */ +int EOE_ecat_get_ip(uint8_t port, uint32_t * ip) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].ip_set) + { + *ip = EOE_NTOHL(nic_ports[port_ix].ip.addr); + ret = 0; + } + } + return ret; +} + +/** Set EoE cached ip address + * + * @param[in] port = get ip for port + * @param[in] ip = ip address to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_ip(uint8_t port, uint32_t ip) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + nic_ports[port_ix].ip.addr = EOE_HTONL(ip); + nic_ports[port_ix].ip_set = 1; + ret = 0; + } + return ret; +} + +/** Get EoE cached subnet ip address + * + * @param[in] port = get ip address for port + * @param[out] subnet = variable to store ip in + * @return 0= if we succeed, -1 if not set + */ +int EOE_ecat_get_subnet(uint8_t port, uint32_t * subnet) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].subnet_set) + { + *subnet = EOE_NTOHL(nic_ports[port_ix].subnet.addr); + ret = 0; + } + } + return ret; +} + +/** Set EoE cached subnet ip address + * + * @param[in] port = get ip for port + * @param[in] subnet = ip address to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_subnet(uint8_t port, uint32_t subnet) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + nic_ports[port_ix].subnet.addr = EOE_HTONL(subnet); + nic_ports[port_ix].subnet_set = 1; + ret = 0; + } + return ret; +} + +/** Get EoE cached default gateway ip address + * + * @param[in] port = get ip address for port + * @param[out] default_gateway = variable to store ip in + * @return 0= if we succeed, -1 if not set + */ +int EOE_ecat_get_gateway(uint8_t port, uint32_t * default_gateway) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].default_gateway_set) + { + *default_gateway = + EOE_NTOHL(nic_ports[port_ix].default_gateway.addr); + ret = 0; + } + } + return ret; +} + +/** Set EoE cached default gateway ip address + * + * @param[in] port = get ip for port + * @param[in] default_gateway = ip address to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_gateway(uint8_t port, uint32_t default_gateway) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + nic_ports[port_ix].default_gateway.addr = + EOE_HTONL(default_gateway); + nic_ports[port_ix].default_gateway_set = 1; + ret = 0; + } + return ret; +} + +/** Get EoE cached dns ip address + * + * @param[in] port = get ip address for port + * @param[out] dns_ip = variable to store ip in + * @return 0= if we succeed, -1 if not set + */ +int EOE_ecat_get_dns_ip(uint8_t port, uint32_t * dns_ip) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].dns_ip_set) + { + *dns_ip = EOE_NTOHL(nic_ports[port_ix].dns_ip.addr); + ret = 0; + } + } + return ret; +} + +/** Set EoE cached dns ip address + * + * @param[in] port = get ip for port + * @param[in] dns_ip = ip address to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_dns_ip(uint8_t port, uint32_t dns_ip) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + nic_ports[port_ix].dns_ip.addr = EOE_HTONL(dns_ip); + nic_ports[port_ix].dns_ip_set = 1; + ret = 0; + } + return ret; +} + +/** Get EoE cached dns name + * + * @param[in] port = get dns name for port + * @param[out] dns_name = variable to store dns name in + * @return 0= if we succeed, -1 if not set + */ +int EOE_ecat_get_dns_name(uint8_t port, char * dns_name) +{ + int ret = -1; + int port_ix; + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].dns_name_set) + { + memcpy(dns_name, + nic_ports[port_ix].dns_name, + sizeof(nic_ports[port_ix].dns_name)); + ret = 0; + } + } + return ret; +} + +/** Set EoE cached dns name + * + * @param[in] port = get dns name for port + * @param[in] dns_name = dns name to store + * @return 0= if we succeed, else -1. + */ +int EOE_ecat_set_dns_name(uint8_t port, char * dns_name) +{ + int ret = -1; + int port_ix; + + if(port < EOE_NUMBER_OF_PORTS) + { + port_ix = EOE_PORT_INDEX(port); + memcpy(nic_ports[port_ix].dns_name, + dns_name, + sizeof(nic_ports[port_ix].dns_name)); + nic_ports[port_ix].dns_name_set = 1; + ret = 0; + } + return ret; +} + +/** Function for sending an simple EOE response frame. + * + * @param[in] frametype1 = frame type of response + * @param[in] result = result code + */ +static void EOE_no_data_response (uint16_t frameinfo1, uint16_t result) +{ + _EOE *eoembx; + uint8_t mbxhandle; + + /* Send back a response packet. */ + mbxhandle = ESC_claimbuffer (); + if (mbxhandle) + { + eoembx = (_EOE *) &MBX[mbxhandle * ESC_MBXSIZE]; + eoembx->mbxheader.length = htoes (ESC_EOEHSIZE); + eoembx->mbxheader.mbxtype = MBXEOE; + eoembx->eoeheader.frameinfo1 = htoes(frameinfo1); + eoembx->eoeheader.result = htoes(result); + MBXcontrol[mbxhandle].state = MBXstate_outreq; + } +} + +/** EoE get IP param request handler. Will send a get IP param response. + */ +static void EOE_get_ip (void) +{ + _EOE *req_eoembx; + _EOE *eoembx; + uint8_t mbxhandle; + uint16_t frameinfo1; + uint8_t port; + uint8_t flags; + uint8_t data_offset; + int port_ix; + + req_eoembx = (_EOE *) &MBX[0]; + frameinfo1 = etohs(req_eoembx->eoeheader.frameinfo1); + port = EOE_HDR_FRAME_PORT_GET(frameinfo1); + data_offset = EOE_PARAM_OFFSET; + flags = 0; + + if(port > EOE_NUMBER_OF_PORTS) + { + DPRINT("Invalid port\n"); + /* Return error response on given port */ + EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) | + EOE_INIT_RESP | + EOE_HDR_LAST_FRAGMENT), + EOE_RESULT_UNSPECIFIED_ERROR); + return; + } + + /* Refresh settings if needed */ + if(eoe_cfg->load_eth_settings != NULL) + { + (void)eoe_cfg->load_eth_settings(); + } + + /* Send back an response packet. */ + mbxhandle = ESC_claimbuffer (); + if (mbxhandle) + { + eoembx = (_EOE *) &MBX[mbxhandle * ESC_MBXSIZE]; + eoembx->mbxheader.mbxtype = MBXEOE; + MBXcontrol[mbxhandle].state = MBXstate_outreq; + eoembx->eoeheader.frameinfo1 = + htoes(EOE_HDR_FRAME_TYPE_SET(EOE_GET_IP_PARAM_RESP) | + EOE_HDR_FRAME_PORT_SET(port) | + EOE_HDR_LAST_FRAGMENT); + eoembx->eoeheader.frameinfo2 = 0; + + /* include mac in get ip request */ + port_ix = EOE_PORT_INDEX(port); + if(nic_ports[port_ix].mac_set) + { + flags |= EOE_PARAM_MAC_INCLUDE; + memcpy(&eoembx->data[data_offset] , + nic_ports[port_ix].mac.addr, + EOE_ETHADDR_LENGTH); + /* Add size of mac address */ + data_offset += EOE_ETHADDR_LENGTH; + + } + /* include ip in get ip request */ + if(nic_ports[port_ix].ip_set) + { + flags |= EOE_PARAM_IP_INCLUDE; + EOE_ip_uint32_to_byte(&nic_ports[port_ix].ip, + &eoembx->data[data_offset]); + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + + /* include subnet in get ip request */ + if(nic_ports[port_ix].subnet_set) + { + flags |= EOE_PARAM_SUBNET_IP_INCLUDE; + EOE_ip_uint32_to_byte(&nic_ports[port_ix].subnet, + &eoembx->data[data_offset]); + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + + /* include default gateway in get ip request */ + if(nic_ports[port_ix].default_gateway_set) + { + flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE; + EOE_ip_uint32_to_byte(&nic_ports[port_ix].default_gateway, + &eoembx->data[data_offset]); + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + /* include dns ip in get ip request */ + if(nic_ports[port_ix].dns_ip_set) + { + flags |= EOE_PARAM_DNS_IP_INCLUDE; + EOE_ip_uint32_to_byte(&nic_ports[port_ix].dns_ip, + &eoembx->data[data_offset]); + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + + /* include dns name in get ip request */ + if(nic_ports[port_ix].dns_name_set) + { + /* TwinCAT include EOE_DNS_NAME_LENGTH chars even if name is shorter */ + flags |= EOE_PARAM_DNS_NAME_INCLUDE; + memcpy(&eoembx->data[data_offset], + nic_ports[port_ix].dns_name, + EOE_DNS_NAME_LENGTH); + /* Add size of dns name length */ + data_offset += EOE_DNS_NAME_LENGTH; + } + + eoembx->data[0] = flags; + eoembx->mbxheader.length = htoes (ESC_EOEHSIZE + data_offset); + } +} + +/** EoE set IP param request handler. Will send a set IP param response. + */ +static void EOE_set_ip (void) +{ + _EOE *eoembx; + uint16_t eoedatasize; + uint16_t frameinfo1; + uint8_t port; + uint8_t flags; + uint8_t data_offset; + uint16_t result; + int port_ix; + + eoembx = (_EOE *) &MBX[0]; + eoedatasize = etohs(eoembx->mbxheader.length) - ESC_EOEHSIZE; + frameinfo1 = etohs(eoembx->eoeheader.frameinfo1); + port = EOE_HDR_FRAME_PORT_GET(frameinfo1); + flags = eoembx->data[0]; + data_offset = EOE_PARAM_OFFSET; + + if(port > EOE_NUMBER_OF_PORTS) + { + DPRINT("Invalid port\n"); + /* Return error response on given port */ + EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) | + EOE_INIT_RESP | + EOE_HDR_LAST_FRAGMENT), + EOE_RESULT_UNSPECIFIED_ERROR); + return; + } + + /* mac included in set ip request? */ + port_ix = EOE_PORT_INDEX(port); + if(flags & EOE_PARAM_MAC_INCLUDE) + { + memcpy(&nic_ports[port_ix].mac.addr, + &eoembx->data[data_offset], + EOE_ETHADDR_LENGTH); + nic_ports[port_ix].mac_set = 1; + /* Add size of mac address */ + data_offset += EOE_ETHADDR_LENGTH; + } + /* ip included in set ip request? */ + if(flags & EOE_PARAM_IP_INCLUDE) + { + EOE_ip_byte_to_uint32(&eoembx->data[data_offset], + &nic_ports[port_ix].ip); + nic_ports[port_ix].ip_set = 1; + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + /* subnet included in set ip request? */ + if(flags & EOE_PARAM_SUBNET_IP_INCLUDE) + { + EOE_ip_byte_to_uint32(&eoembx->data[data_offset], + &nic_ports[port_ix].subnet); + nic_ports[port_ix].subnet_set = 1; + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + /* default gateway included in set ip request? */ + if(flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE) + { + EOE_ip_byte_to_uint32(&eoembx->data[data_offset], + &nic_ports[port_ix].default_gateway); + nic_ports[port_ix].default_gateway_set = 1; + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + /* dns ip included in set ip request? */ + if(flags & EOE_PARAM_DNS_IP_INCLUDE) + { + EOE_ip_byte_to_uint32(&eoembx->data[data_offset], + &nic_ports[port_ix].dns_ip); + nic_ports[port_ix].dns_ip_set = 1; + /* Add size of uint32 IP address */ + data_offset += EOE_IP4_LENGTH; + } + /* dns name included in set ip request? */ + if(flags & EOE_PARAM_DNS_NAME_INCLUDE) + { + uint16_t dns_len = MIN((eoedatasize - data_offset), EOE_DNS_NAME_LENGTH); + memcpy(nic_ports[port_ix].dns_name, + &eoembx->data[data_offset], + dns_len); + nic_ports[port_ix].dns_name_set = 1; + data_offset += dns_len; /* expected 1- EOE_DNS_NAME_LENGTH; */ + } + + if(data_offset > eoedatasize) + { + result = MBXERR_SIZETOOSHORT; + } + else + { + /* Application specific store settings function. From there + * you typically set the IP for the TCP/IP stack */ + if(eoe_cfg->store_ethernet_settings != NULL) + { + result = eoe_cfg->store_ethernet_settings(); + } + else + { + result = EOE_RESULT_NO_IP_SUPPORT; + } + } + EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) | + EOE_INIT_RESP | + EOE_HDR_LAST_FRAGMENT), + result); +} + +/** EoE receive fragment handler. + */ +static void EOE_receive_fragment (void) +{ + _EOE *eoembx; + eoembx = (_EOE *) &MBX[0]; + uint16_t eoedatasize = etohs(eoembx->mbxheader.length) - ESC_EOEHSIZE; + uint16_t frameinfo1 = etohs(eoembx->eoeheader.frameinfo1); + uint16_t frameinfo2 = etohs(eoembx->eoeheader.frameinfo2); + + /* Capture error case */ + if(EOEvar.rxfragmentno != EOE_HDR_FRAG_NO_GET(frameinfo2)) + { + DPRINT("Unexpected fragment number %d, expected: %d\n", + EOE_HDR_FRAG_NO_GET(frameinfo2), EOEvar.rxfragmentno); + /* Clean up existing saved data */ + if(EOEvar.rxfragmentno != 0) + { + EOE_init_rx(); + } + /* Skip fragment if not start of new frame */ + if(EOE_HDR_FRAG_NO_GET(frameinfo2) > 0) + { + return; + } + } + + /* Start of new frame at fragment 0 */ + if(EOEvar.rxfragmentno == 0) + { + EOEvar.rxframesize = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5); + + if(EOEvar.rxebuf.payload != NULL) + { + EOEvar.rxebuf.len = EOEvar.rxframesize; + EOEvar.rxframeoffset = 0; + EOEvar.rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2); + } + } + /* In frame fragment received */ + else + { + uint16_t offset = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5); + /* Validate received fragment */ + if(EOEvar.rxframeno != EOE_HDR_FRAME_NO_GET(frameinfo2)) + { + DPRINT("Unexpected frame number %d, expected: %d\n", + EOE_HDR_FRAME_NO_GET(frameinfo2), EOEvar.rxframeno); + EOE_init_rx (); + return; + } + else if(EOEvar.rxframeoffset != offset) + { + DPRINT("Unexpected frame offset %d, expected: %d\n", + offset, EOEvar.rxframeoffset); + EOE_init_rx (); + return; + } + } + + /* Check so allocated buffer is sufficient */ + if ((EOEvar.rxframeoffset + eoedatasize) <= EOEvar.rxframesize) + { + memcpy((uint8_t *)(EOEvar.rxebuf.payload + EOEvar.rxframeoffset), + eoembx->data, + eoedatasize); + EOEvar.rxframeoffset += eoedatasize; + EOEvar.rxfragmentno++; + } + else + { + DPRINT("Size of data exceed available buffer size\n"); + EOE_init_rx (); + return; + } + + if(EOE_HDR_LAST_FRAGMENT_GET(frameinfo1)) + { + /* Remove time stamp, TODO support for time stamp? */ + if(EOE_HDR_TIME_APPEND_GET(frameinfo1)) + { + EOEvar.rxframeoffset -= 4; + } + EOEvar.rxebuf.len = EOEvar.rxframeoffset; + eoe_cfg->handle_recv_buffer(EOE_HDR_FRAME_PORT_GET(frameinfo1), + &EOEvar.rxebuf); + /* Pass ownership of buf to receive function */ + EOEvar.rxebuf.payload = NULL; + EOE_init_rx (); + } +} + +/** EoE send fragment handler. + */ +static void EOE_send_fragment () +{ + _EOE *eoembx; + uint8_t mbxhandle; + int len; + int len_to_send; + uint16_t frameinfo1; + uint16_t frameinfo2; + static uint8_t frameno = 0; + + /* Do we have a current transfer on-going */ + if(EOEvar.txebuf.payload == NULL) + { + /* Fetch a buffer if available */ + len = eoe_cfg->fetch_send_buffer(0, &EOEvar.txebuf); + if(len > 0) + { + EOEvar.txframesize = len; + } + else + { + return; + } + } + + /* Process the frame if we can get a free mailbox */ + mbxhandle = ESC_claimbuffer (); + if (mbxhandle) + { + len_to_send = EOEvar.txframesize - EOEvar.txframeoffset; + if((len_to_send + ESC_EOEHSIZE + ESC_MBXHSIZE) > ESC_MBXSIZE) + { + /* Adjust to len in whole 32 octet blocks to fit specification*/ + len_to_send = + (((ESC_MBXSIZE - ESC_EOEHSIZE - ESC_MBXHSIZE) >> 5) << 5); + } + + /* TODO: port handling? */ + if(len_to_send == (EOEvar.txframesize - EOEvar.txframeoffset)) + { + frameinfo1 = EOE_HDR_LAST_FRAGMENT_SET(1); + } + else + { + frameinfo1 = 0; + } + + /* Set fragment number */ + frameinfo2 = EOE_HDR_FRAG_NO_SET(EOEvar.txfragmentno); + + /* Set complete size for fragment 0 or offset for in frame fragments */ + if(EOEvar.txfragmentno > 0) + { + frameinfo2 |= (EOE_HDR_FRAME_OFFSET_SET((EOEvar.txframeoffset >> 5))); + } + else + { + frameinfo2 |= + (EOE_HDR_FRAME_OFFSET_SET(((EOEvar.txframesize + 31) >> 5))); + frameno++; + } + + /* Set frame number */ + frameinfo2 = frameinfo2 | EOE_HDR_FRAME_NO_SET(frameno); + + eoembx = (_EOE *) &MBX[mbxhandle * ESC_MBXSIZE]; + eoembx->mbxheader.length = htoes (len_to_send + ESC_EOEHSIZE); + eoembx->mbxheader.mbxtype = MBXEOE; + eoembx->eoeheader.frameinfo1 = htoes(frameinfo1); + eoembx->eoeheader.frameinfo2 = htoes(frameinfo2); + + /* Copy data to mailbox */ + memcpy(eoembx->data, + &EOEvar.txebuf.payload[EOEvar.txframeoffset], + len_to_send); + MBXcontrol[mbxhandle].state = MBXstate_outreq; + + /* Did we complete the frame? */ + if(len_to_send == (EOEvar.txframesize - EOEvar.txframeoffset)) + { + EOE_init_tx (); + } + else + { + EOEvar.txframeoffset += len_to_send; + EOEvar.txfragmentno += 1; + } + if(eoe_cfg->fragment_sent_event != NULL) + { + eoe_cfg->fragment_sent_event(); + } + } +} + +/** Initialize by clearing all current status variables and fetch new buffer. + */ +static void EOE_init_rx () +{ + /* Reset RX transfer status variables */ + EOEvar.rxfragmentno = 0; + EOEvar.rxframesize = 0; + EOEvar.rxframeoffset = 0; + EOEvar.rxframeno = 0; + + /* Fetch buffer */ + if(EOEvar.rxebuf.payload == NULL) + { + if(eoe_cfg->get_buffer != NULL) + { + /* TODO: verify size VS buffer size */ + eoe_cfg->get_buffer(&EOEvar.rxebuf); + } + } +} + +/** Initialize by clearing all current status variables and release old buffer. + */ +static void EOE_init_tx () +{ + /* Reset TX transfer status variables */ + EOEvar.txfragmentno = 0; + EOEvar.txframesize = 0; + EOEvar.txframeoffset = 0; + + /* Release what seems as an abandoned buffer */ + if((EOEvar.txebuf.payload != NULL)) + { + if(eoe_cfg->free_buffer != NULL) + { + eoe_cfg->free_buffer(&EOEvar.txebuf); + EOEvar.txebuf.pbuf = NULL; + EOEvar.txebuf.payload = NULL; + EOEvar.txebuf.len = 0; + } + } +} + +/** Initialize by clearing all current status variables. + */ +void EOE_init () +{ + DPRINT("EOE_init\n"); + EOE_init_tx (); + EOE_init_rx (); +} + +/** Function copying the application configuration variable + * to the EoE module local pointer variable. + * + * @param[in] cfg = Pointer to by the Application static declared + * configuration variable holding application specific details. + */ +void EOE_config (eoe_cfg_t * cfg) +{ + eoe_cfg = cfg; +} + +/** Main EoE receive function checking the status on current mailbox buffers + * carrying data, distributing the mailboxes to appropriate EOE functions + * depending on requested frametype. + */ +void ESC_eoeprocess (void) +{ + _MBXh *mbh; + _EOE *eoembx; + uint16_t frameinfo1; + + if (ESCvar.MBXrun == 0) + { + return; + } + if (!ESCvar.xoe && (MBXcontrol[0].state == MBXstate_inclaim)) + { + mbh = (_MBXh *) &MBX[0]; + if (mbh->mbxtype == MBXEOE) + { + ESCvar.xoe = MBXEOE; + } + } + if (ESCvar.xoe == MBXEOE) + { + eoembx = (_EOE *) &MBX[0]; + /* Verify the size of the file data. */ + if (etohs (eoembx->mbxheader.length) < ESC_EOEHSIZE) + { + EOE_no_data_response ( + EOE_INIT_RESP | EOE_HDR_LAST_FRAGMENT, + MBXERR_SIZETOOSHORT); + } + else + { + frameinfo1 = etohs(eoembx->eoeheader.frameinfo1); + switch (EOE_HDR_FRAME_TYPE_GET(frameinfo1)) + { + case EOE_FRAG_DATA: + { + EOE_receive_fragment (); + break; + } + case EOE_INIT_REQ: + { + EOE_set_ip (); + break; + } + case EOE_GET_IP_PARAM_REQ: + { + EOE_get_ip (); + break; + } + case EOE_INIT_RESP_TIMESTAMP: + case EOE_INIT_RESP: + case EOE_SET_ADDR_FILTER_REQ: + case EOE_SET_ADDR_FILTER_RESP: + case EOE_GET_IP_PARAM_RESP: + case EOE_GET_ADDR_FILTER_REQ: + case EOE_GET_ADDR_FILTER_RESP: + default: + { + DPRINT("EOE_RESULT_UNSUPPORTED_TYPE\n"); + EOE_no_data_response ((EOE_HDR_FRAME_PORT & frameinfo1) | + (EOE_HDR_FRAME_TYPE & frameinfo1) | + EOE_HDR_LAST_FRAGMENT, + EOE_RESULT_UNSUPPORTED_FRAME_TYPE); + break; + } + } + } + MBXcontrol[0].state = MBXstate_idle; + ESCvar.xoe = 0; + } +} +/** EoE function to send a fragment. + * NOTE: Not thread safe, should be called from the SOES task sequential + * with other mailbox functions. Add support for threading by adding + * a thread safe application fetch function, example a mailbox with buffers + * to send, posted by TCP/IP stack and fetched by SOES task. + */ +void ESC_eoeprocess_tx (void) +{ + if (ESCvar.MBXrun == 0) + { + return; + } + EOE_send_fragment (); +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.h b/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.h new file mode 100755 index 0000000..78bd74b --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_eoe.h @@ -0,0 +1,68 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +/** \file + * \brief + * Headerfile for esc_eoe.c + */ + +#ifndef __esc_eoe__ +#define __esc_eoe__ + +#include + +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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.c b/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.c new file mode 100755 index 0000000..475f460 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.c @@ -0,0 +1,627 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + + /** \file + * \brief + * File over EtherCAT (FoE) module. + */ + + +#include +#include "esc.h" +#include "esc_foe.h" +#include + + /** \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; + } +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.h b/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.h new file mode 100755 index 0000000..71472c9 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esc_foe.h @@ -0,0 +1,77 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +/** \file + * \brief + * Headerfile for esc_foe.c + */ + +#ifndef __esc_foe__ +#define __esc_foe__ + +#include + +/** 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 diff --git a/Pcb-1-lan9252/Firmware/lib/soes/esi.json b/Pcb-1-lan9252/Firmware/lib/soes/esi.json new file mode 100755 index 0000000..ce6926f --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/esi.json @@ -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" + } + ] +} \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c new file mode 100755 index 0000000..a9f0982 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/esc_hw.c @@ -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 + + +#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); + } +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp new file mode 100755 index 0000000..8752019 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.cpp @@ -0,0 +1,66 @@ +#include "spi.hpp" +// #include +#include + + +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]); + } +} diff --git a/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.h b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.h new file mode 100755 index 0000000..7413d47 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.h @@ -0,0 +1,15 @@ +#ifndef SRC_APP_SPI_H_ +#define SRC_APP_SPI_H_ + +#include + + +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_ */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp new file mode 100755 index 0000000..297656c --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/hal/arduino-lan9252/spi.hpp @@ -0,0 +1,25 @@ +#ifndef SRC_APP_SPI_H_ +#define SRC_APP_SPI_H_ + +#include + +#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_ */ diff --git a/Pcb-1-lan9252/Firmware/lib/soes/objectlist.c b/Pcb-1-lan9252/Firmware/lib/soes/objectlist.c new file mode 100755 index 0000000..340922e --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/objectlist.c @@ -0,0 +1,291 @@ +#include "esc_coe.h" +#include "utypes.h" +#include + + +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} +}; diff --git a/Pcb-1-lan9252/Firmware/lib/soes/utypes.h b/Pcb-1-lan9252/Firmware/lib/soes/utypes.h new file mode 100755 index 0000000..7ef1b39 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/lib/soes/utypes.h @@ -0,0 +1,50 @@ +#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__ */ diff --git a/Pcb-1-lan9252/Firmware/platformio.ini b/Pcb-1-lan9252/Firmware/platformio.ini new file mode 100755 index 0000000..337b95f --- /dev/null +++ b/Pcb-1-lan9252/Firmware/platformio.ini @@ -0,0 +1,22 @@ +; 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 \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/src/Stepper.cpp b/Pcb-1-lan9252/Firmware/src/Stepper.cpp new file mode 100755 index 0000000..fe99446 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/src/Stepper.cpp @@ -0,0 +1,270 @@ +#include + +/* 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 */ diff --git a/Pcb-1-lan9252/Firmware/src/Stm32F4_Encoder.cpp b/Pcb-1-lan9252/Firmware/src/Stm32F4_Encoder.cpp new file mode 100755 index 0000000..eeeb30e --- /dev/null +++ b/Pcb-1-lan9252/Firmware/src/Stm32F4_Encoder.cpp @@ -0,0 +1,352 @@ +#include + +/* + 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; +} \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/src/main.cpp b/Pcb-1-lan9252/Firmware/src/main.cpp new file mode 100755 index 0000000..42f8843 --- /dev/null +++ b/Pcb-1-lan9252/Firmware/src/main.cpp @@ -0,0 +1,125 @@ +#include + +#include +extern "C" +{ +#include "ecat_slv.h" +#include "utypes.h" +}; + +int64_t PreviousEncoderCounterValue = 0; +int64_t unwrap_encoder(uint16_t in, int64_t *prev); +#include +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. +} \ No newline at end of file diff --git a/Pcb-1-lan9252/Firmware/test/README b/Pcb-1-lan9252/Firmware/test/README new file mode 100755 index 0000000..b0416ad --- /dev/null +++ b/Pcb-1-lan9252/Firmware/test/README @@ -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 diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32-backups/Ethercat-stm32-2023-12-19_230250.zip b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32-backups/Ethercat-stm32-2023-12-19_230250.zip new file mode 100755 index 0000000..b64b156 Binary files /dev/null and b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32-backups/Ethercat-stm32-2023-12-19_230250.zip differ diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_pcb b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_pcb new file mode 100755 index 0000000..2dc92de --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_pcb @@ -0,0 +1,30072 @@ +(kicad_pcb (version 20221018) (generator pcbnew) + + (general + (thickness 1.6) + ) + + (paper "A4") + (layers + (0 "F.Cu" signal) + (31 "B.Cu" signal) + 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<tstamps>bc28ef7e-5c66-466a-a38a-bf0dfa0c99a9</tstamps> + </comp> + <comp ref="C21"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>ad6d2195-23a9-4fef-85be-bd356d80e476</tstamps> + </comp> + <comp ref="C22"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>7e5de049-e422-405c-84d5-54b12a8402fe</tstamps> + </comp> + <comp ref="C23"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>969160f7-ae8c-48b3-bdd8-236d7e697382</tstamps> + </comp> + <comp ref="C24"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" 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<footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>5bdb4c8a-a24f-4fba-bc9a-32de1d42db97</tstamps> + </comp> + <comp ref="C27"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>3e0606fb-8ed9-4341-b2ed-7dd1f6ad2f90</tstamps> + </comp> + <comp ref="C28"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>85ca5b6c-97eb-4cd9-a549-817374173239</tstamps> + </comp> + <comp ref="C29"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property 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ref="C34"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>6a10fe43-8ce8-4484-8a77-a84bdb11362f</tstamps> + </comp> + <comp ref="C35"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath 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10/100 BaseT"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="LAN Transformer Jack, RJ45, 10/100 BaseT"/> + <property name="ki_keywords" value="lan jack socket transformer"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>fb37e8b0-1cb9-42e1-8d77-ebea011a7c11</tstamps> + </comp> + <comp ref="R11"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>923e0431-b016-4df1-bb68-8f5d58d909e3</tstamps> + </comp> + <comp ref="R12"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>ae891d2f-0a24-4cf5-b147-0be046d9fd65</tstamps> + </comp> + <comp ref="R13"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>662c87fb-57c0-44c9-9a46-dccd0e4865d4</tstamps> + </comp> + <comp ref="R14"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>5b08b6b0-b7e9-4055-b470-3ac4027e061a</tstamps> + </comp> + <comp ref="R15"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>abb0f8ce-7b11-44f1-a223-d597e0c22575</tstamps> + </comp> + <comp ref="R16"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>f40287c9-f95b-400f-b392-08ee4621c10e</tstamps> + </comp> + <comp ref="R17"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>47f94934-958b-45c3-aebc-9578e3dc3b9f</tstamps> + </comp> + <comp ref="R18"> + <value>49.9</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>466f413e-a0ce-4851-9f5e-0758ede8f634</tstamps> + </comp> + <comp ref="R19"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>7d172f56-9f57-4a01-a5d4-1a1478772585</tstamps> + </comp> + <comp ref="R20"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>3783f0a1-33ff-4203-9229-9d136794954f</tstamps> + </comp> + <comp ref="R21"> + <value>10k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>38a7223f-1ffa-42bd-908d-59e29134387b</tstamps> + </comp> + <comp ref="R22"> + <value>10k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>46a78547-2247-4f61-8e9d-7641ca556e27</tstamps> + </comp> + <comp ref="R23"> + <value>10k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>73ae30a3-2099-4443-93b3-68e1dd0b0150</tstamps> + </comp> + <comp ref="R24"> + <value>10k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>78961e6d-f016-4505-92fb-ec0408535d9f</tstamps> + </comp> + <comp ref="R25"> + <value>10k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>12bfef2f-3911-4ac6-9726-ce3c1fa69d94</tstamps> + </comp> + <comp ref="R26"> + <value>2k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>690186e1-2f4d-43ec-ad44-2a21badd2ca9</tstamps> + </comp> + <comp ref="R27"> + <value>2k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>bb31229c-ce51-4122-874c-0e1faf8be9f2</tstamps> + </comp> + <comp ref="R28"> + <value>22</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>60aa7804-a6ed-455d-925a-40b56678f5e7</tstamps> + </comp> + <comp ref="R29"> + <value>22</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>233f9937-596c-4c8b-9c2f-b9e6a448e42a</tstamps> + </comp> + <comp ref="U2"> + <value>AT24CS32-SSHM</value> + <footprint>Package_SO:SOIC-8_3.9x4.9mm_P1.27mm</footprint> + <datasheet>http://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-8869-SEEPROM-AT24CS32-Datasheet.pdf</datasheet> + <libsource lib="Memory_EEPROM" part="AT24CS32-SSHM" description="I2C Serial EEPROM, 32Kb (4096x8) with Unique Serial Number, SO8"/> + <property name="Sheetname" value="LAN9252_diverse"/> + <property name="Sheetfile" value="LAN9252_diverse.kicad_sch"/> + <property name="ki_description" value="I2C Serial EEPROM, 32Kb (4096x8) with Unique Serial Number, SO8"/> + <property name="ki_keywords" value="I2C Serial EEPROM Nonvolatile Memory"/> + <sheetpath names="/LAN9252_diverse/" tstamps="/650f1ee4-2ce7-4e9d-a70d-f9d8defa5d03/"/> + <tstamps>161d1974-78ba-4d9c-98a6-6ec9349caa07</tstamps> + </comp> + <comp ref="C37"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>1d4d957f-3b42-4bf0-8be5-1c4b58af2943</tstamps> + </comp> + <comp ref="C38"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>bf0de127-bef6-4520-a2cb-92c55752e27d</tstamps> + </comp> + <comp ref="C39"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>49216c29-c381-45ad-8d00-c393ed31d1e1</tstamps> + </comp> + <comp ref="C40"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>2a5ab83f-3b84-47bb-a903-61f00416091f</tstamps> + </comp> + <comp ref="C41"> + <value>10uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>874288dd-06ea-4f12-bccd-3a982dc59e65</tstamps> + </comp> + <comp ref="C42"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>89e3f962-234c-49f3-a3a2-0f5f5324d1a1</tstamps> + </comp> + <comp ref="C43"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>20b5ce21-323d-43f6-ab22-3679f48b5966</tstamps> + </comp> + <comp ref="C44"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>bd703ab3-6aef-4aac-ba9d-805a491b3035</tstamps> + </comp> + <comp ref="C45"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>ebd5b3fe-5026-4a0f-a895-d7508f2148f1</tstamps> + </comp> + <comp ref="C46"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>592645f8-e23e-4baa-8af8-0a9b7d8e806a</tstamps> + </comp> + <comp ref="C47"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>7464c1f0-b33b-43a5-bfa3-ed72e894b45a</tstamps> + </comp> + <comp ref="C48"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>d529cc5f-92f2-4fcd-ab9c-f3bdcd825cbb</tstamps> + </comp> + <comp ref="C49"> + <value>10uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>4f3c0c57-cda5-4fdc-8fb5-d23963672761</tstamps> + </comp> + <comp ref="C50"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>97e5be48-f3b6-410a-b8d3-042a3216795f</tstamps> + </comp> + <comp ref="C51"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>0d12aa61-e87c-4f8c-8821-360f2f5be2f7</tstamps> + </comp> + <comp ref="C52"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>026fbf21-8ce3-4145-9f75-559671e8b104</tstamps> + </comp> + <comp ref="C53"> + <value>2.2uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>bb5e4b34-d8d0-490a-81c3-049e209827d6</tstamps> + </comp> + <comp ref="C54"> + <value>0.1uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>059d372c-7380-421f-a84f-341e3122fd6e</tstamps> + </comp> + <comp ref="C55"> + <value>22pF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>bb276b0b-50da-456f-91b2-d5b2aee3075b</tstamps> + </comp> + <comp ref="C56"> + <value>22pF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>cebf0351-8b49-463e-9ced-837ba891babc</tstamps> + </comp> + <comp ref="C57"> + <value>2.2uF</value> + <footprint>Capacitor_SMD:C_0805_2012Metric</footprint> + <libsource lib="Device" part="C" description="Unpolarized capacitor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Unpolarized capacitor"/> + <property name="ki_keywords" value="cap capacitor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>fba0373f-ffda-4e13-b810-cf3ea7f2656c</tstamps> + </comp> + <comp ref="D2"> + <value>Blue led</value> + <footprint>LED_SMD:LED_0805_2012Metric</footprint> + <libsource lib="Device" part="LED" description="Light emitting diode"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Light emitting diode"/> + <property name="ki_keywords" value="LED diode"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>1add6186-dd41-47b4-83dc-904a6de84ca1</tstamps> + </comp> + <comp ref="D3"> + <value>Blue led</value> + <footprint>LED_SMD:LED_0805_2012Metric</footprint> + <libsource lib="Device" part="LED" description="Light emitting diode"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Light emitting diode"/> + <property name="ki_keywords" value="LED diode"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>45441953-91e1-4ac3-bada-71f63029cbea</tstamps> + </comp> + <comp ref="J1"> + <value>Conn_01x02_Pin</value> + <footprint>Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x02_Pin" description="Generic connector, single row, 01x02, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x02, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>8c256f13-694b-429b-9500-e0788025192a</tstamps> + </comp> + <comp ref="J2"> + <value>Serial usart1</value> + <footprint>Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x04_Pin" description="Generic connector, single row, 01x04, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x04, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>a58acd1a-d730-4859-b943-3976f3f73e63</tstamps> + </comp> + <comp ref="J3"> + <value>STLINK</value> + <footprint>Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x04_Pin" description="Generic connector, single row, 01x04, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x04, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>d941f278-6dde-4650-a71e-accfb29ce040</tstamps> + </comp> + <comp ref="J10"> + <value>Conn_01x06_Pin</value> + <footprint>Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x06_Pin" description="Generic connector, single row, 01x06, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x06, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>2d821c83-edfe-4d38-b7b0-75d2eafb9539</tstamps> + </comp> + <comp ref="J11"> + <value>Conn_01x06_Pin</value> + <footprint>Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x06_Pin" description="Generic connector, single row, 01x06, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x06, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>c0a97825-2c68-46df-a1bb-d944a95dbe32</tstamps> + </comp> + <comp ref="J12"> + <value>Conn_01x06_Pin</value> + <footprint>Connector_JST:JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x06_Pin" description="Generic connector, single row, 01x06, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x06, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>33097e7b-5140-4700-af1e-120a6b5e0267</tstamps> + </comp> + <comp ref="J13"> + <value>Stepper 1</value> + <footprint>Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x04_Pin" description="Generic connector, single row, 01x04, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x04, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>16b03982-a480-44cc-904c-99af5abaac97</tstamps> + </comp> + <comp ref="J14"> + <value>Stepper 2</value> + <footprint>Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x04_Pin" description="Generic connector, single row, 01x04, script generated"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x04, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>0c654793-c9a7-40f5-ab50-4c0089a53edd</tstamps> + </comp> + <comp ref="R30"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>cd4fc8ea-460c-4b7b-8197-8a4f867172ef</tstamps> + </comp> + <comp ref="R31"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>d9c0791d-391e-46e5-a594-faed6b01b24c</tstamps> + </comp> + <comp ref="R32"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>b2474c9e-51b3-4884-b1df-8bf80027da20</tstamps> + </comp> + <comp ref="R33"> + <value>22</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>f663b0be-0d19-45c1-b3de-31c4d1dfc2f4</tstamps> + </comp> + <comp ref="R34"> + <value>22</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>140a44d2-3fef-4643-9093-c9424b0884f8</tstamps> + </comp> + <comp ref="SW1"> + <value>SW_Push</value> + <footprint>Button_Switch_SMD:SW_Push_1P1T_XKB_TS-1187A</footprint> + <libsource lib="Switch" part="SW_Push" description="Push button switch, generic, two pins"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Push button switch, generic, two pins"/> + <property name="ki_keywords" value="switch normally-open pushbutton push-button"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>1fdf63bf-e91a-4e41-8fb5-fe0259d53e96</tstamps> + </comp> + <comp ref="U3"> + <value>AMS1117-3.3</value> + <footprint>Package_TO_SOT_SMD:SOT-223-3_TabPin2</footprint> + <datasheet>http://www.advanced-monolithic.com/pdf/ds1117.pdf</datasheet> + <libsource lib="Regulator_Linear" part="AMS1117-3.3" description="1A Low Dropout regulator, positive, 3.3V fixed output, SOT-223"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="1A Low Dropout regulator, positive, 3.3V fixed output, SOT-223"/> + <property name="ki_keywords" value="linear regulator ldo fixed positive"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>a68a354a-3239-4133-ac69-7bb5ab1d3c64</tstamps> + </comp> + <comp ref="U4"> + <value>STM32F407VGT6</value> + <footprint>Package_QFP:LQFP-100_14x14mm_P0.5mm</footprint> + <datasheet>https://www.st.com/resource/en/datasheet/stm32f407vg.pdf</datasheet> + <libsource lib="MCU_ST_STM32F4" part="STM32F407VGTx" description="STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 82 GPIO, LQFP100"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 82 GPIO, LQFP100"/> + <property name="ki_keywords" value="Arm Cortex-M4 STM32F4 STM32F407/417"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>1a6fc763-30fe-4ccb-ac19-f8d2ce5a8c3b</tstamps> + </comp> + <comp ref="Y2"> + <value>8 MHz</value> + <footprint>Crystal:Crystal_HC49-U_Vertical</footprint> + <libsource lib="Device" part="Crystal" description="Two pin crystal"/> + <property name="Sheetname" value="STM32F4"/> + <property name="Sheetfile" value="STM32F4.kicad_sch"/> + <property name="ki_description" value="Two pin crystal"/> + <property name="ki_keywords" value="quartz ceramic resonator oscillator"/> + <sheetpath names="/STM32F4/" tstamps="/d564400f-40ba-4aca-9c2a-14ec52a8353b/"/> + <tstamps>72709650-56c0-401f-a402-30449867ca2d</tstamps> + </comp> + <comp ref="J4"> + <value>I2C bus2</value> + <footprint>Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x04_Pin" description="Generic connector, single row, 01x04, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x04, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>f6e9f205-080b-446b-8e6e-d2d2eaa67fb7</tstamps> + </comp> + <comp ref="J5"> + <value>DAC1</value> + <footprint>Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x03_Pin" description="Generic connector, single row, 01x03, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x03, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>5333effc-7687-4ee9-907a-50564ca8d5a9</tstamps> + </comp> + <comp ref="J6"> + <value>Encoder 1</value> + <footprint>Connector_JST:JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x05_Pin" description="Generic connector, single row, 01x05, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x05, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>d5941a4c-e7e4-411a-a70c-a9b8e3c1bfce</tstamps> + </comp> + <comp ref="J7"> + <value>Encoder 2</value> + <footprint>Connector_JST:JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x05_Pin" description="Generic connector, single row, 01x05, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x05, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>961574f6-6377-4800-9f44-d18aac623304</tstamps> + </comp> + <comp ref="J8"> + <value>Encoder 3</value> + <footprint>Connector_JST:JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x05_Pin" description="Generic connector, single row, 01x05, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x05, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>1c84a65c-5122-4a9d-93c5-c95fdce8d967</tstamps> + </comp> + <comp ref="J9"> + <value>Encoder 4</value> + <footprint>Connector_JST:JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical</footprint> + <libsource lib="Connector" part="Conn_01x05_Pin" description="Generic connector, single row, 01x05, script generated"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Generic connector, single row, 01x05, script generated"/> + <property name="ki_keywords" value="connector"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>bf40be7c-de17-409c-b5ef-5b18f35948f9</tstamps> + </comp> + <comp ref="R39"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>6205b81a-3f1e-4c02-9f7e-21413744183e</tstamps> + </comp> + <comp ref="R40"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>13a82430-c8ee-4250-a3cb-e52cb6a30faa</tstamps> + </comp> + <comp ref="R41"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>ed1edc57-26e1-4234-abcd-a22b87379f7e</tstamps> + </comp> + <comp ref="R42"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>392ac5db-26e1-4917-a929-e966ccef6bd2</tstamps> + </comp> + <comp ref="R43"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>1f6cd783-9186-4110-918c-22956cf2a8ab</tstamps> + </comp> + <comp ref="R44"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>8c98ccb6-e2c4-48b8-9f34-f2506c1d2e3e</tstamps> + </comp> + <comp ref="R45"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>4fb33cd9-ab35-41e8-9f9e-8140f99baa4f</tstamps> + </comp> + <comp ref="R46"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>f6afafec-23d4-4288-b115-63bb96d688f9</tstamps> + </comp> + <comp ref="R47"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>60d91c1b-c1ae-4fea-a103-74cf4adc6ef3</tstamps> + </comp> + <comp ref="R48"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>fba92b1b-a107-4bbf-b17c-e1290d74ed15</tstamps> + </comp> + <comp ref="R49"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>10d87c4c-c4d6-4df7-b739-131249afa699</tstamps> + </comp> + <comp ref="R50"> + <value>1k</value> + <footprint>Resistor_SMD:R_0805_2012Metric</footprint> + <libsource lib="Device" part="R" description="Resistor"/> + <property name="Sheetname" value="Peripherals"/> + <property name="Sheetfile" value="peripherals.kicad_sch"/> + <property name="ki_description" value="Resistor"/> + <property name="ki_keywords" value="R res resistor"/> + <sheetpath names="/Peripherals/" tstamps="/0a376a6c-0f15-42f8-81f6-3a55619be267/"/> + <tstamps>cce125df-b506-49fe-a527-fbc672f08648</tstamps> + </comp> + </components> + <libparts> + <libpart lib="Connector" part="Conn_01x02_Pin"> + <description>Generic connector, single row, 01x02, script generated</description> + <docs>~</docs> + <footprints> + <fp>Connector*:*_1x??_*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">Conn_01x02_Pin</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="Pin_1" type="passive"/> + <pin num="2" name="Pin_2" type="passive"/> + </pins> + </libpart> + <libpart lib="Connector" part="Conn_01x03_Pin"> + <description>Generic connector, single row, 01x03, script generated</description> + <docs>~</docs> + <footprints> + <fp>Connector*:*_1x??_*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">Conn_01x03_Pin</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="Pin_1" type="passive"/> + <pin num="2" name="Pin_2" type="passive"/> + <pin num="3" name="Pin_3" type="passive"/> + </pins> + </libpart> + <libpart lib="Connector" part="Conn_01x04_Pin"> + <description>Generic connector, single row, 01x04, script generated</description> + <docs>~</docs> + <footprints> + <fp>Connector*:*_1x??_*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">Conn_01x04_Pin</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="Pin_1" type="passive"/> + <pin num="2" name="Pin_2" type="passive"/> + <pin num="3" name="Pin_3" type="passive"/> + <pin num="4" name="Pin_4" type="passive"/> + </pins> + </libpart> + <libpart lib="Connector" part="Conn_01x05_Pin"> + <description>Generic connector, single row, 01x05, script generated</description> + <docs>~</docs> + <footprints> + <fp>Connector*:*_1x??_*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">Conn_01x05_Pin</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="Pin_1" type="passive"/> + <pin num="2" name="Pin_2" type="passive"/> + <pin num="3" name="Pin_3" type="passive"/> + <pin num="4" name="Pin_4" type="passive"/> + <pin num="5" name="Pin_5" type="passive"/> + </pins> + </libpart> + <libpart lib="Connector" part="Conn_01x06_Pin"> + <description>Generic connector, single row, 01x06, script generated</description> + <docs>~</docs> + <footprints> + <fp>Connector*:*_1x??_*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">Conn_01x06_Pin</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="Pin_1" type="passive"/> + <pin num="2" name="Pin_2" type="passive"/> + <pin num="3" name="Pin_3" type="passive"/> + <pin num="4" name="Pin_4" type="passive"/> + <pin num="5" name="Pin_5" type="passive"/> + <pin num="6" name="Pin_6" type="passive"/> + </pins> + </libpart> + <libpart lib="Device" part="C"> + <description>Unpolarized capacitor</description> + <docs>~</docs> + <footprints> + <fp>C_*</fp> + </footprints> + <fields> + <field name="Reference">C</field> + <field name="Value">C</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="" type="passive"/> + <pin num="2" name="" type="passive"/> + </pins> + </libpart> + <libpart lib="Device" part="Crystal"> + <description>Two pin crystal</description> + <docs>~</docs> + <footprints> + <fp>Crystal*</fp> + </footprints> + <fields> + <field name="Reference">Y</field> + <field name="Value">Crystal</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="1" type="passive"/> + <pin num="2" name="2" type="passive"/> + </pins> + </libpart> + <libpart lib="Device" part="FerriteBead_Small"> + <description>Ferrite bead, small symbol</description> + <docs>~</docs> + <footprints> + <fp>Inductor_*</fp> + <fp>L_*</fp> + <fp>*Ferrite*</fp> + </footprints> + <fields> + <field name="Reference">FB</field> + <field name="Value">FerriteBead_Small</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="" type="passive"/> + <pin num="2" name="" type="passive"/> + </pins> + </libpart> + <libpart lib="Device" part="LED"> + <description>Light emitting diode</description> + <docs>~</docs> + <footprints> + <fp>LED*</fp> + <fp>LED_SMD:*</fp> + <fp>LED_THT:*</fp> + </footprints> + <fields> + <field name="Reference">D</field> + <field name="Value">LED</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="K" type="passive"/> + <pin num="2" name="A" type="passive"/> + </pins> + </libpart> + <libpart lib="Device" part="R"> + <description>Resistor</description> + <docs>~</docs> + <footprints> + <fp>R_*</fp> + </footprints> + <fields> + <field name="Reference">R</field> + <field name="Value">R</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="" type="passive"/> + <pin num="2" name="" type="passive"/> + </pins> + </libpart> + <libpart lib="HakansLibrary" part="J0011D01BNL"> + <description>LAN Transformer Jack, RJ45, 10/100 BaseT</description> + <footprints> + <fp>RJ45*Wuerth*7499010121A*</fp> + </footprints> + <fields> + <field name="Reference">J</field> + <field name="Value">J0011D01BNL</field> + </fields> + <pins> + <pin num="1" name="TD+" type="passive"/> + <pin num="2" name="TD-" type="passive"/> + <pin num="3" name="RD+" type="passive"/> + <pin num="4" name="TCT" type="passive"/> + <pin num="5" name="RCT" type="passive"/> + <pin num="6" name="RD-" type="passive"/> + <pin num="7" name="NC" type="no_connect"/> + <pin num="8" name="CHS_GND" type="power_in"/> + <pin num="9" name="" type="passive"/> + <pin num="10" name="" type="passive"/> + <pin num="11" name="" type="passive"/> + <pin num="12" name="" type="passive"/> + <pin num="SH" name="CHS_GND" type="power_in"/> + </pins> + </libpart> + <libpart lib="LAN9252_PT" part="LAN9252_PT"> + <fields> + <field name="Reference">U</field> + <field name="Value">LAN9252_PT</field> + <field name="Footprint">LAN9252_PT:QFP50P1200X1200X120-65N</field> + <field name="MF">Microchip</field> + <field name="MAXIMUM_PACKAGE_HEIGHT">1.2 mm</field> + <field name="Package">TQFP-64 Microchip</field> + <field name="STANDARD">IPC 7351B</field> + <field name="PARTREV">04-08-15</field> + <field name="MP">LAN9252/PT</field> + <field name="Description"> +Ethernet Controller 10/100 Base-FX/T/TX PHY SPI Interface 64-TQFP-EP (10x10) +</field> + <field name="MANUFACTURER">Microchip Technology</field> + </fields> + <pins> + <pin num="1" name="OSCI" type="input"/> + <pin num="2" name="OSCO" type="output"/> + <pin num="3" name="OSCVDD12" type="power_in"/> + <pin num="4" name="OSCVSS" type="power_in"/> + <pin num="5" name="VDD33" type="power_in"/> + <pin num="6" name="VDDCR" type="power_in"/> + <pin num="7" name="REG_EN" type="input"/> + <pin num="8" name="~{FXLOSEN}" type="input"/> + <pin num="9" name="FXSDA/FXLOSA/~{FXSDENA}" type="input"/> + <pin num="10" name="FXSDB/FXLOSB/~{FXSDENB}" type="input"/> + <pin num="11" name="~{RST}" type="input"/> + <pin num="12" name="D2/AD2/SOF/SIO2" type="bidirectional"/> + <pin num="13" name="D1/AD1/EOF/SO/SIO1" type="bidirectional"/> + <pin num="14" name="VDDIO" type="power_in"/> + <pin num="15" name="D14/AD14/DIGIO8/GPI8/GPO8/MII_TXD3/~{TX_SHIFT1}" type="bidirectional"/> + <pin num="16" name="D13/AD13/DIGIO7/GPI7/GPO7/MII_TXD2/~{TX_SHIFT0}" type="bidirectional"/> + <pin num="17" name="D0/AD0/WD_STATE/SI/SIO0" type="bidirectional"/> + <pin num="18" name="SYNC1/LATCH1" type="bidirectional"/> + <pin num="19" name="D9/AD9/LATCH_IN/SCK" type="bidirectional"/> + <pin num="20" name="VDDIO" type="power_in"/> + <pin num="21" name="D12/AD12/DIGIO6/GPI6/GPO6/MII_TXD1" type="bidirectional"/> + <pin num="22" name="D11/AD11/DIGIO5/GPI5/GPO5/MII_TXD0" type="bidirectional"/> + <pin num="23" name="D10/AD10/DIGIO4/GPI4/GPO4/MII_TXEN" type="bidirectional"/> + <pin num="24" name="VDDCR" type="power_in"/> + <pin num="25" name="A1/ALELO/OE_EXT/MII_CLK25" type="bidirectional"/> + <pin num="26" name="A3/DIGIO11/GPI11/GPO11/MII_RXDV" type="bidirectional"/> + <pin num="27" name="A4/DIGIO12/GPI12/GPO12/MII_RXD0" type="bidirectional"/> + <pin num="28" name="CS/DIGIO13/GPI13/GPO13/MII_RXD1" type="bidirectional"/> + <pin num="29" name="A2/ALEHI/DIGIO10/GPI10/GPO10/LINKACTLED2/~{MII_LINKPOL}" type="bidirectional"/> + <pin num="30" name="WR/ENB/DIGIO14/GPI14/GPO14/MII_RXD2" type="bidirectional"/> + <pin num="31" name="RD/RD_WR/DIGIO15/GPI15/GPO15/MII_RXD3" type="bidirectional"/> + <pin num="32" name="VDDIO" type="power_in"/> + <pin num="33" name="A0/D15/AD15/DIGIO9/GPI9/GPO9/MII_RXER" type="bidirectional"/> + <pin num="34" name="SYNC0/LATCH0" type="bidirectional"/> + <pin num="35" name="D3/AD3/WD_TRIG/SIO3" type="bidirectional"/> + <pin num="36" name="D6/AD6/DIGIO0/GPI0/GPO0/MII_RXCLK" type="bidirectional"/> + <pin num="37" name="VDDIO" type="power_in"/> + <pin num="38" name="VDDCR" type="power_in"/> + <pin num="39" name="D7/AD7/DIGIO1/GPI1/GPO1/MII_MDC" type="bidirectional"/> + <pin num="40" name="D8/AD8/DIGIO2/GPI2/GPO2/MII_MDIO" type="bidirectional"/> + <pin num="41" name="TESTMODE" type="input"/> + <pin num="42" name="EESDA/TMS" type="bidirectional"/> + <pin num="43" name="EESCL/TCK" type="output"/> + <pin num="44" name="IRQ" type="output"/> + <pin num="45" name="RUNLED/~{E2PSIZE}" type="bidirectional"/> + <pin num="46" name="LINKACTLED1/TDI/~{CHIP_MODE1}" type="input"/> + <pin num="47" name="VDDIO" type="power_in"/> + <pin num="48" name="LINKACTLED0/TDO/~{CHIP_MODE0}" type="output"/> + <pin num="49" name="D4/AD4/DIGIO3/GPI3/GPO3/MII_LINK" type="bidirectional"/> + <pin num="50" name="D5/AD5/OUTVALID/SCS#" type="bidirectional"/> + <pin num="51" name="VDD33TXRX1" type="power_in"/> + <pin num="52" name="TXNA" type="bidirectional"/> + <pin num="53" name="TXPA" type="bidirectional"/> + <pin num="54" name="RXNA" type="bidirectional"/> + <pin num="55" name="RXPA" type="bidirectional"/> + <pin num="56" name="VDD12TX1" type="power_in"/> + <pin num="57" name="RBIAS" type="passive"/> + <pin num="58" name="VDD33BIAS" type="power_in"/> + <pin num="59" name="VDD12TX2" type="power_in"/> + <pin num="60" name="RXPB" type="bidirectional"/> + <pin num="61" name="RXNB" type="bidirectional"/> + <pin num="62" name="TXPB" type="bidirectional"/> + <pin num="63" name="TXNB" type="bidirectional"/> + <pin num="64" name="VDD33TXRX2" type="power_in"/> + <pin num="65" name="VSS" type="power_in"/> + </pins> + </libpart> + <libpart lib="MCU_ST_STM32F4" part="STM32F407VGTx"> + <description>STMicroelectronics Arm Cortex-M4 MCU, 1024KB flash, 192KB RAM, 168 MHz, 1.8-3.6V, 82 GPIO, LQFP100</description> + <docs>https://www.st.com/resource/en/datasheet/stm32f407vg.pdf</docs> + <footprints> + <fp>LQFP*14x14mm*P0.5mm*</fp> + </footprints> + <fields> + <field name="Reference">U</field> + <field name="Value">STM32F407VGTx</field> + <field name="Footprint">Package_QFP:LQFP-100_14x14mm_P0.5mm</field> + <field name="Datasheet">https://www.st.com/resource/en/datasheet/stm32f407vg.pdf</field> + </fields> + <pins> + <pin num="1" name="PE2" type="bidirectional"/> + <pin num="2" name="PE3" type="bidirectional"/> + <pin num="3" name="PE4" type="bidirectional"/> + <pin num="4" name="PE5" type="bidirectional"/> + <pin num="5" name="PE6" type="bidirectional"/> + <pin num="6" name="VBAT" type="power_in"/> + <pin num="7" name="PC13" type="bidirectional"/> + <pin num="8" name="PC14" type="bidirectional"/> + <pin num="9" name="PC15" type="bidirectional"/> + <pin num="10" name="VSS" type="power_in"/> + <pin num="11" name="VDD" type="power_in"/> + <pin num="12" name="PH0" type="bidirectional"/> + <pin num="13" name="PH1" type="bidirectional"/> + <pin num="14" name="NRST" type="input"/> + <pin num="15" name="PC0" type="bidirectional"/> + <pin num="16" name="PC1" type="bidirectional"/> + <pin num="17" name="PC2" type="bidirectional"/> + <pin num="18" name="PC3" type="bidirectional"/> + <pin num="19" name="VDD" type="power_in"/> + <pin num="20" name="VSSA" type="power_in"/> + <pin num="21" name="VREF+" type="input"/> + <pin num="22" name="VDDA" type="power_in"/> + <pin num="23" name="PA0" type="bidirectional"/> + <pin num="24" name="PA1" type="bidirectional"/> + <pin num="25" name="PA2" type="bidirectional"/> + <pin num="26" name="PA3" type="bidirectional"/> + <pin num="27" name="VSS" type="passive"/> + <pin num="28" name="VDD" type="power_in"/> + <pin num="29" name="PA4" type="bidirectional"/> + <pin num="30" name="PA5" type="bidirectional"/> + <pin num="31" name="PA6" type="bidirectional"/> + <pin num="32" name="PA7" type="bidirectional"/> + <pin num="33" name="PC4" type="bidirectional"/> + <pin num="34" name="PC5" type="bidirectional"/> + <pin num="35" name="PB0" type="bidirectional"/> + <pin num="36" name="PB1" type="bidirectional"/> + <pin num="37" name="PB2" type="bidirectional"/> + <pin num="38" name="PE7" type="bidirectional"/> + <pin num="39" name="PE8" type="bidirectional"/> + <pin num="40" name="PE9" type="bidirectional"/> + <pin num="41" name="PE10" type="bidirectional"/> + <pin num="42" name="PE11" type="bidirectional"/> + <pin num="43" name="PE12" type="bidirectional"/> + <pin num="44" name="PE13" type="bidirectional"/> + <pin num="45" name="PE14" type="bidirectional"/> + <pin num="46" name="PE15" type="bidirectional"/> + <pin num="47" name="PB10" type="bidirectional"/> + <pin num="48" name="PB11" type="bidirectional"/> + <pin num="49" name="VCAP_1" type="power_out"/> + <pin num="50" name="VDD" type="power_in"/> + <pin num="51" name="PB12" type="bidirectional"/> + <pin num="52" name="PB13" type="bidirectional"/> + <pin num="53" name="PB14" type="bidirectional"/> + <pin num="54" name="PB15" type="bidirectional"/> + <pin num="55" name="PD8" type="bidirectional"/> + <pin num="56" name="PD9" type="bidirectional"/> + <pin num="57" name="PD10" type="bidirectional"/> + <pin num="58" name="PD11" type="bidirectional"/> + <pin num="59" name="PD12" type="bidirectional"/> + <pin num="60" name="PD13" type="bidirectional"/> + <pin num="61" name="PD14" type="bidirectional"/> + <pin num="62" name="PD15" type="bidirectional"/> + <pin num="63" name="PC6" type="bidirectional"/> + <pin num="64" name="PC7" type="bidirectional"/> + <pin num="65" name="PC8" type="bidirectional"/> + <pin num="66" name="PC9" type="bidirectional"/> + <pin num="67" name="PA8" type="bidirectional"/> + <pin num="68" name="PA9" type="bidirectional"/> + <pin num="69" name="PA10" type="bidirectional"/> + <pin num="70" name="PA11" type="bidirectional"/> + <pin num="71" name="PA12" type="bidirectional"/> + <pin num="72" name="PA13" type="bidirectional"/> + <pin num="73" name="VCAP_2" type="power_out"/> + <pin num="74" name="VSS" type="passive"/> + <pin num="75" name="VDD" type="power_in"/> + <pin num="76" name="PA14" type="bidirectional"/> + <pin num="77" name="PA15" type="bidirectional"/> + <pin num="78" name="PC10" type="bidirectional"/> + <pin num="79" name="PC11" type="bidirectional"/> + <pin num="80" name="PC12" type="bidirectional"/> + <pin num="81" name="PD0" type="bidirectional"/> + <pin num="82" name="PD1" type="bidirectional"/> + <pin num="83" name="PD2" type="bidirectional"/> + <pin num="84" name="PD3" type="bidirectional"/> + <pin num="85" name="PD4" type="bidirectional"/> + <pin num="86" name="PD5" type="bidirectional"/> + <pin num="87" name="PD6" type="bidirectional"/> + <pin num="88" name="PD7" type="bidirectional"/> + <pin num="89" name="PB3" type="bidirectional"/> + <pin num="90" name="PB4" type="bidirectional"/> + <pin num="91" name="PB5" type="bidirectional"/> + <pin num="92" name="PB6" type="bidirectional"/> + <pin num="93" name="PB7" type="bidirectional"/> + <pin num="94" name="BOOT0" type="input"/> + <pin num="95" name="PB8" type="bidirectional"/> + <pin num="96" name="PB9" type="bidirectional"/> + <pin num="97" name="PE0" type="bidirectional"/> + <pin num="98" name="PE1" type="bidirectional"/> + <pin num="99" name="VSS" type="passive"/> + <pin num="100" name="VDD" type="power_in"/> + </pins> + </libpart> + <libpart lib="Memory_EEPROM" part="AT24CS32-SSHM"> + <description>I2C Serial EEPROM, 32Kb (4096x8) with Unique Serial Number, SO8</description> + <docs>http://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-8869-SEEPROM-AT24CS32-Datasheet.pdf</docs> + <footprints> + <fp>SOIC*3.9x4.9mm*P1.27mm*</fp> + </footprints> + <fields> + <field name="Reference">U</field> + <field name="Value">AT24CS32-SSHM</field> + <field name="Footprint">Package_SO:SOIC-8_3.9x4.9mm_P1.27mm</field> + <field name="Datasheet">http://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-8869-SEEPROM-AT24CS32-Datasheet.pdf</field> + </fields> + <pins> + <pin num="1" name="A0" type="input"/> + <pin num="2" name="A1" type="input"/> + <pin num="3" name="A2" type="input"/> + <pin num="4" name="GND" type="power_in"/> + <pin num="5" name="SDA" type="bidirectional"/> + <pin num="6" name="SCL" type="input"/> + <pin num="7" name="WP" type="input"/> + <pin num="8" name="VCC" type="power_in"/> + </pins> + </libpart> + <libpart lib="Regulator_Linear" part="AMS1117-3.3"> + <description>1A Low Dropout regulator, positive, 3.3V fixed output, SOT-223</description> + <docs>http://www.advanced-monolithic.com/pdf/ds1117.pdf</docs> + <footprints> + <fp>SOT?223*TabPin2*</fp> + </footprints> + <fields> + <field name="Reference">U</field> + <field name="Value">AMS1117-3.3</field> + <field name="Footprint">Package_TO_SOT_SMD:SOT-223-3_TabPin2</field> + <field name="Datasheet">http://www.advanced-monolithic.com/pdf/ds1117.pdf</field> + </fields> + <pins> + <pin num="1" name="GND" type="power_in"/> + <pin num="2" name="VO" type="power_out"/> + <pin num="3" name="VI" type="power_in"/> + </pins> + </libpart> + <libpart lib="Switch" part="SW_Push"> + <description>Push button switch, generic, two pins</description> + <docs>~</docs> + <fields> + <field name="Reference">SW</field> + <field name="Value">SW_Push</field> + <field name="Datasheet">~</field> + </fields> + <pins> + <pin num="1" name="1" type="passive"/> + <pin num="2" name="2" type="passive"/> + </pins> + </libpart> + </libparts> + <libraries> + <library logical="Connector"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/Connector.kicad_sym</uri> + </library> + <library logical="Device"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/Device.kicad_sym</uri> + </library> + <library logical="HakansLibrary"> + <uri>C:/Users/Hakan/Documents/KiCad/7.0/symbols/HakansLibrary.kicad_sym</uri> + </library> + <library logical="LAN9252_PT"> + <uri>C:/Users/Hakan/Documents/KiCad/7.0/symbols/LAN9252_PT.kicad_sym</uri> + </library> + <library logical="MCU_ST_STM32F4"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/MCU_ST_STM32F4.kicad_sym</uri> + </library> + <library logical="Memory_EEPROM"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/Memory_EEPROM.kicad_sym</uri> + </library> + <library logical="Regulator_Linear"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/Regulator_Linear.kicad_sym</uri> + </library> + <library logical="Switch"> + <uri>C:\Program Files\KiCad\7.0\share\kicad\symbols\/Switch.kicad_sym</uri> + </library> + </libraries> + <nets> + <net code="1" name="+1V2"> + <node ref="B6" pin="1" pintype="passive"/> + <node ref="B7" pin="1" pintype="passive"/> + <node ref="C20" pin="1" pintype="passive"/> + <node ref="C25" pin="1" pintype="passive"/> + <node ref="C30" pin="1" pintype="passive"/> + <node ref="C35" pin="1" pintype="passive"/> + <node ref="C4" pin="1" pintype="passive"/> + <node ref="C5" pin="1" pintype="passive"/> + <node ref="U1" pin="24" pinfunction="VDDCR" pintype="power_in"/> + <node ref="U1" pin="38" pinfunction="VDDCR" pintype="power_in"/> + <node ref="U1" pin="6" pinfunction="VDDCR" pintype="power_in"/> + </net> + <net code="2" name="+3.3V"> + <node ref="B1" pin="1" pintype="passive"/> + <node ref="B2" pin="1" pintype="passive"/> + <node ref="B3" pin="1" pintype="passive"/> + <node ref="B4" pin="1" pintype="passive"/> + <node ref="B5" pin="1" pintype="passive"/> + <node ref="C16" pin="2" pintype="passive"/> + <node ref="C17" pin="1" pintype="passive"/> + <node ref="C18" pin="1" pintype="passive"/> + <node ref="C22" pin="1" pintype="passive"/> + <node ref="C23" pin="1" pintype="passive"/> + <node ref="C27" pin="1" pintype="passive"/> + <node ref="C28" pin="1" pintype="passive"/> + <node ref="C32" pin="1" pintype="passive"/> + <node ref="C33" pin="1" pintype="passive"/> + <node ref="C37" pin="1" pintype="passive"/> + <node ref="C39" pin="1" pintype="passive"/> + <node ref="C40" pin="1" pintype="passive"/> + <node ref="C42" pin="1" pintype="passive"/> + <node ref="C43" pin="1" pintype="passive"/> + <node ref="C44" pin="1" pintype="passive"/> + <node ref="C46" pin="1" pintype="passive"/> + <node ref="C47" pin="1" pintype="passive"/> + <node ref="C48" pin="1" pintype="passive"/> + <node ref="C49" pin="1" pintype="passive"/> + <node ref="C50" pin="1" pintype="passive"/> + <node ref="C51" pin="1" pintype="passive"/> + <node ref="C52" pin="1" pintype="passive"/> + <node ref="C54" pin="1" pintype="passive"/> + <node ref="J3" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J4" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J5" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="R1" pin="1" pintype="passive"/> + <node ref="R11" pin="2" pintype="passive"/> + <node ref="R12" pin="2" pintype="passive"/> + <node ref="R13" pin="2" pintype="passive"/> + <node ref="R14" pin="2" pintype="passive"/> + <node ref="R15" pin="2" pintype="passive"/> + <node ref="R16" pin="2" pintype="passive"/> + <node ref="R17" pin="2" pintype="passive"/> + <node ref="R18" pin="2" pintype="passive"/> + <node ref="R26" pin="1" pintype="passive"/> + <node ref="R27" pin="1" pintype="passive"/> + <node ref="R3" pin="1" pintype="passive"/> + <node ref="R31" pin="2" pintype="passive"/> + <node ref="R32" pin="2" pintype="passive"/> + <node ref="R39" pin="2" pintype="passive"/> + <node ref="R40" pin="2" pintype="passive"/> + <node ref="R41" pin="2" pintype="passive"/> + <node ref="R42" pin="2" pintype="passive"/> + <node ref="R43" pin="2" pintype="passive"/> + <node ref="R44" pin="2" pintype="passive"/> + <node ref="R45" pin="2" pintype="passive"/> + <node ref="R46" pin="2" pintype="passive"/> + <node ref="R47" pin="2" pintype="passive"/> + <node ref="R48" pin="2" pintype="passive"/> + <node ref="R49" pin="2" pintype="passive"/> + <node ref="R50" pin="2" pintype="passive"/> + <node ref="U1" pin="14" pinfunction="VDDIO" pintype="power_in"/> + <node ref="U1" pin="20" pinfunction="VDDIO" pintype="power_in"/> + <node ref="U1" pin="32" pinfunction="VDDIO" pintype="power_in"/> + <node ref="U1" pin="37" pinfunction="VDDIO" pintype="power_in"/> + <node ref="U1" pin="47" pinfunction="VDDIO" pintype="power_in"/> + <node ref="U1" pin="5" pinfunction="VDD33" pintype="power_in"/> + <node ref="U1" pin="7" pinfunction="REG_EN" pintype="input"/> + <node ref="U2" pin="8" pinfunction="VCC" pintype="power_in"/> + <node ref="U3" pin="2" pinfunction="VO" pintype="power_out"/> + <node ref="U4" pin="100" pinfunction="VDD" pintype="power_in"/> + <node ref="U4" pin="11" pinfunction="VDD" pintype="power_in"/> + <node ref="U4" pin="19" pinfunction="VDD" pintype="power_in"/> + <node ref="U4" pin="21" pinfunction="VREF+" pintype="input"/> + <node ref="U4" pin="22" pinfunction="VDDA" pintype="power_in"/> + <node ref="U4" pin="28" pinfunction="VDD" pintype="power_in"/> + <node ref="U4" pin="50" pinfunction="VDD" pintype="power_in"/> + <node ref="U4" pin="6" pinfunction="VBAT" pintype="power_in"/> + <node ref="U4" pin="75" pinfunction="VDD" pintype="power_in"/> + </net> + <net code="3" name="+3.3VA"> + <node ref="B3" pin="2" pintype="passive"/> + <node ref="B4" pin="2" pintype="passive"/> + <node ref="B5" pin="2" pintype="passive"/> + <node ref="C19" pin="1" pintype="passive"/> + <node ref="C24" pin="1" pintype="passive"/> + <node ref="C29" pin="1" pintype="passive"/> + <node ref="C34" pin="1" pintype="passive"/> + <node ref="U1" pin="51" pinfunction="VDD33TXRX1" pintype="power_in"/> + <node ref="U1" pin="58" pinfunction="VDD33BIAS" pintype="power_in"/> + <node ref="U1" pin="64" pinfunction="VDD33TXRX2" pintype="power_in"/> + </net> + <net code="4" name="+5V"> + <node ref="C38" pin="1" pintype="passive"/> + <node ref="C41" pin="1" pintype="passive"/> + <node ref="J1" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="J10" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J11" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J12" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J13" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J14" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J2" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J6" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="J7" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="J8" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="J9" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="R30" pin="2" pintype="passive"/> + <node ref="U3" pin="3" pinfunction="VI" pintype="power_in"/> + </net> + <net code="5" name="/STM32F4/BOOT1"> + <node ref="R34" pin="2" pintype="passive"/> + <node ref="U4" pin="37" pinfunction="PB2" pintype="bidirectional"/> + </net> + <net code="6" name="DAC1"> + <node ref="J5" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="29" pinfunction="PA4" pintype="bidirectional"/> + </net> + <net code="7" name="ENC1_A"> + <node ref="J6" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="R39" pin="1" pintype="passive"/> + <node ref="U4" pin="23" pinfunction="PA0" pintype="bidirectional"/> + </net> + <net code="8" name="ENC1_B"> + <node ref="J6" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="R43" pin="1" pintype="passive"/> + <node ref="U4" pin="24" pinfunction="PA1" pintype="bidirectional"/> + </net> + <net code="9" name="ENC1_Z"> + <node ref="J6" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="R47" pin="1" pintype="passive"/> + <node ref="U4" pin="25" pinfunction="PA2" pintype="bidirectional"/> + </net> + <net code="10" name="ENC2_A"> + <node ref="J7" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="R40" pin="1" pintype="passive"/> + <node ref="U4" pin="90" pinfunction="PB4" pintype="bidirectional"/> + </net> + <net code="11" name="ENC2_B"> + <node ref="J7" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="R44" pin="1" pintype="passive"/> + <node ref="U4" pin="91" pinfunction="PB5" pintype="bidirectional"/> + </net> + <net code="12" name="ENC2_Z"> + <node ref="J7" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="R48" pin="1" pintype="passive"/> + <node ref="U4" pin="92" pinfunction="PB6" pintype="bidirectional"/> + </net> + <net code="13" name="ENC3_A"> + <node ref="J8" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="R41" pin="1" pintype="passive"/> + <node ref="U4" pin="59" pinfunction="PD12" pintype="bidirectional"/> + </net> + <net code="14" name="ENC3_B"> + <node ref="J8" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="R45" pin="1" pintype="passive"/> + <node ref="U4" pin="60" pinfunction="PD13" pintype="bidirectional"/> + </net> + <net code="15" name="ENC3_Z"> + <node ref="J8" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="R49" pin="1" pintype="passive"/> + <node ref="U4" pin="58" pinfunction="PD11" pintype="bidirectional"/> + </net> + <net code="16" name="ENC4_A"> + <node ref="J9" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="R42" pin="1" pintype="passive"/> + <node ref="U4" pin="63" pinfunction="PC6" pintype="bidirectional"/> + </net> + <net code="17" name="ENC4_B"> + <node ref="J9" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="R46" pin="1" pintype="passive"/> + <node ref="U4" pin="64" pinfunction="PC7" pintype="bidirectional"/> + </net> + <net code="18" name="ENC4_Z"> + <node ref="J9" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="R50" pin="1" pintype="passive"/> + <node ref="U4" pin="67" pinfunction="PA8" pintype="bidirectional"/> + </net> + <net code="19" name="FXLOSA"> + <node ref="R21" pin="1" pintype="passive"/> + <node ref="U1" pin="9" pinfunction="FXSDA/FXLOSA/~{FXSDENA}" pintype="input"/> + </net> + <net code="20" name="FXLOSB"> + <node ref="R22" pin="1" pintype="passive"/> + <node ref="U1" pin="10" pinfunction="FXSDB/FXLOSB/~{FXSDENB}" pintype="input"/> + </net> + <net code="21" name="FXLOSEN"> + <node ref="R23" pin="1" pintype="passive"/> + <node ref="U1" pin="8" pinfunction="~{FXLOSEN}" pintype="input"/> + </net> + <net code="22" name="GND"> + <node ref="C1" pin="1" pintype="passive"/> + <node ref="C10" pin="1" pintype="passive"/> + <node ref="C11" pin="1" pintype="passive"/> + <node ref="C12" pin="1" pintype="passive"/> + <node ref="C13" pin="1" pintype="passive"/> + <node ref="C14" pin="1" pintype="passive"/> + <node ref="C15" pin="1" pintype="passive"/> + <node ref="C16" pin="1" pintype="passive"/> + <node ref="C17" pin="2" pintype="passive"/> + <node ref="C18" pin="2" pintype="passive"/> + <node ref="C19" pin="2" pintype="passive"/> + <node ref="C2" pin="1" pintype="passive"/> + <node ref="C20" pin="2" pintype="passive"/> + <node ref="C21" pin="2" pintype="passive"/> + <node ref="C22" pin="2" pintype="passive"/> + <node ref="C23" pin="2" pintype="passive"/> + <node ref="C24" pin="2" pintype="passive"/> + <node ref="C25" pin="2" pintype="passive"/> + <node ref="C26" pin="2" pintype="passive"/> + <node ref="C27" pin="2" pintype="passive"/> + <node ref="C28" pin="2" pintype="passive"/> + <node ref="C29" pin="2" pintype="passive"/> + <node ref="C3" pin="1" pintype="passive"/> + <node ref="C30" pin="2" pintype="passive"/> + <node ref="C32" pin="2" pintype="passive"/> + <node ref="C33" pin="2" pintype="passive"/> + <node ref="C34" pin="2" pintype="passive"/> + <node ref="C35" pin="2" pintype="passive"/> + <node ref="C37" pin="2" pintype="passive"/> + <node ref="C38" pin="2" pintype="passive"/> + <node ref="C39" pin="2" pintype="passive"/> + <node ref="C4" pin="2" pintype="passive"/> + <node ref="C40" pin="2" pintype="passive"/> + <node ref="C41" pin="2" pintype="passive"/> + <node ref="C42" pin="2" pintype="passive"/> + <node ref="C43" pin="2" pintype="passive"/> + <node ref="C44" pin="2" pintype="passive"/> + <node ref="C45" pin="1" pintype="passive"/> + <node ref="C46" pin="2" pintype="passive"/> + <node ref="C47" pin="2" pintype="passive"/> + <node ref="C48" pin="2" pintype="passive"/> + <node ref="C49" pin="2" pintype="passive"/> + <node ref="C5" pin="2" pintype="passive"/> + <node ref="C50" pin="2" pintype="passive"/> + <node ref="C51" pin="2" pintype="passive"/> + <node ref="C52" pin="2" pintype="passive"/> + <node ref="C53" pin="1" pintype="passive"/> + <node ref="C54" pin="2" pintype="passive"/> + <node ref="C55" pin="1" pintype="passive"/> + <node ref="C56" pin="1" pintype="passive"/> + <node ref="C57" pin="1" pintype="passive"/> + <node ref="C6" pin="1" pintype="passive"/> + <node ref="C7" pin="1" pintype="passive"/> + <node ref="C8" pin="1" pintype="passive"/> + <node ref="C9" pin="1" pintype="passive"/> + <node ref="D2" pin="1" pinfunction="K" pintype="passive"/> + <node ref="D3" pin="1" pinfunction="K" pintype="passive"/> + <node ref="IN1" pin="10" pintype="passive"/> + <node ref="IN1" pin="8" pinfunction="CHS_GND" pintype="power_in"/> + <node ref="IN1" pin="SH" pinfunction="CHS_GND" pintype="power_in"/> + <node ref="J1" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J10" pin="6" pinfunction="Pin_6" pintype="passive"/> + <node ref="J11" pin="6" pinfunction="Pin_6" pintype="passive"/> + <node ref="J12" pin="6" pinfunction="Pin_6" pintype="passive"/> + <node ref="J13" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="J14" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="J2" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="J3" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="J4" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="J5" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="J6" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J7" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J8" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="J9" pin="1" pinfunction="Pin_1" pintype="passive"/> + <node ref="OUT1" pin="10" pintype="passive"/> + <node ref="OUT1" pin="8" pinfunction="CHS_GND" pintype="power_in"/> + <node ref="OUT1" pin="SH" pinfunction="CHS_GND" pintype="power_in"/> + <node ref="R2" pin="1" pintype="passive"/> + <node ref="R21" pin="2" pintype="passive"/> + <node ref="R22" pin="2" pintype="passive"/> + <node ref="R23" pin="2" pintype="passive"/> + <node ref="R24" pin="2" pintype="passive"/> + <node ref="R25" pin="2" pintype="passive"/> + <node ref="R33" pin="1" pintype="passive"/> + <node ref="R34" pin="1" pintype="passive"/> + <node ref="SW1" pin="1" pinfunction="1" pintype="passive"/> + <node ref="U1" pin="4" pinfunction="OSCVSS" pintype="power_in"/> + <node ref="U1" pin="41" pinfunction="TESTMODE" pintype="input"/> + <node ref="U1" pin="65" pinfunction="VSS" pintype="power_in"/> + <node ref="U2" pin="1" pinfunction="A0" pintype="input"/> + <node ref="U2" pin="2" pinfunction="A1" pintype="input"/> + <node ref="U2" pin="3" pinfunction="A2" pintype="input"/> + <node ref="U2" pin="4" pinfunction="GND" pintype="power_in"/> + <node ref="U2" pin="7" pinfunction="WP" pintype="input"/> + <node ref="U3" pin="1" pinfunction="GND" pintype="power_in"/> + <node ref="U4" pin="10" pinfunction="VSS" pintype="power_in"/> + <node ref="U4" pin="20" pinfunction="VSSA" pintype="power_in"/> + <node ref="U4" pin="27" pinfunction="VSS" pintype="passive"/> + <node ref="U4" pin="74" pinfunction="VSS" pintype="passive"/> + <node ref="U4" pin="99" pinfunction="VSS" pintype="passive"/> + </net> + <net code="23" name="GPIO0"> + <node ref="R19" pin="1" pintype="passive"/> + <node ref="R24" pin="1" pintype="passive"/> + <node ref="U1" pin="48" pinfunction="LINKACTLED0/TDO/~{CHIP_MODE0}" pintype="output"/> + </net> + <net code="24" name="GPIO1"> + <node ref="R20" pin="1" pintype="passive"/> + <node ref="R25" pin="1" pintype="passive"/> + <node ref="U1" pin="46" pinfunction="LINKACTLED1/TDI/~{CHIP_MODE1}" pintype="input"/> + </net> + <net code="25" name="I2C2_SCL"> + <node ref="J4" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="47" pinfunction="PB10" pintype="bidirectional"/> + </net> + <net code="26" name="I2C2_SDA"> + <node ref="J4" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="48" pinfunction="PB11" pintype="bidirectional"/> + </net> + <net code="27" name="I2C_SCL"> + <node ref="R29" pin="1" pintype="passive"/> + <node ref="U1" pin="43" pinfunction="EESCL/TCK" pintype="output"/> + </net> + <net code="28" name="I2C_SDA"> + <node ref="R28" pin="1" pintype="passive"/> + <node ref="U1" pin="42" pinfunction="EESDA/TMS" pintype="bidirectional"/> + </net> + <net code="29" name="IO1"> + <node ref="J10" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="34" pinfunction="PC5" pintype="bidirectional"/> + </net> + <net code="30" name="IO2"> + <node ref="J10" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="35" pinfunction="PB0" pintype="bidirectional"/> + </net> + <net code="31" name="IO3"> + <node ref="J10" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="U4" pin="36" pinfunction="PB1" pintype="bidirectional"/> + </net> + <net code="32" name="IO4"> + <node ref="J10" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="U4" pin="38" pinfunction="PE7" pintype="bidirectional"/> + </net> + <net code="33" name="IO5"> + <node ref="J11" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="39" pinfunction="PE8" pintype="bidirectional"/> + </net> + <net code="34" name="IO6"> + <node ref="J11" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="40" pinfunction="PE9" pintype="bidirectional"/> + </net> + <net code="35" name="IO7"> + <node ref="J11" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="U4" pin="41" pinfunction="PE10" pintype="bidirectional"/> + </net> + <net code="36" name="IO8"> + <node ref="J11" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="U4" pin="42" pinfunction="PE11" pintype="bidirectional"/> + </net> + <net code="37" name="IO9"> + <node ref="J12" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="43" pinfunction="PE12" pintype="bidirectional"/> + </net> + <net code="38" name="IO10"> + <node ref="J12" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="44" pinfunction="PE13" pintype="bidirectional"/> + </net> + <net code="39" name="IO11"> + <node ref="J12" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="U4" pin="45" pinfunction="PE14" pintype="bidirectional"/> + </net> + <net code="40" name="IO12"> + <node ref="J12" pin="5" pinfunction="Pin_5" pintype="passive"/> + <node ref="U4" pin="46" pinfunction="PE15" pintype="bidirectional"/> + </net> + <net code="41" name="IRQ"> + <node ref="R10" pin="1" pintype="passive"/> + <node ref="U4" pin="15" pinfunction="PC0" pintype="bidirectional"/> + </net> + <net code="42" name="NRST"> + <node ref="C45" pin="2" pintype="passive"/> + <node ref="R32" pin="1" pintype="passive"/> + <node ref="SW1" pin="2" pinfunction="2" pintype="passive"/> + <node ref="U4" pin="14" pinfunction="NRST" pintype="input"/> + </net> + <net code="43" name="Net-(D1-A)"> + <node ref="D1" pin="2" pinfunction="A" pintype="passive"/> + <node ref="R3" pin="2" pintype="passive"/> + </net> + <net code="44" name="Net-(D1-K)"> + <node ref="D1" pin="1" pinfunction="K" pintype="passive"/> + <node ref="U1" pin="45" pinfunction="RUNLED/~{E2PSIZE}" pintype="bidirectional"/> + </net> + <net code="45" name="Net-(D2-A)"> + <node ref="D2" pin="2" pinfunction="A" pintype="passive"/> + <node ref="R30" pin="1" pintype="passive"/> + </net> + <net code="46" name="Net-(D3-A)"> + <node ref="D3" pin="2" pinfunction="A" pintype="passive"/> + <node ref="R31" pin="1" pintype="passive"/> + </net> + <net code="47" name="Net-(IN1-Pad9)"> + <node ref="IN1" pin="9" pintype="passive"/> + <node ref="R19" pin="2" pintype="passive"/> + </net> + <net code="48" name="Net-(IN1-RCT)"> + <node ref="B1" pin="2" pintype="passive"/> + <node ref="C14" pin="2" pintype="passive"/> + <node ref="IN1" pin="4" pinfunction="TCT" pintype="passive"/> + <node ref="IN1" pin="5" pinfunction="RCT" pintype="passive"/> + </net> + <net code="49" name="Net-(OUT1-Pad9)"> + <node ref="OUT1" pin="9" pintype="passive"/> + <node ref="R20" pin="2" pintype="passive"/> + </net> + <net code="50" name="Net-(OUT1-RCT)"> + <node ref="B2" pin="2" pintype="passive"/> + <node ref="C15" pin="2" pintype="passive"/> + <node ref="OUT1" pin="4" pinfunction="TCT" pintype="passive"/> + <node ref="OUT1" pin="5" pinfunction="RCT" pintype="passive"/> + </net> + <net code="51" name="Net-(U1-D0{slash}AD0{slash}WD_STATE{slash}SI{slash}SIO0)"> + <node ref="R6" pin="2" pintype="passive"/> + <node ref="U1" pin="17" pinfunction="D0/AD0/WD_STATE/SI/SIO0" pintype="bidirectional"/> + </net> + <net code="52" name="Net-(U1-D1{slash}AD1{slash}EOF{slash}SO{slash}SIO1)"> + <node ref="R7" pin="2" pintype="passive"/> + <node ref="U1" pin="13" pinfunction="D1/AD1/EOF/SO/SIO1" pintype="bidirectional"/> + </net> + <net code="53" name="Net-(U1-D5{slash}AD5{slash}OUTVALID{slash}SCS#)"> + <node ref="R8" pin="2" pintype="passive"/> + <node ref="U1" pin="50" pinfunction="D5/AD5/OUTVALID/SCS#" pintype="bidirectional"/> + </net> + <net code="54" name="Net-(U1-D9{slash}AD9{slash}LATCH_IN{slash}SCK)"> + <node ref="R9" pin="2" pintype="passive"/> + <node ref="U1" pin="19" pinfunction="D9/AD9/LATCH_IN/SCK" pintype="bidirectional"/> + </net> + <net code="55" name="Net-(U1-IRQ)"> + <node ref="R10" pin="2" pintype="passive"/> + <node ref="U1" pin="44" pinfunction="IRQ" pintype="output"/> + </net> + <net code="56" name="Net-(U1-OSCI)"> + <node ref="C1" pin="2" pintype="passive"/> + <node ref="U1" pin="1" pinfunction="OSCI" pintype="input"/> + <node ref="Y1" pin="2" pinfunction="2" pintype="passive"/> + </net> + <net code="57" name="Net-(U1-OSCO)"> + <node ref="C2" pin="2" pintype="passive"/> + <node ref="U1" pin="2" pinfunction="OSCO" pintype="output"/> + <node ref="Y1" pin="1" pinfunction="1" pintype="passive"/> + </net> + <net code="58" name="Net-(U1-RBIAS)"> + <node ref="R2" pin="2" pintype="passive"/> + <node ref="U1" pin="57" pinfunction="RBIAS" pintype="passive"/> + </net> + <net code="59" name="Net-(U1-SYNC0{slash}LATCH0)"> + <node ref="R4" pin="1" pintype="passive"/> + <node ref="U1" pin="34" pinfunction="SYNC0/LATCH0" pintype="bidirectional"/> + </net> + <net code="60" name="Net-(U1-SYNC1{slash}LATCH1)"> + <node ref="R5" pin="1" pintype="passive"/> + <node ref="U1" pin="18" pinfunction="SYNC1/LATCH1" pintype="bidirectional"/> + </net> + <net code="61" name="Net-(U1-~{RST})"> + <node ref="C3" pin="2" pintype="passive"/> + <node ref="R1" pin="2" pintype="passive"/> + <node ref="U1" pin="11" pinfunction="~{RST}" pintype="input"/> + </net> + <net code="62" name="Net-(U2-SCL)"> + <node ref="R27" pin="2" pintype="passive"/> + <node ref="R29" pin="2" pintype="passive"/> + <node ref="U2" pin="6" pinfunction="SCL" pintype="input"/> + </net> + <net code="63" name="Net-(U2-SDA)"> + <node ref="R26" pin="2" pintype="passive"/> + <node ref="R28" pin="2" pintype="passive"/> + <node ref="U2" pin="5" pinfunction="SDA" pintype="bidirectional"/> + </net> + <net code="64" name="Net-(U4-BOOT0)"> + <node ref="R33" pin="2" pintype="passive"/> + <node ref="U4" pin="94" pinfunction="BOOT0" pintype="input"/> + </net> + <net code="65" name="Net-(U4-PH0)"> + <node ref="C55" pin="2" pintype="passive"/> + <node ref="U4" pin="12" pinfunction="PH0" pintype="bidirectional"/> + <node ref="Y2" pin="2" pinfunction="2" pintype="passive"/> + </net> + <net code="66" name="Net-(U4-PH1)"> + <node ref="C56" pin="2" pintype="passive"/> + <node ref="U4" pin="13" pinfunction="PH1" pintype="bidirectional"/> + <node ref="Y2" pin="1" pinfunction="1" pintype="passive"/> + </net> + <net code="67" name="Net-(U4-VCAP_1)"> + <node ref="C53" pin="2" pintype="passive"/> + <node ref="U4" pin="49" pinfunction="VCAP_1" pintype="power_out"/> + </net> + <net code="68" name="Net-(U4-VCAP_2)"> + <node ref="C57" pin="2" pintype="passive"/> + <node ref="U4" pin="73" pinfunction="VCAP_2" pintype="power_out"/> + </net> + <net code="69" name="RX"> + <node ref="J2" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="69" pinfunction="PA10" pintype="bidirectional"/> + </net> + <net code="70" name="RXNA"> + <node ref="C12" pin="2" pintype="passive"/> + <node ref="IN1" pin="6" pinfunction="RD-" pintype="passive"/> + <node ref="R17" pin="1" pintype="passive"/> + <node ref="U1" pin="54" pinfunction="RXNA" pintype="bidirectional"/> + </net> + <net code="71" name="RXNB"> + <node ref="C13" pin="2" pintype="passive"/> + <node ref="OUT1" pin="6" pinfunction="RD-" pintype="passive"/> + <node ref="R18" pin="1" pintype="passive"/> + <node ref="U1" pin="61" pinfunction="RXNB" pintype="bidirectional"/> + </net> + <net code="72" name="RXPA"> + <node ref="C10" pin="2" pintype="passive"/> + <node ref="IN1" pin="3" pinfunction="RD+" pintype="passive"/> + <node ref="R15" pin="1" pintype="passive"/> + <node ref="U1" pin="55" pinfunction="RXPA" pintype="bidirectional"/> + </net> + <net code="73" name="RXPB"> + <node ref="C11" pin="2" pintype="passive"/> + <node ref="OUT1" pin="3" pinfunction="RD+" pintype="passive"/> + <node ref="R16" pin="1" pintype="passive"/> + <node ref="U1" pin="60" pinfunction="RXPB" pintype="bidirectional"/> + </net> + <net code="74" name="SPI_CS"> + <node ref="R8" pin="1" pintype="passive"/> + <node ref="U4" pin="33" pinfunction="PC4" pintype="bidirectional"/> + </net> + <net code="75" name="SPI_MISO"> + <node ref="R7" pin="1" pintype="passive"/> + <node ref="U4" pin="31" pinfunction="PA6" pintype="bidirectional"/> + </net> + <net code="76" name="SPI_MOSI"> + <node ref="R6" pin="1" pintype="passive"/> + <node ref="U4" pin="32" pinfunction="PA7" pintype="bidirectional"/> + </net> + <net code="77" name="SPI_SCK"> + <node ref="R9" pin="1" pintype="passive"/> + <node ref="U4" pin="30" pinfunction="PA5" pintype="bidirectional"/> + </net> + <net code="78" name="STEP1_DIR"> + <node ref="J13" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="71" pinfunction="PA12" pintype="bidirectional"/> + </net> + <net code="79" name="STEP1_STEP"> + <node ref="J13" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="70" pinfunction="PA11" pintype="bidirectional"/> + </net> + <net code="80" name="STEP2_DIR"> + <node ref="J14" pin="2" pinfunction="Pin_2" pintype="passive"/> + <node ref="U4" pin="78" pinfunction="PC10" pintype="bidirectional"/> + </net> + <net code="81" name="STEP2_STEP"> + <node ref="J14" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="66" pinfunction="PC9" pintype="bidirectional"/> + </net> + <net code="82" name="SWCLK"> + <node ref="J3" pin="3" pinfunction="Pin_3" pintype="passive"/> + <node ref="U4" pin="76" pinfunction="PA14" pintype="bidirectional"/> + </net> + <net code="83" name="SWDIO"> + <node ref="J3" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="U4" pin="72" pinfunction="PA13" pintype="bidirectional"/> + </net> + <net code="84" name="SYNC0"> + <node ref="R4" pin="2" pintype="passive"/> + <node ref="U4" pin="18" pinfunction="PC3" pintype="bidirectional"/> + </net> + <net code="85" name="SYNC1"> + <node ref="R5" pin="2" pintype="passive"/> + <node ref="U4" pin="16" pinfunction="PC1" pintype="bidirectional"/> + </net> + <net code="86" name="TX"> + <node ref="J2" pin="4" pinfunction="Pin_4" pintype="passive"/> + <node ref="U4" pin="68" pinfunction="PA9" pintype="bidirectional"/> + </net> + <net code="87" name="TXNA"> + <node ref="C8" pin="2" pintype="passive"/> + <node ref="IN1" pin="2" pinfunction="TD-" pintype="passive"/> + <node ref="R13" pin="1" pintype="passive"/> + <node ref="U1" pin="52" pinfunction="TXNA" pintype="bidirectional"/> + </net> + <net code="88" name="TXNB"> + <node ref="C9" pin="2" pintype="passive"/> + <node ref="OUT1" pin="2" pinfunction="TD-" pintype="passive"/> + <node ref="R14" pin="1" pintype="passive"/> + <node ref="U1" pin="63" pinfunction="TXNB" pintype="bidirectional"/> + </net> + <net code="89" name="TXPA"> + <node ref="C6" pin="2" pintype="passive"/> + <node ref="IN1" pin="1" pinfunction="TD+" pintype="passive"/> + <node ref="R11" pin="1" pintype="passive"/> + <node ref="U1" pin="53" pinfunction="TXPA" pintype="bidirectional"/> + </net> + <net code="90" name="TXPB"> + <node ref="C7" pin="2" pintype="passive"/> + <node ref="OUT1" pin="1" pinfunction="TD+" pintype="passive"/> + <node ref="R12" pin="1" pintype="passive"/> + <node ref="U1" pin="62" pinfunction="TXPB" pintype="bidirectional"/> + </net> + <net code="91" name="VDD12TX1"> + <node ref="B6" pin="2" pintype="passive"/> + <node ref="B7" pin="2" pintype="passive"/> + <node ref="C21" pin="1" pintype="passive"/> + <node ref="C26" pin="1" pintype="passive"/> + <node ref="U1" pin="56" pinfunction="VDD12TX1" pintype="power_in"/> + <node ref="U1" pin="59" pinfunction="VDD12TX2" pintype="power_in"/> + </net> + <net code="92" name="unconnected-(IN1-NC-Pad7)"> + <node ref="IN1" pin="7" pinfunction="NC" pintype="no_connect"/> + </net> + <net code="93" name="unconnected-(IN1-NC-Pad7)_1"> + <node ref="IN1" pin="7" pinfunction="NC" pintype="no_connect"/> + </net> + <net code="94" name="unconnected-(IN1-Pad11)"> + <node ref="IN1" pin="11" pintype="passive+no_connect"/> + </net> + <net code="95" name="unconnected-(IN1-Pad12)"> + <node ref="IN1" pin="12" pintype="passive+no_connect"/> + </net> + <net code="96" name="unconnected-(OUT1-NC-Pad7)"> + <node ref="OUT1" pin="7" pinfunction="NC" pintype="no_connect"/> + </net> + <net code="97" name="unconnected-(OUT1-NC-Pad7)_1"> + <node ref="OUT1" pin="7" pinfunction="NC" pintype="no_connect"/> + </net> + <net code="98" name="unconnected-(OUT1-Pad11)"> + <node ref="OUT1" pin="11" pintype="passive+no_connect"/> + </net> + <net code="99" name="unconnected-(OUT1-Pad12)"> + <node ref="OUT1" pin="12" pintype="passive+no_connect"/> + </net> + <net code="100" name="unconnected-(U1-A0{slash}D15{slash}AD15{slash}DIGIO9{slash}GPI9{slash}GPO9{slash}MII_RXER-Pad33)"> + <node ref="U1" pin="33" pinfunction="A0/D15/AD15/DIGIO9/GPI9/GPO9/MII_RXER" pintype="bidirectional+no_connect"/> + </net> + <net code="101" name="unconnected-(U1-A1{slash}ALELO{slash}OE_EXT{slash}MII_CLK25-Pad25)"> + <node ref="U1" pin="25" pinfunction="A1/ALELO/OE_EXT/MII_CLK25" pintype="bidirectional+no_connect"/> + </net> + <net code="102" name="unconnected-(U1-A2{slash}ALEHI{slash}DIGIO10{slash}GPI10{slash}GPO10{slash}LINKACTLED2{slash}~{MII_LINKPOL}-Pad29)"> + <node ref="U1" pin="29" pinfunction="A2/ALEHI/DIGIO10/GPI10/GPO10/LINKACTLED2/~{MII_LINKPOL}" pintype="bidirectional+no_connect"/> + </net> + <net code="103" name="unconnected-(U1-A3{slash}DIGIO11{slash}GPI11{slash}GPO11{slash}MII_RXDV-Pad26)"> + <node ref="U1" pin="26" pinfunction="A3/DIGIO11/GPI11/GPO11/MII_RXDV" pintype="bidirectional+no_connect"/> + </net> + <net code="104" name="unconnected-(U1-A4{slash}DIGIO12{slash}GPI12{slash}GPO12{slash}MII_RXD0-Pad27)"> + <node ref="U1" pin="27" pinfunction="A4/DIGIO12/GPI12/GPO12/MII_RXD0" pintype="bidirectional+no_connect"/> + </net> + <net code="105" name="unconnected-(U1-CS{slash}DIGIO13{slash}GPI13{slash}GPO13{slash}MII_RXD1-Pad28)"> + <node ref="U1" pin="28" pinfunction="CS/DIGIO13/GPI13/GPO13/MII_RXD1" pintype="bidirectional+no_connect"/> + </net> + <net code="106" name="unconnected-(U1-D2{slash}AD2{slash}SOF{slash}SIO2-Pad12)"> + <node ref="U1" pin="12" pinfunction="D2/AD2/SOF/SIO2" pintype="bidirectional+no_connect"/> + </net> + <net code="107" name="unconnected-(U1-D3{slash}AD3{slash}WD_TRIG{slash}SIO3-Pad35)"> + <node ref="U1" pin="35" pinfunction="D3/AD3/WD_TRIG/SIO3" pintype="bidirectional+no_connect"/> + </net> + <net code="108" name="unconnected-(U1-D4{slash}AD4{slash}DIGIO3{slash}GPI3{slash}GPO3{slash}MII_LINK-Pad49)"> + <node ref="U1" pin="49" pinfunction="D4/AD4/DIGIO3/GPI3/GPO3/MII_LINK" pintype="bidirectional+no_connect"/> + </net> + <net code="109" name="unconnected-(U1-D6{slash}AD6{slash}DIGIO0{slash}GPI0{slash}GPO0{slash}MII_RXCLK-Pad36)"> + <node ref="U1" pin="36" pinfunction="D6/AD6/DIGIO0/GPI0/GPO0/MII_RXCLK" pintype="bidirectional+no_connect"/> + </net> + <net code="110" name="unconnected-(U1-D7{slash}AD7{slash}DIGIO1{slash}GPI1{slash}GPO1{slash}MII_MDC-Pad39)"> + <node ref="U1" pin="39" pinfunction="D7/AD7/DIGIO1/GPI1/GPO1/MII_MDC" pintype="bidirectional+no_connect"/> + </net> + <net code="111" name="unconnected-(U1-D8{slash}AD8{slash}DIGIO2{slash}GPI2{slash}GPO2{slash}MII_MDIO-Pad40)"> + <node ref="U1" pin="40" pinfunction="D8/AD8/DIGIO2/GPI2/GPO2/MII_MDIO" pintype="bidirectional+no_connect"/> + </net> + <net code="112" name="unconnected-(U1-D10{slash}AD10{slash}DIGIO4{slash}GPI4{slash}GPO4{slash}MII_TXEN-Pad23)"> + <node ref="U1" pin="23" pinfunction="D10/AD10/DIGIO4/GPI4/GPO4/MII_TXEN" pintype="bidirectional+no_connect"/> + </net> + <net code="113" name="unconnected-(U1-D11{slash}AD11{slash}DIGIO5{slash}GPI5{slash}GPO5{slash}MII_TXD0-Pad22)"> + <node ref="U1" pin="22" pinfunction="D11/AD11/DIGIO5/GPI5/GPO5/MII_TXD0" pintype="bidirectional+no_connect"/> + </net> + <net code="114" name="unconnected-(U1-D12{slash}AD12{slash}DIGIO6{slash}GPI6{slash}GPO6{slash}MII_TXD1-Pad21)"> + <node ref="U1" pin="21" pinfunction="D12/AD12/DIGIO6/GPI6/GPO6/MII_TXD1" pintype="bidirectional+no_connect"/> + </net> + <net code="115" name="unconnected-(U1-D13{slash}AD13{slash}DIGIO7{slash}GPI7{slash}GPO7{slash}MII_TXD2{slash}~{TX_SHIFT0}-Pad16)"> + <node ref="U1" pin="16" pinfunction="D13/AD13/DIGIO7/GPI7/GPO7/MII_TXD2/~{TX_SHIFT0}" pintype="bidirectional+no_connect"/> + </net> + <net code="116" name="unconnected-(U1-D14{slash}AD14{slash}DIGIO8{slash}GPI8{slash}GPO8{slash}MII_TXD3{slash}~{TX_SHIFT1}-Pad15)"> + <node ref="U1" pin="15" pinfunction="D14/AD14/DIGIO8/GPI8/GPO8/MII_TXD3/~{TX_SHIFT1}" pintype="bidirectional+no_connect"/> + </net> + <net code="117" name="unconnected-(U1-OSCVDD12-Pad3)"> + <node ref="U1" pin="3" pinfunction="OSCVDD12" pintype="power_in+no_connect"/> + </net> + <net code="118" name="unconnected-(U1-RD{slash}RD_WR{slash}DIGIO15{slash}GPI15{slash}GPO15{slash}MII_RXD3-Pad31)"> + <node ref="U1" pin="31" pinfunction="RD/RD_WR/DIGIO15/GPI15/GPO15/MII_RXD3" pintype="bidirectional+no_connect"/> + </net> + <net code="119" name="unconnected-(U1-WR{slash}ENB{slash}DIGIO14{slash}GPI14{slash}GPO14{slash}MII_RXD2-Pad30)"> + <node ref="U1" pin="30" pinfunction="WR/ENB/DIGIO14/GPI14/GPO14/MII_RXD2" pintype="bidirectional+no_connect"/> + </net> + <net code="120" name="unconnected-(U4-PA3-Pad26)"> + <node ref="U4" pin="26" pinfunction="PA3" pintype="bidirectional+no_connect"/> + </net> + <net code="121" name="unconnected-(U4-PA15-Pad77)"> + <node ref="U4" pin="77" pinfunction="PA15" pintype="bidirectional+no_connect"/> + </net> + <net code="122" name="unconnected-(U4-PB3-Pad89)"> + <node ref="U4" pin="89" pinfunction="PB3" pintype="bidirectional+no_connect"/> + </net> + <net code="123" name="unconnected-(U4-PB7-Pad93)"> + <node ref="U4" pin="93" pinfunction="PB7" pintype="bidirectional+no_connect"/> + </net> + <net code="124" name="unconnected-(U4-PB8-Pad95)"> + <node ref="U4" pin="95" pinfunction="PB8" pintype="bidirectional+no_connect"/> + </net> + <net code="125" name="unconnected-(U4-PB9-Pad96)"> + <node ref="U4" pin="96" pinfunction="PB9" pintype="bidirectional+no_connect"/> + </net> + <net code="126" name="unconnected-(U4-PB12-Pad51)"> + <node ref="U4" pin="51" pinfunction="PB12" pintype="bidirectional+no_connect"/> + </net> + <net code="127" name="unconnected-(U4-PB13-Pad52)"> + <node ref="U4" pin="52" pinfunction="PB13" pintype="bidirectional+no_connect"/> + </net> + <net code="128" name="unconnected-(U4-PB14-Pad53)"> + <node ref="U4" pin="53" pinfunction="PB14" pintype="bidirectional+no_connect"/> + </net> + <net code="129" name="unconnected-(U4-PB15-Pad54)"> + <node ref="U4" pin="54" pinfunction="PB15" pintype="bidirectional+no_connect"/> + </net> + <net code="130" name="unconnected-(U4-PC2-Pad17)"> + <node ref="U4" pin="17" pinfunction="PC2" pintype="bidirectional+no_connect"/> + </net> + <net code="131" name="unconnected-(U4-PC8-Pad65)"> + <node ref="U4" pin="65" pinfunction="PC8" pintype="bidirectional+no_connect"/> + </net> + <net code="132" name="unconnected-(U4-PC11-Pad79)"> + <node ref="U4" pin="79" pinfunction="PC11" pintype="bidirectional+no_connect"/> + </net> + <net code="133" name="unconnected-(U4-PC12-Pad80)"> + <node ref="U4" pin="80" pinfunction="PC12" pintype="bidirectional+no_connect"/> + </net> + <net code="134" name="unconnected-(U4-PC13-Pad7)"> + <node ref="U4" pin="7" pinfunction="PC13" pintype="bidirectional+no_connect"/> + </net> + <net code="135" name="unconnected-(U4-PC14-Pad8)"> + <node ref="U4" pin="8" pinfunction="PC14" pintype="bidirectional+no_connect"/> + </net> + <net code="136" name="unconnected-(U4-PC15-Pad9)"> + <node ref="U4" pin="9" pinfunction="PC15" pintype="bidirectional+no_connect"/> + </net> + <net code="137" name="unconnected-(U4-PD0-Pad81)"> + <node ref="U4" pin="81" pinfunction="PD0" pintype="bidirectional+no_connect"/> + </net> + <net code="138" name="unconnected-(U4-PD1-Pad82)"> + <node ref="U4" pin="82" pinfunction="PD1" pintype="bidirectional+no_connect"/> + </net> + <net code="139" name="unconnected-(U4-PD2-Pad83)"> + <node ref="U4" pin="83" pinfunction="PD2" pintype="bidirectional+no_connect"/> + </net> + <net code="140" name="unconnected-(U4-PD3-Pad84)"> + <node ref="U4" pin="84" pinfunction="PD3" pintype="bidirectional+no_connect"/> + </net> + <net code="141" name="unconnected-(U4-PD4-Pad85)"> + <node ref="U4" pin="85" pinfunction="PD4" pintype="bidirectional+no_connect"/> + </net> + <net code="142" name="unconnected-(U4-PD5-Pad86)"> + <node ref="U4" pin="86" pinfunction="PD5" pintype="bidirectional+no_connect"/> + </net> + <net code="143" name="unconnected-(U4-PD6-Pad87)"> + <node ref="U4" pin="87" pinfunction="PD6" pintype="bidirectional+no_connect"/> + </net> + <net code="144" name="unconnected-(U4-PD7-Pad88)"> + <node ref="U4" pin="88" pinfunction="PD7" pintype="bidirectional+no_connect"/> + </net> + <net code="145" name="unconnected-(U4-PD8-Pad55)"> + <node ref="U4" pin="55" pinfunction="PD8" pintype="bidirectional+no_connect"/> + </net> + <net code="146" name="unconnected-(U4-PD9-Pad56)"> + <node ref="U4" pin="56" pinfunction="PD9" pintype="bidirectional+no_connect"/> + </net> + <net code="147" name="unconnected-(U4-PD10-Pad57)"> + <node ref="U4" pin="57" pinfunction="PD10" pintype="bidirectional+no_connect"/> + </net> + <net code="148" name="unconnected-(U4-PD14-Pad61)"> + <node ref="U4" pin="61" pinfunction="PD14" pintype="bidirectional"/> + </net> + <net code="149" name="unconnected-(U4-PD15-Pad62)"> + <node ref="U4" pin="62" pinfunction="PD15" pintype="bidirectional"/> + </net> + <net code="150" name="unconnected-(U4-PE0-Pad97)"> + <node ref="U4" pin="97" pinfunction="PE0" pintype="bidirectional+no_connect"/> + </net> + <net code="151" name="unconnected-(U4-PE1-Pad98)"> + <node ref="U4" pin="98" pinfunction="PE1" pintype="bidirectional+no_connect"/> + </net> + <net code="152" name="unconnected-(U4-PE2-Pad1)"> + <node ref="U4" pin="1" pinfunction="PE2" pintype="bidirectional+no_connect"/> + </net> + <net code="153" name="unconnected-(U4-PE3-Pad2)"> + <node ref="U4" pin="2" pinfunction="PE3" pintype="bidirectional+no_connect"/> + </net> + <net code="154" name="unconnected-(U4-PE4-Pad3)"> + <node ref="U4" pin="3" pinfunction="PE4" pintype="bidirectional+no_connect"/> + </net> + <net code="155" name="unconnected-(U4-PE5-Pad4)"> + <node ref="U4" pin="4" pinfunction="PE5" pintype="bidirectional+no_connect"/> + </net> + <net code="156" name="unconnected-(U4-PE6-Pad5)"> + <node ref="U4" pin="5" pinfunction="PE6" pintype="bidirectional+no_connect"/> + </net> + </nets> +</export> diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/2.8 TFT 320x240 led with sd and touch.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/2.8 TFT 320x240 led with sd and touch.kicad_mod new file mode 100755 index 0000000..051f467 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/2.8 TFT 320x240 led with sd and touch.kicad_mod @@ -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)) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/4.0 TFT 480x320 led with sd and touch.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/4.0 TFT 480x320 led with sd and touch.kicad_mod new file mode 100755 index 0000000..4f5fa2e --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/4.0 TFT 480x320 led with sd and touch.kicad_mod @@ -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 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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)) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER.kicad_mod new file mode 100755 index 0000000..f2f361c --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/IC_DRV8825_STEPPER_MOTOR_DRIVER_CARRIER.kicad_mod @@ -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 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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)) + ) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module-utan motorpads.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module-utan motorpads.kicad_mod new file mode 100755 index 0000000..62ac3b7 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module-utan motorpads.kicad_mod @@ -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)) + (pad "2" thru_hole oval (at 4.54 19.7) (size 2 3) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 00389037-846c-4418-9b22-7fd733ca52aa)) + 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a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module.kicad_mod new file mode 100755 index 0000000..d54aa85 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/L298N Motor driver module.kicad_mod @@ -0,0 +1,33 @@ +(footprint "L298N Motor driver module" (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" (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 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"81" thru_hole circle (at -1.8 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 16391819-43ac-4734-80c1-34ad12a20b03)) + (pad "81" thru_hole circle (at -1.8 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp c79c41d4-2bbc-4f52-a74b-31a4fba09e9b)) + (pad "81" thru_hole circle (at -1.8 0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 46d71156-7c0a-47c6-999d-2d75a92a9dcd)) + (pad "81" thru_hole circle (at -1.8 1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 12a77539-6cda-47cc-962e-6d19266036b7)) + (pad "81" thru_hole circle (at -0.6 -1.8) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp adb21cd2-d504-44d7-99f1-8a56890c2bed)) + (pad "81" thru_hole circle (at -0.6 -0.6) (size 0.5 0.5) (drill 0.2) (layers "*.Cu") (tstamp 0bbaa0b7-6acc-46ea-9259-124b37923068)) + (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)) + ) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_DEVKIT_V1.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_DEVKIT_V1.kicad_mod new file mode 100755 index 0000000..ddea65c --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_DEVKIT_V1.kicad_mod @@ -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)) +) \ No newline at end of file diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_NODEMCU.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_NODEMCU.kicad_mod new file mode 100755 index 0000000..3d022f6 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/MODULE_ESP32_NODEMCU.kicad_mod @@ -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 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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)) +) \ No newline at end of file diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PWM_module_ebay.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PWM_module_ebay.kicad_mod new file mode 100755 index 0000000..fc71130 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PWM_module_ebay.kicad_mod @@ -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)) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PulseJack JB0011D01BNL.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PulseJack JB0011D01BNL.kicad_mod new file mode 100755 index 0000000..4be32e6 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/PulseJack JB0011D01BNL.kicad_mod @@ -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 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-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)) + ) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/Step-down_converter.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/Step-down_converter.kicad_mod new file mode 100755 index 0000000..eb11e11 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/Step-down_converter.kicad_mod @@ -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)) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/TCA_9548A_module.kicad_mod b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/TCA_9548A_module.kicad_mod new file mode 100755 index 0000000..db30a59 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/HakansLibrary.pretty/TCA_9548A_module.kicad_mod @@ -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 "" 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a/Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252.kicad_sch b/Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252.kicad_sch new file mode 100755 index 0000000..da02261 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/LAN9252.kicad_sch @@ -0,0 +1,2230 @@ +(kicad_sch (version 20230121) (generator eeschema) + + (uuid 8e0e23cc-4513-4896-b845-574dd127ce6b) + + (paper "A4") + + (lib_symbols + (symbol "Device:C" (pin_numbers hide) (pin_names (offset 0.254)) (in_bom yes) (on_board yes) + (property "Reference" "C" (at 0.635 2.54 0) + (effects (font (size 1.27 1.27)) (justify left)) + ) + (property "Value" "C" (at 0.635 -2.54 0) + (effects (font (size 1.27 1.27)) (justify left)) + ) + (property "Footprint" "" (at 0.9652 -3.81 0) + (effects (font (size 1.27 1.27)) hide) + ) + (property "Datasheet" "~" (at 0 0 0) + (effects (font (size 1.27 1.27)) hide) + ) + (property "ki_keywords" "cap capacitor" (at 0 0 0) + (effects (font (size 1.27 1.27)) hide) + ) + (property "ki_description" "Unpolarized capacitor" 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(font (size 1.27 1.27))) + ) + (property "Value" "2.2uF" (at 111.76 143.51 90) + (effects (font (size 1.27 1.27))) + ) + (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (at 106.9848 139.7 0) + (effects (font (size 1.27 1.27)) hide) + ) + (property "Datasheet" "~" (at 107.95 143.51 0) + (effects (font (size 1.27 1.27)) hide) + ) + (pin "1" (uuid fe922747-8360-40d6-9a25-dca2bfb7f04b)) + (pin "2" (uuid c8e747dc-97f9-4818-94f9-fdeb5bdecf83)) + (instances + (project "Ethercat-stm32" + (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b" + (reference "C57") (unit 1) + ) + ) + ) + ) +) diff --git a/Pcb-1-lan9252/Kicad/Ethercat-stm32/Symbols/HakansLibrary.kicad_sym b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Symbols/HakansLibrary.kicad_sym new file mode 100755 index 0000000..9e50ad6 --- /dev/null +++ b/Pcb-1-lan9252/Kicad/Ethercat-stm32/Symbols/HakansLibrary.kicad_sym @@ -0,0 +1,2187 @@ +(kicad_symbol_lib (version 20220914) (generator kicad_symbol_editor) + 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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 + + + diff --git a/Pcb-1-lan9252/Schematics/EVB-LAN9252-DIGIO-EtherCAT-Evaluation-Board-User's-Guide-50002332C.pdf b/Pcb-1-lan9252/Schematics/EVB-LAN9252-DIGIO-EtherCAT-Evaluation-Board-User's-Guide-50002332C.pdf new file mode 100755 index 0000000..6249370 Binary files /dev/null and b/Pcb-1-lan9252/Schematics/EVB-LAN9252-DIGIO-EtherCAT-Evaluation-Board-User's-Guide-50002332C.pdf differ diff --git a/Pcb-1-lan9252/Schematics/EVB-LAN9252-HBI+EtherCAT-Evaluation-Board-User's-Guide-50002333C.pdf b/Pcb-1-lan9252/Schematics/EVB-LAN9252-HBI+EtherCAT-Evaluation-Board-User's-Guide-50002333C.pdf new file mode 100755 index 0000000..81a7467 Binary files /dev/null and b/Pcb-1-lan9252/Schematics/EVB-LAN9252-HBI+EtherCAT-Evaluation-Board-User's-Guide-50002333C.pdf differ diff --git a/Pcb-1-lan9252/Schematics/EVB-LAN9252-SPI+EtherCAT-Evaluation-Board-User's-Guide-50002604A.pdf b/Pcb-1-lan9252/Schematics/EVB-LAN9252-SPI+EtherCAT-Evaluation-Board-User's-Guide-50002604A.pdf new file mode 100755 index 0000000..9a75499 Binary files /dev/null and b/Pcb-1-lan9252/Schematics/EVB-LAN9252-SPI+EtherCAT-Evaluation-Board-User's-Guide-50002604A.pdf differ diff --git a/Pcb-1-lan9252/Schematics/LAN9252.SPI.SQI+GPIO16.Mode.Rev.A.pdf b/Pcb-1-lan9252/Schematics/LAN9252.SPI.SQI+GPIO16.Mode.Rev.A.pdf new file mode 100755 index 0000000..193944a Binary files /dev/null and b/Pcb-1-lan9252/Schematics/LAN9252.SPI.SQI+GPIO16.Mode.Rev.A.pdf differ diff --git a/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT LAN9252.pdf b/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT LAN9252.pdf new file mode 100755 index 0000000..f516816 Binary files /dev/null and b/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT LAN9252.pdf differ diff --git a/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT STM32F407ZGT6 MCU.pdf b/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT STM32F407ZGT6 MCU.pdf new file mode 100755 index 0000000..a676fdc Binary files /dev/null and b/Pcb-1-lan9252/Schematics/Schema development cards LAN9252+STM32F407ZGT6/EtherCAT STM32F407ZGT6 MCU.pdf differ diff --git a/README.md b/README.md index c6b14cd..0e0c236 100644 --- a/README.md +++ b/README.md @@ -1 +1,26 @@ -# 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) + + +