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added slave files

This commit is contained in:
Nicolas Trimborn 2021-08-01 17:39:38 +02:00
parent 33269ff676
commit 7938bfa26c
7 changed files with 1086 additions and 18 deletions
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755
2_Motor_Master/LAN9252-2_motor_master_mkIII.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.8">
<Vendor>
<Id>#x000004D8</Id>
<Name>Microchip Technology Inc</Name>
</Vendor>
<Descriptions>
<Groups>
<Group>
<Type>LAN9252-2_motor_Master</Type>
<Name LcId="1033">LAN9252-2_motor_Master</Name>
<ImageData16x14>424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000</ImageData16x14>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x00000002" RevisionNo="#x00000005">LAN9252-2_motor_Master</Type>
<Name LcId="1033"><![CDATA[MSRM 2_motor_Master Ethercat Slave]]></Name>
<Info>
<EtherCATController>
<DpramSize>4096</DpramSize>
<SmCount>4</SmCount>
<FmmuCount>3</FmmuCount>
</EtherCATController>
<Port>
<Type>MII</Type>
<PhysicalPhyAddr>0</PhysicalPhyAddr>
</Port>
<Port>
<Type>MII</Type>
<PhysicalPhyAddr>1</PhysicalPhyAddr>
</Port>
<IdentificationAdo>#x0012</IdentificationAdo>
</Info>
<GroupType>LAN9252-2_motor_Master</GroupType>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Sm StartAddress="#x1100" ControlByte="#x04" Enable="1">Outputs</Sm>
<Sm StartAddress="#x1800" ControlByte="0" Enable="1">Inputs</Sm>
<RxPdo Fixed="1" Sm="0">
<Index>#x1a00</Index>
<Name>ECAT2MCU</Name>
<Entry>
<Index>#x3101</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>M1__control_mode</Name>
<DataType>BYTE</DataType>
</Entry>
<Entry>
<Index>#x3102</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>M1__control_set</Name>
<DataType>BYTE</DataType>
</Entry>
<Entry>
<Index>#x3103</Index>
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<Name>M1__desired_position</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
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<Name>M1__desired_speed</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
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<Name>M1__desired__current</Name>
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</Entry>
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</Entry>
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<Name>M4__Spare</Name>
<DataType>INT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="1">
<Index>#x1600</Index>
<Name>MCU2ECAT</Name>
<Entry>
<Index>#x3001</Index>
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<Name>M1__status</Name>
<DataType>BYTE</DataType>
</Entry>
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</Entry>
<Entry>
<Index>#x3003</Index>
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<Name>M1__Joint_rel_position</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x3004</Index>
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<DataType>INT</DataType>
</Entry>
<Entry>
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<DataType>INT</DataType>
</Entry>
<Entry>
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</Entry>
<Entry>
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<Entry>
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</Entry>
<Entry>
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<Index>#x303A</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>FSR__CH2</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x303B</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>FSR__CH3</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x303C</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>FSR__CH4</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x303D</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>FSR__CH5</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x303E</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>Pressure__CH1</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x303F</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>Pressure__CH2</Name>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x3040</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>Pressure__CH3</Name>
<DataType>INT</DataType>
</Entry>
</TxPdo>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>803100CC1000F0FF</ConfigData>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>

3
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_QSPI.h
View File

@ -8,8 +8,7 @@
#define ETHERCAT_QSPI_H_
#include "atmel_start.h"
#include <hpl_qspi_config.h>
#include <hpl_sercom_config.h>
#define ECAT_SIZE_WR 64 //max fifo size
#define ECAT_SIZE_RD ECAT_SIZE_WR

269
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_SlaveDef.h Normal file
View File

@ -0,0 +1,269 @@
/*
* EtherCAT_SlaveDef.h
*
* Created: 01/08/2021 12:56:16
* Author: Nick-XMG
*/
#ifndef ETHERCAT_SLAVEDEF_H_
#define ETHERCAT_SLAVEDEF_H_
#include "Ethercat_QSPI.h"
//Write To Ecat Total Bytes (XX bytes)
/* Motor 1*/
static volatile uint8_t *M1_Status = (uint8_t *)&QSPI_tx_buffer[0];
static volatile uint8_t *M1_Mode = (((uint8_t *)&QSPI_tx_buffer[0])+1);
static volatile int16_t *M1_Joint_rel_position = (((int16_t *)&QSPI_tx_buffer[0])+1);
static volatile int16_t *M1_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[1]);
static volatile int16_t *M1_Motor_speed = (((int16_t *)&QSPI_tx_buffer[1])+1);
static volatile int16_t *M1_Motor_current_bus = ((int16_t *)&QSPI_tx_buffer[2]);
static volatile int16_t *M1_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[2])+1);
static volatile int16_t *M1_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[3]);
static volatile int16_t *M1_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[3])+1);
static volatile int16_t *M1_Motor__hallState = ((int16_t *)&QSPI_tx_buffer[4]);
static volatile int16_t *M1_Motor_dutyCycle = (((int16_t *)&QSPI_tx_buffer[4])+1);
/* Motor 2*/
static volatile uint8_t *M2_Status = (uint8_t *)&QSPI_tx_buffer[5];
static volatile uint8_t *M2_Mode = (((uint8_t *)&QSPI_tx_buffer[5])+1);
static volatile int16_t *M2_Joint_rel_position = (((int16_t *)&QSPI_tx_buffer[5])+1);
static volatile int16_t *M2_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[6]);
static volatile int16_t *M2_Motor_speed = (((int16_t *)&QSPI_tx_buffer[6])+1);
static volatile int16_t *M2_Motor_current_bus = ((int16_t *)&QSPI_tx_buffer[7]);
static volatile int16_t *M2_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[7])+1);
static volatile int16_t *M2_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[8]);
static volatile int16_t *M2_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[8])+1);
static volatile int16_t *M2_Motor__hallState = ((int16_t *)&QSPI_tx_buffer[9]);
static volatile int16_t *M2_Motor_dutyCycle = (((int16_t *)&QSPI_tx_buffer[9])+1);
/* EMG */
static volatile int16_t *EMG_CH1 = (((int16_t *)&QSPI_tx_buffer[10]));
static volatile int16_t *EMG_CH2 = (((int16_t *)&QSPI_tx_buffer[10])+1);
static volatile int16_t *EMG_CH3 = (((int16_t *)&QSPI_tx_buffer[11]));
static volatile int16_t *EMG_CH4 = (((int16_t *)&QSPI_tx_buffer[11])+1);
static volatile int16_t *EMG_CH5 = (((int16_t *)&QSPI_tx_buffer[12]));
static volatile int16_t *EMG_CH6 = (((int16_t *)&QSPI_tx_buffer[12])+1);
static volatile int16_t *EMG_CH7 = (((int16_t *)&QSPI_tx_buffer[13]));
static volatile int16_t *EMG_CH8 = (((int16_t *)&QSPI_tx_buffer[13])+1);
/* Motor 3*/
static volatile uint8_t *M3_Status = (uint8_t *)&QSPI_tx_buffer[14];
static volatile uint8_t *M3_Mode = (((uint8_t *)&QSPI_tx_buffer[14])+1);
static volatile int16_t *M3_Joint_rel_position = (((int16_t *)&QSPI_tx_buffer[14])+1);
static volatile int16_t *M3_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[15]);
static volatile int16_t *M3_Motor_speed = (((int16_t *)&QSPI_tx_buffer[15])+1);
static volatile int16_t *M3_Motor_current_bus = ((int16_t *)&QSPI_tx_buffer[16]);
static volatile int16_t *M3_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[16])+1);
static volatile int16_t *M3_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[17]);
static volatile int16_t *M3_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[17])+1);
static volatile int16_t *M3_Motor__hallState = ((int16_t *)&QSPI_tx_buffer[18]);
static volatile int16_t *M3_Motor_dutyCycle = (((int16_t *)&QSPI_tx_buffer[18])+1);
/* Motor 4*/
static volatile uint8_t *M4_Status = (uint8_t *)&QSPI_tx_buffer[19];
static volatile uint8_t *M4_Mode = (((uint8_t *)&QSPI_tx_buffer[19])+1);
static volatile int16_t *M4_Joint_rel_position = (((int16_t *)&QSPI_tx_buffer[19])+1);
static volatile int16_t *M4_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[20]);
static volatile int16_t *M4_Motor_speed = (((int16_t *)&QSPI_tx_buffer[20])+1);
static volatile int16_t *M4_Motor_current_bus = ((int16_t *)&QSPI_tx_buffer[21]);
static volatile int16_t *M4_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[21])+1);
static volatile int16_t *M4_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[22]);
static volatile int16_t *M4_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[22])+1);
static volatile int16_t *M4_Motor__hallState = ((int16_t *)&QSPI_tx_buffer[23]);
static volatile int16_t *M4_Motor_dutyCycle = (((int16_t *)&QSPI_tx_buffer[23])+1);
/* IMU */
static volatile int16_t *q_x0 = (((int16_t *)&QSPI_tx_buffer[24]));
static volatile int16_t *q_y0 = (((int16_t *)&QSPI_tx_buffer[24])+1);
static volatile int16_t *q_z0 = (((int16_t *)&QSPI_tx_buffer[25]));
static volatile int16_t *q_w0 = (((int16_t *)&QSPI_tx_buffer[25])+1);
/* EMG */
static volatile int16_t *FSR_CH1 = (((int16_t *)&QSPI_tx_buffer[26]));
static volatile int16_t *FSR_CH2 = (((int16_t *)&QSPI_tx_buffer[26])+1);
static volatile int16_t *FSR_CH3 = (((int16_t *)&QSPI_tx_buffer[27]));
static volatile int16_t *FSR_CH4 = (((int16_t *)&QSPI_tx_buffer[27])+1);
static volatile int16_t *FSR_CH5 = (((int16_t *)&QSPI_tx_buffer[28]));
static volatile int16_t *Pressure_CH1 = (((int16_t *)&QSPI_tx_buffer[28])+1);
static volatile int16_t *Pressure_CH2 = (((int16_t *)&QSPI_tx_buffer[29]));
static volatile int16_t *Pressure_CH3 = (((int16_t *)&QSPI_tx_buffer[29])+1);
//Read From Ecat Total (XX Bytes)
//QSPI_rx_buffer
/* Motor 1*/
static volatile uint8_t *M1_Control_mode = ((uint8_t *)&QSPI_rx_buffer[0]);
static volatile uint8_t *M1_Control_set = (((uint8_t *)&QSPI_rx_buffer[0])+1);
static volatile int16_t *M1_Desired_pos = ((int16_t *)&QSPI_rx_buffer[0]+1);
static volatile int16_t *M1_Desired_speed = ((int16_t *)&QSPI_rx_buffer[1]);
static volatile int16_t *M1_Desired_current = ((int16_t *)&QSPI_rx_buffer[1]+1);
static volatile int16_t *M1_Max_pos = ((int16_t *)&QSPI_rx_buffer[2]);
static volatile int16_t *M1_Max_velocity = ((int16_t *)&QSPI_rx_buffer[2]+1);
static volatile int16_t *M1_Max_current = ((int16_t *)&QSPI_rx_buffer[3]);
static volatile int16_t *M1_Spare = ((int16_t *)&QSPI_rx_buffer[3]+1);
///* Motor 2*/
static volatile uint8_t *M2_Control_mode = ((uint8_t *)&QSPI_rx_buffer[4]);
static volatile uint8_t *M2_Control_set = (((uint8_t *)&QSPI_rx_buffer[4])+1);
static volatile int16_t *M2_Desired_pos = ((int16_t *)&QSPI_rx_buffer[4]+1);
static volatile int16_t *M2_Desired_speed = ((int16_t *)&QSPI_rx_buffer[5]);
static volatile int16_t *M2_Desired_current = ((int16_t *)&QSPI_rx_buffer[5]+1);
static volatile int16_t *M2_Max_pos = ((int16_t *)&QSPI_rx_buffer[6]);
static volatile int16_t *M2_Max_velocity = ((int16_t *)&QSPI_rx_buffer[6]+1);
static volatile int16_t *M2_Max_current = ((int16_t *)&QSPI_rx_buffer[7]);
static volatile int16_t *M2_Spare = ((int16_t *)&QSPI_rx_buffer[7]+1);
///* Motor 3*/
static volatile uint8_t *M3_Control_mode = ((uint8_t *)&QSPI_rx_buffer[8]);
static volatile uint8_t *M3_Control_set = (((uint8_t *)&QSPI_rx_buffer[8])+1);
static volatile int16_t *M3_Desired_pos = ((int16_t *)&QSPI_rx_buffer[8]+1);
static volatile int16_t *M3_Desired_speed = ((int16_t *)&QSPI_rx_buffer[9]);
static volatile int16_t *M3_Desired_current = ((int16_t *)&QSPI_rx_buffer[9]+1);
static volatile int16_t *M3_Max_pos = ((int16_t *)&QSPI_rx_buffer[10]);
static volatile int16_t *M3_Max_velocity = ((int16_t *)&QSPI_rx_buffer[10]+1);
static volatile int16_t *M3_Max_current = ((int16_t *)&QSPI_rx_buffer[11]);
static volatile int16_t *M3_Spare = ((int16_t *)&QSPI_rx_buffer[11]+1);
///* Motor 4*/
static volatile uint8_t *M4_Control_mode = ((uint8_t *)&QSPI_rx_buffer[12]);
static volatile uint8_t *M4_Control_set = (((uint8_t *)&QSPI_rx_buffer[12])+1);
static volatile int16_t *M4_Desired_pos = ((int16_t *)&QSPI_rx_buffer[12]+1);
static volatile int16_t *M4_Desired_speed = ((int16_t *)&QSPI_rx_buffer[13]);
static volatile int16_t *M4_Desired_current = ((int16_t *)&QSPI_rx_buffer[13]+1);
static volatile int16_t *M4_Max_pos = ((int16_t *)&QSPI_rx_buffer[14]);
static volatile int16_t *M4_Max_velocity = ((int16_t *)&QSPI_rx_buffer[14]+1);
static volatile int16_t *M4_Max_current = ((int16_t *)&QSPI_rx_buffer[15]);
static volatile int16_t *M4_Spare = ((int16_t *)&QSPI_rx_buffer[15]+1);
//void update_telemetry(void)
//{
//inline int16_t convert_to_mA(volatile float32_t current_PU)
//{
//return (int16_t)(current_PU*1000.0f);
//}
//
//*state = applicationStatus.currentstate;
//*status = applicationStatus.fault;
//*motor_rel_position = Motor1.motor_status.Num_Steps;
//*motor_abs_position = 0;
//*motor_dutyCycle = Motor1.motor_status.duty_cycle;
//*motor_speed = (int16_t)Motor1.motor_status.calc_rpm;
//*motor_torque = 0;
//*motor_currentPHA = convert_to_mA(Motor1.Iphase_pu.A);
//*motor_currentPHB = convert_to_mA(Motor1.Iphase_pu.B);
//*motor_currentPHC = convert_to_mA(Motor1.Iphase_pu.C);
//*motor_currentBUS = convert_to_mA(Motor1.Iphase_pu.Bus);
//*hall_state = Motor1.motor_status.currentHallPattern;
//*Spare_byte1 = Motor1.motor_setpoints.directionOffset;
//*Spare_1 = Motor1.motor_status.actualDirection;
////*Spare_2 = 0;
//}
//
void update_setpoints(void)
{
volatile uint8_t a = *M1_Control_mode;
volatile uint8_t b = *M1_Control_set;
volatile int16_t c = *M1_Desired_pos;
volatile int16_t d = *M1_Desired_speed;
volatile int16_t e = *M1_Desired_current;
volatile int16_t f = *M1_Max_pos;
volatile int16_t g = *M1_Max_velocity;
volatile int16_t h = *M1_Max_current;
volatile int16_t i = *M1_Spare;
//inline float32_t convert_int_to_PU(volatile int16_t input)
//{
//return ((float32_t)(input/1000.0f));
//}
////Motor1.des_mode = 0;
////Motor1.set = 0;
//Motor1.motor_setpoints.desired_position = *desired_position;
//Motor1.motor_setpoints.desired_speed = *desired_speed;
////Motor1.desired_speed = 1500;
//Motor1.motor_setpoints.desired_torque = convert_int_to_PU(*desired_torque);
////Motor1.controllerParam.I_kp = 0;
////Motor1.controllerParam.I_ki = 0;
////Motor1.controllerParam.V_kp = 0;
////Motor1.controllerParam.V_kd = 0;
////Motor1.controllerParam.V_kd = 0;
////Motor1.controllerParam.P_kp = 0;
////Motor1.controllerParam.P_ki = 0;
////Motor1.reductionRatio = 0;
//Motor1.motor_setpoints.max_velocity = *max_velocity;
//Motor1.motor_setpoints.max_current = convert_int_to_PU(*max_current);
//Motor1.motor_setpoints.max_torque = convert_int_to_PU(*max_torque);
////Motor1.Spare1 = 0;
////Motor1.Spare2 = 0;
////Motor1.Spare3 = 0;
////Motor1.Spare4 = 0;
}
static inline void comms_check(void)
{
/* Motor 1*/
*M1_Status = 1;
*M1_Mode = 2;
*M1_Joint_rel_position = -3;
*M1_Joint_abs_position = 4;
*M1_Motor_speed = -5;
*M1_Motor_current_bus = 6;
*M1_Motor_currentPhA = -7;
*M1_Motor_currentPhB = 8;
*M1_Motor_currentPhC = -9;
*M1_Motor__hallState = 10;
*M1_Motor_dutyCycle = -11;
/* Motor 2*/
*M2_Status = 12;
*M2_Mode = 13;
*M2_Joint_rel_position = 14;
*M2_Joint_abs_position = -15;
*M2_Motor_speed = 16;
*M2_Motor_current_bus = -17;
*M2_Motor_currentPhA = 18;
*M2_Motor_currentPhB = -19;
*M2_Motor_currentPhC = 20;
*M2_Motor__hallState = -21;
*M3_Motor_dutyCycle = 22;
/* EMG */
*EMG_CH1 = -23;
*EMG_CH2 = 24;
*EMG_CH3 = -25;
*EMG_CH4 = 26;
*EMG_CH5 = -27;
*EMG_CH6 = 28;
*EMG_CH7 = -29;
*EMG_CH8 = 30;
/* Motor 3*/
*M3_Status = 1;
*M3_Mode = 2;
*M3_Joint_rel_position = -3;
*M3_Joint_abs_position = 4;
*M3_Motor_speed = -5;
*M3_Motor_current_bus = 6;
*M3_Motor_currentPhA = -7;
*M3_Motor_currentPhB = 8;
*M3_Motor_currentPhC = -9;
*M3_Motor__hallState = 10;
*M3_Motor_dutyCycle = -11;
/* Motor 4*/
*M4_Status = 12;
*M4_Mode = 13;
*M4_Joint_rel_position = 14;
*M4_Joint_abs_position = -15;
*M4_Motor_speed = 16;
*M4_Motor_current_bus = -17;
*M4_Motor_currentPhA = 18;
*M4_Motor_currentPhB = -19;
*M4_Motor_currentPhC = 20;
*M4_Motor__hallState = -21;
*M4_Motor_dutyCycle = 22;
/* IMU */
*q_x0 = 23;
*q_y0 = -24;
*q_z0 = 25;
*q_w0 = -26;
/* EMG */
*FSR_CH1 = 27;
*FSR_CH2 = -28;
*FSR_CH3 = 29;
*FSR_CH4 = -30;
*FSR_CH5 = 31;
*Pressure_CH1 = -32;
*Pressure_CH2 = 33;
*Pressure_CH3 = -34;
}
#endif /* ETHERCAT_SLAVEDEF_H_ */

2
2_Motor_Master/Motor_Master/Motor_Master/Ethercat_QSPI.c
View File

@ -6,6 +6,8 @@
*/
#include "Ethercat_QSPI.h"
#include <hpl_qspi_config.h>
#include <hpl_sercom_config.h>
#define SQI_READ (0x0B<<16) #define SQI_WRITE (0x02<<16) #define SQI_INC (0x40<<8) #define SQI_DEC (0x80<<8)
#define ECAT_PRAM_RD_DATA 0x0000 #define ECAT_PRAM_WR_DATA 0x0020 #define HW_CFG 0x0074 #define BYTE_TEST 0x0064 #define ECAT_PRAM_RD_ADDR_LEN 0x0308 #define ECAT_PRAM_RD_CMD 0x030C #define ECAT_PRAM_WR_ADDR_LEN 0x0310 #define ECAT_PRAM_WR_CMD 0x0314 #define LAN9252_RDY (1<<27) #define PDRAM_RD_ADDRESS 0x1100 #define PDRAM_RD_LENGTH ECAT_SIZE_RD //do the math later to automatize. fixed to 64 for now. #define PDRAM_WR_ADDRESS 0x1800 #define PDRAM_WR_LENGTH ECAT_SIZE_WR #define PDRAM_LENGTH_MAX 64

38
2_Motor_Master/Motor_Master/Motor_Master/Ethercat_QSPI.h Normal file
View File

@ -0,0 +1,38 @@
/*
* EtherCAT_QSPI.h
*
* Created: 31/07/2021 17:51:24
* Author: Nick-XMG
*/
#ifndef ETHERCAT_QSPI_H_
#define ETHERCAT_QSPI_H_
#include "atmel_start.h"
#define ECAT_SIZE_WR 64 //max fifo size
#define ECAT_SIZE_RD ECAT_SIZE_WR
#define ECAT_SIZE_WR_REG ECAT_SIZE_WR/4
#define ECAT_SIZE_RD_REG ECAT_SIZE_WR/4
#define buffer_size 3*ECAT_SIZE_WR_REG //changed to double
#define motor_buffer_size buffer_size/3
extern enum ecat_states {abort_fifo,dlt_rdram,cf_dlt_rdram,write_fifo,config_fifo,read_fifo,wait,wait2,en_SQI,temp,rd_rdy};
extern volatile enum ecat_states ecat_state;
extern volatile enum ecat_states next_ecat_state;
volatile uint32_t QSPI_tx_buffer[buffer_size];
volatile uint32_t QSPI_rx_buffer[buffer_size];
//static uint32_t QSPI_tx_buffer[buffer_size] = {47,46,45,44,43,42,41,40,39,38,37,36,35,34,33,32,
//31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,
//15,14,13,12,11,10, 9,8,7,6,5,4,3,2,1,0};
//static uint32_t QSPI_rx_buffer[buffer_size] = {0};
extern volatile bool run_ECAT;
void config_qspi(void);
#endif /* ETHERCAT_QSPI_H_ */

21
2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj
View File

@ -30,15 +30,15 @@
<EraseKey />
<AsfFrameworkConfig>
<framework-data xmlns="">
<options />
<configurations />
<files />
<documentation help="" />
<offline-documentation help="" />
<dependencies>
<content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.50.0" />
</dependencies>
</framework-data>
<options />
<configurations />
<files />
<documentation help="" />
<offline-documentation help="" />
<dependencies>
<content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.50.0" />
</dependencies>
</framework-data>
</AsfFrameworkConfig>
<Compiler>gcc</Compiler>
<atStartFilePath>.atmelstart\atmel_start_config.atstart</atStartFilePath>
@ -576,6 +576,9 @@
<Compile Include="Ethercat_QSPI.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="Ethercat_SlaveDef.h">
<SubType>compile</SubType>
</Compile>
<Compile Include="examples\driver_examples.c">
<SubType>compile</SubType>
</Compile>

16
2_Motor_Master/Motor_Master/Motor_Master/main.c
View File

@ -1,11 +1,12 @@
#include <atmel_start.h>
#include "bldc.h"
#include "EtherCAT_QSPI.h"
#include "EtherCAT_SlaveDef.h"
/**
* Example of using TIMER_0.
*/
static void onems_tick(const struct timer_task *const timer_task)
static void One_ms_cycle_callback(const struct timer_task *const timer_task)
{
if ((ecat_state == wait2)|(ecat_state == wait)) ecat_state= write_fifo;
@ -15,10 +16,10 @@ static void onems_tick(const struct timer_task *const timer_task)
static struct timer_task Onems_task;
void onemstimer_init(void)
void One_ms_timer_init(void)
{
Onems_task.interval = 1;
Onems_task.cb = onems_tick;
Onems_task.cb = One_ms_cycle_callback;
Onems_task.mode = TIMER_TASK_REPEAT;
timer_add_task(&TIMER_0, &Onems_task);
timer_start(&TIMER_0);
@ -32,16 +33,17 @@ int main(void)
atmel_start_init();
config_qspi();
ECAT_STATE_MACHINE();
onemstimer_init();
One_ms_timer_init();
/* Replace with your application code */
while (1) {
//delay_ms(100);
//m1_hall = readM1Hall();
//m2_hall = readM2Hall();
*M1_Motor__hallState = readM1Hall();
*M2_Motor__hallState = readM2Hall();
//x += 1;
QSPI_tx_buffer[0] += 1;
//comms_check();
//update_setpoints();
if (run_ECAT) ECAT_STATE_MACHINE();
}