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added slave files

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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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3
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_QSPI.h
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@@ -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
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@@ -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
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@@ -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)

38
2_Motor_Master/Motor_Master/Motor_Master/Ethercat_QSPI.h Normal file
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@@ -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
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@@ -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
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@@ -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();
}