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SOES
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update demo application

pull/4/head
Hans-Erik Floryd 2015-05-20 13:15:49 +02:00
parent b133bc7f97
commit 308fedfafc
11 changed files with 131 additions and 287 deletions
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3
CMakeLists.txt
View File

@ -24,6 +24,9 @@ include(${CMAKE_SYSTEM_NAME})
# Source paths
add_subdirectory (soes)
add_subdirectory (applications/rtl_slavedemo)
message (STATUS "Building for ${CMAKE_SYSTEM_NAME}")
include (InstallRequiredSystemLibraries)
set (CPACK_RESOURCE_FILE_LICENSE "${SOES_SOURCE_DIR}/LICENSE")

9
applications/rtl_slavedemo/CMakeLists.txt 100644
View File

@ -0,0 +1,9 @@
add_executable (rtl_slavedemo
soes.c
objectlist.c
led_handler.c
bootstrap.c
main.c
)
target_link_libraries(rtl_slavedemo LINK_PUBLIC soes)

19
applications/rtl_slavedemo/bootstrap.c
View File

@ -20,25 +20,16 @@
#include <kern.h>
#include <bsp.h>
//#include <twrk60.h>
#include <flash_drv.h>
#include "utypes.h"
#include "esc.h"
#include "esc_foe.h"
#include "osal.h"
/* #include "utypes.h" */
/* #include "esc.h" */
#include <esc_foe.h>
/* #include "osal.h" */
#include "bootstrap.h"
#define ESC_DEBUG
#ifdef ESC_DEBUG
#define DPRINT(...) OSAL_PRINT ("bootstrap: "__VA_ARGS__)
#define DEBUG_ASSERT(expression) ASSERT(expression)
#else
#define DPRINT(...)
#define DEBUG_ASSERT(expression)
#endif /* DEBUG */
uint32_t local_boot_state = BOOT_IDLE;
static uint32_t boot_started = 0;
static uint32_t boot_watch_dog = 0;
@ -206,5 +197,3 @@ void bootstrap_state (void)
break;
}
}

183
applications/rtl_slavedemo/objectlist.h → applications/rtl_slavedemo/objectlist.c
View File

@ -25,192 +25,133 @@
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* CoE Object Dictionary.
* CoE Object Dictionary.
*
* Part of application, describe the slave and its process data.
*/
#ifndef __objectlist__
#define __objectlist__
typedef FLASHSTORE struct PACKED
{
uint16 subindex;
uint16 datatype;
uint16 bitlength;
uint16 access;
char FLASHSTORE *name;
uint32 value;
void *data;
} _objd;
#include "esc_coe.h"
#include "utypes.h"
typedef FLASHSTORE struct PACKED
{
uint16 index;
uint16 objtype;
uint8 maxsub;
uint8 pad1;
char FLASHSTORE *name;
_objd FLASHSTORE *objdesc;
} _objectlist;
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern uint32 encoder_scale;
extern uint32 encoder_scale_mirror;
#define OBJH_READ 0
#define OBJH_WRITE 1
static const char acName1000[] = "Device Type";
static const char acName1008[] = "Manufacturer Device Name";
static const char acName1009[] = "Manufacturer Hardware Version";
static const char acName100A[] = "Manufacturer Software Version";
static const char acName1018[] = "Identity Object";
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 acNameMO[] = "Mapped object";
static const char acName1600[] = "Receive PDO mapping";
static const char acName1A00[] = "Transmit PDO mapping";
static const char acName1C00[] = "Sync Manager Communication type";
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 acName1C10[] = "Sync Manager 0 PDO Assignment";
static const char acName1C11[] = "Sync Manager 1 PDO Assignment";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acNameNOE[] = "Number of entries";
static const char acName6000[] = "Digital Inputs";
static const char acName6000_01[] = "Button";
static const char acName6000_02[] = "Encoder";
static const char acName7000[] = "Digital outputs";
static const char acName7000_01[] = "LED";
static const char acName7100[] = "Parameters";
static const char acName7100_01[] = "Encoder scale";
static const char acName7100_02[] = "Encoder scale mirror";
static const char acName8001[] = "Slave commands";
static const char acName8001_01[] = "Reset counter";
#define _ac FLASHSTORE char
#define nil 0
static char ac1008_00[] = "SOES test application";
static char ac1009_00[] = "0.0.2";
static char ac100A_00[] = "0.9.3";
#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_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 ATYPE_R 0x07
#define ATYPE_RW 0x3F
#define ATYPE_RWpre 0x0F
#define ATYPE_RXPDO 0x40
#define ATYPE_TXPDO 0x80
_ac acName1000[] = "Device Type";
_ac acName1008[] = "Manufacturer Device Name";
_ac acName1009[] = "Manufacturer Hardware Version";
_ac acName100A[] = "Manufacturer Software Version";
_ac acName1018[] = "Identity Object";
_ac acName1018_01[] = "Vendor ID";
_ac acName1018_02[] = "Product Code";
_ac acName1018_03[] = "Revision Number";
_ac acName1018_04[] = "Serial Number";
_ac acNameMO[] = "Mapped object";
_ac acName1600[] = "Receive PDO mapping";
_ac acName1A00[] = "Transmit PDO mapping";
_ac acName1C00[] = "Sync Manager Communication type";
_ac acName1C00_01[] = "Communications type SM0";
_ac acName1C00_02[] = "Communications type SM1";
_ac acName1C00_03[] = "Communications type SM2";
_ac acName1C00_04[] = "Communications type SM3";
_ac acName1C10[] = "Sync Manager 0 PDO Assignment";
_ac acName1C11[] = "Sync Manager 1 PDO Assignment";
_ac acName1C12[] = "Sync Manager 2 PDO Assignment";
_ac acName1C13[] = "Sync Manager 3 PDO Assignment";
_ac acNameNOE[] = "Number of entries";
_ac acName6000[] = "Digital Inputs";
_ac acName6000_01[] = "Button";
_ac acName6000_02[] = "Encoder";
_ac acName7000[] = "Digital outputs";
_ac acName7000_01[] = "LED";
_ac acName7100[] = "Parameters";
_ac acName7100_01[] = "Encoder scale";
_ac acName7100_02[] = "Encoder scale mirror";
_ac acName8001[] = "Slave commands";
_ac acName8001_01[] = "Reset counter";
//_ac acName[]="";
char ac1008_00[] = "SOES test application";
char ac1009_00[] = "0.0.2";
char ac100A_00[] = "0.9.3";
FLASHSTORE _objd SDO1000[] =
const _objd SDO1000[] =
{ {0x00, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1000[0], 0x00000000, nil} };
FLASHSTORE _objd SDO1008[] =
const _objd SDO1008[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1008_00) << 3, ATYPE_R, &acName1008[0], 0, &ac1008_00[0]}
};
FLASHSTORE _objd SDO1009[] =
const _objd SDO1009[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1009_00) << 3, ATYPE_R, &acName1009[0], 0, &ac1009_00[0]}
};
FLASHSTORE _objd SDO100A[] =
const _objd SDO100A[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac100A_00) << 3, ATYPE_R, &acName100A[0], 0, &ac100A_00[0]}
};
FLASHSTORE _objd SDO1018[] =
const _objd SDO1018[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x04, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_01[0], 0x00001337, nil},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_02[0], 0x12783456, nil},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_03[0], 0x00000001, nil},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName1018_04[0], 0x00000000, nil}
};
FLASHSTORE _objd SDO1600[] =
const _objd SDO1600[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x70000108, nil}
};
FLASHSTORE _objd SDO1A00[] =
const _objd SDO1A00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x60000108, nil},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acNameMO[0], 0x60000220, nil}
};
FLASHSTORE _objd SDO1C00[] =
const _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}
};
FLASHSTORE _objd SDO1C10[] =
const _objd SDO1C10[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C10[0], 0x00, nil}
};
FLASHSTORE _objd SDO1C11[] =
const _objd SDO1C11[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName1C11[0], 0x00, nil}
};
FLASHSTORE _objd SDO1C12[] =
const _objd SDO1C12[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1600, nil}
};
FLASHSTORE _objd SDO1C13[] =
const _objd SDO1C13[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_R, &acNameMO[0], 0x1A00, nil}
};
FLASHSTORE _objd SDO6000[] =
const _objd SDO6000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x02, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_R, &acName6000_01[0], 0, &(Rb.button)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_R, &acName6000_02[0], 0, &(Rb.encoder)}
};
FLASHSTORE _objd SDO7000[] =
const _objd SDO7000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
};
FLASHSTORE _objd SDO7100[] =
const _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)}
};
FLASHSTORE _objd SDO8001[] =
const _objd SDO8001[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_R, &acNameNOE[0], 0x01, nil},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName8001_01[0], 0, &(Cb.reset_counter)},
};
FLASHSTORE _objectlist SDOobjects[] =
const _objectlist SDOobjects[] =
{ {0x1000, OTYPE_VAR, 0, 0, &acName1000[0], &SDO1000[0]},
{0x1008, OTYPE_VAR, 0, 0, &acName1008[0], &SDO1008[0]},
{0x1009, OTYPE_VAR, 0, 0, &acName1009[0], &SDO1009[0]},

28
applications/rtl_slavedemo/osal.h
View File

@ -1,28 +0,0 @@
/******************************************************************************
* * *** ***
* *** *** ***
* *** **** ********** *** ***** *** **** *****
* ********* ********** *** ********* ************ *********
* **** *** *** *** *** **** ***
* *** *** ****** *** *********** *** **** *****
* *** *** ****** *** ************* *** **** *****
* *** **** **** *** *** *** **** ***
* *** ******* ***** ************** ************* *********
* *** ***** *** ******* ** ** ****** *****
* t h e r e a l t i m e t a r g e t e x p e r t s
*
* http://www.rt-labs.com
* Copyright (C) 2012-2013. rt-labs AB, Sweden. All rights reserved.
*------------------------------------------------------------------------------
* $Id: osal.h 522 2013-06-20 16:16:45Z rtlaka $
*------------------------------------------------------------------------------
*/
#ifndef _osal_
#define _osal_
#include <kern.h>
#define OSAL_PRINT rprintp
#endif

56
applications/rtl_slavedemo/soes.c
View File

@ -28,44 +28,28 @@
/** \file
* \brief
* The application.
* The application.
*
* The application, the main loop that service EtherCAT.
*/
#include <kern.h>
#include <bsp.h>
#include <kern.h>
#include <flash_drv.h>
#include <stdio.h>
#include <esc.h>
#include <esc_coe.h>
#include <esc_foe.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "osal.h"
#include "bootstrap.h"
#define ESC_DEBUG
#ifdef ESC_DEBUG
#define DPRINT(...) OSAL_PRINT ("soes: "__VA_ARGS__)
#define DEBUG_ASSERT(expression) ASSERT(expression)
#else
#define DPRINT(...)
#define DEBUG_ASSERT(expression)
#endif /* DEBUG */
#define WD_RESET 1000
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup
* when emulating EEPROM
*/
uint32 encoder_scale;
uint32 encoder_scale_mirror;
@ -224,31 +208,6 @@ void DIG_process (void)
}
}
void esc_reset (void)
{
volatile int timeout;
DPRINT("esc_reset_started\n");
gpio_set (GPIO_ECAT_RESET,0); /* pin =0 */
gpio_configure_pin (GPIO_ECAT_RESET,MUX_GPIO,IRQC_DISABLED,MODE_OUTPUT);
task_delay (1000);
gpio_configure_pin (GPIO_ECAT_RESET,MUX_GPIO,IRQC_DISABLED,MODE_INPUT);
while(timeout<10000000)
{
/* ECAT releases resetpin */
if(gpio_get (GPIO_ECAT_RESET)!=0)
{
break; // OK
}
timeout++;
task_delay (30);
}
DPRINT("esc_reset_ended\n");
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
@ -286,8 +245,8 @@ void soes (void *arg)
};
ESC_config ((esc_cfg_t *)&config);
esc_reset ();
ESC_init ((void *)spi_name);
ESC_reset();
ESC_init (spi_name);
task_delay (tick_from_ms (200));
@ -374,4 +333,3 @@ void my_cyclic_callback (void * arg)
}
}

73
applications/rtl_slavedemo/utypes.h
View File

@ -25,33 +25,19 @@
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* Header file for Application types.
* Header file for Application types.
*
* Part of the application, host declarations of application types mapped against
* ServiceData Objects and ProcessData Objects .
* ServiceData Objects and ProcessData Objects.
*/
#include <stdint.h>
#define uint8 uint8_t
#define int8 int8_t
#define uint16 uint16_t
#define int16 int16_t
#define uint32 uint32_t
#define int32 int32_t
#ifndef __utypes_h__
#define __utypes_h__
typedef union
{
uint16 w;
uint8 b[2];
} uint16union;
#define APPSTATE_IDLE 0x00
#define APPSTATE_INPUT 0x01
#define APPSTATE_OUTPUT 0x02
#include <cc.h>
typedef struct
{
@ -70,51 +56,4 @@ typedef struct
uint32 reset_counter;
} _Cbuffer;
typedef struct
{
uint8 state; // internal, don't change!!!!
} _App;
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern _App App;
extern uint32 encoder_scale;
extern uint32 encoder_scale_mirror;
#define EC_LITTLE_ENDIAN
#if !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN)
#define htoes(A) (A)
#define htoel(A) (A)
#define htoell(A) (A)
#define etohs(A) (A)
#define etohl(A) (A)
#define etohll(A) (A)
#elif !defined(EC_LITTLE_ENDIAN) && defined(EC_BIG_ENDIAN)
#define htoes(A) ((((uint16)(A) & 0xff00) >> 8) | \
(((uint16)(A) & 0x00ff) << 8))
#define htoel(A) ((((uint32)(A) & 0xff000000) >> 24) | \
(((uint32)(A) & 0x00ff0000) >> 8) | \
(((uint32)(A) & 0x0000ff00) << 8) | \
(((uint32)(A) & 0x000000ff) << 24))
#define htoell(A) ((((uint64)(A) & (uint64)0xff00000000000000ULL) >> 56) | \
(((uint64)(A) & (uint64)0x00ff000000000000ULL) >> 40) | \
(((uint64)(A) & (uint64)0x0000ff0000000000ULL) >> 24) | \
(((uint64)(A) & (uint64)0x000000ff00000000ULL) >> 8) | \
(((uint64)(A) & (uint64)0x00000000ff000000ULL) << 8) | \
(((uint64)(A) & (uint64)0x0000000000ff0000ULL) << 24) | \
(((uint64)(A) & (uint64)0x000000000000ff00ULL) << 40) | \
(((uint64)(A) & (uint64)0x00000000000000ffULL) << 56))
#define etohs htoes
#define etohl htoel
#define etohll htoell
#else
#error "Must define one of EC_BIG_ENDIAN or EC_LITTLE_ENDIAN"
#endif

3
cmake/Platform/rt-kernel.cmake
View File

@ -16,8 +16,11 @@ set(BSP $ENV{BSP} CACHE STRING
set(DUMMY ${CMAKE_TOOLCHAIN_FILE})
include_directories(
${RTK}/include/
${RTK}/include/arch/${ARCH}
${RTK}/include/kern
${RTK}/include/drivers
${RTK}/bsp/${BSP}/include
${SOES_SOURCE_DIR}/include/sys/gcc
)
link_directories(

36
os_hw/rtl_spi/esc_hw.c
View File

@ -38,9 +38,10 @@
* registers and memory.
*/
#include <cc.h>
#include <esc.h>
#include <spi/spi.h>
#include <string.h>
#include <gpio.h>
#define ESC_CMD_READ 0x02
#define ESC_CMD_READWS 0x03
@ -52,6 +53,10 @@
static int et1100 = -1;
static uint8 read_termination[128] = { 0 };
#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup
* when emulating EEPROM
*/
static void esc_address (uint16 address, uint8 command, uint16 * al_event)
{
/* Device is selected already.
@ -120,9 +125,34 @@ uint8 ESC_write (uint16 address, void *buf, uint16 len, void *tALevent)
return 0;
}
void ESC_init (void * arg)
void ESC_reset (void)
{
char * spi_name = (char *)arg;
volatile int timeout;
DPRINT("esc_reset_started\n");
gpio_set (GPIO_ECAT_RESET,0); /* pin =0 */
gpio_configure_pin (GPIO_ECAT_RESET,MUX_GPIO,IRQC_DISABLED,MODE_OUTPUT);
task_delay (1000);
gpio_configure_pin (GPIO_ECAT_RESET,MUX_GPIO,IRQC_DISABLED,MODE_INPUT);
while(timeout<10000000)
{
/* ECAT releases resetpin */
if(gpio_get (GPIO_ECAT_RESET)!=0)
{
break; // OK
}
timeout++;
task_delay (30);
}
DPRINT("esc_reset_ended\n");
}
void ESC_init (const void * arg)
{
const char * spi_name = (char *)arg;
et1100 = open (spi_name, O_RDWR, 0);
read_termination[127] = 0xFF;
}

2
soes/CMakeLists.txt
View File

@ -1,6 +1,4 @@
message (STATUS "Building for ${CMAKE_SYSTEM_NAME}")
# NOTE: add headers to make them show up in an IDE
add_library (soes
esc.c

6
soes/esc.h
View File

@ -36,7 +36,7 @@
#define __esc__
#include <cc.h>
#include <config.h>
#include "config.h"
/* storage modifier for data stored in flashmemory */
#define FLASHSTORE const
@ -487,7 +487,9 @@ void ESC_state (void);
/* From hardware file */
uint8 ESC_read (uint16 address, void *buf, uint16 len, void *tALevent);
uint8 ESC_write (uint16 address, void *buf, uint16 len, void *tALevent);
void ESC_init (void * arg);
void ESC_init (const void * arg);
void ESC_reset (void);
/* From application */
extern void APP_safeoutput ();