#include "GenericTypeDefs.h"#include <plib.h>#include <peripheral/can.h>#include <peripheral/timer.h>#include "hardware/can/shadow_can.h"#include "misc/typedefs_shadow.h"#include "tests/assert_shadow.h"#include "this_node_serial_number.h"#include "0220_palm_edc_ethercat_protocol.h"#include "simple_can/simple_can.h"#include "hardware/spi/spi_32.h"#include "hardware/uart/uart_32.h"#include "internal_reporting/internal_reporting.h"#include "hardware/ports/port_pin.h"#include "hardware/spi/spi_parallel_32.h"#include "hardware/i2c/i2c_32.h"#include "hardware/eeprom/eeprom_i2c.h"#include "hardware/et1200/et1200_interface.h"#include "hardware/et1200/et1200_eeprom_contents.h"#include "hardware/et1200/et1200.h"#include "syntouch/biotac_2_3_parallel.h"#include "pst/pst_parallel.h"#include "itg3200/itg3200.h"#include "leds/leds.h"#include "../support/svnversion.h"
Go to the source code of this file.
Defines | |
| #define | ACCEL_CS_PIN 'G', 9 |
| #define | ALL_LED_BITS_PORTB 0b1000000000000000 |
| #define | ALL_LED_BITS_PORTC 0b0010000000000000 |
| #define | ALL_LED_BITS_PORTD 0b0000000100010001 |
| #define | ALL_LED_BITS_PORTE 0b0000000000000000 |
| #define | ALL_LED_BITS_PORTF 0b0000000000100000 |
| #define | AUTO_TRIGGER 0 |
| Trigger sampling even if there is no EtherCAT activity. Useful for debugging. | |
| #define | CAN_BASE_ADR_MOTORS_RX 0x0300 |
| #define | CAN_BASE_ADR_MOTORS_TX 0x0200 |
| #define | CAN_BUS_SPEED_HZ 1000000 |
| #define | DUAL_CAN_AVAILABLE |
| #define | ET1200_CHIP_SELECT_PIN 'C', 14 |
| #define | ET1200_EEPROM_PIN 'G', 2 |
| #define | ET1200_RESET_PIN 'F', 3 |
| #define | ET1200_SOMI_PIN 'G', 7 |
| #define | ET1200_SPI_CHANNEL 0 |
| #define | FF_SOMI (porte & 0x0004) |
| #define | FIND_FREE_CAN_BUFFER_MAX_TRIES 8 |
| #define | I2C_PORT I2C1, 400000 |
| #define | INCLUDE_IMPLEMENTATION_DETAILS |
| #define | LED_AL_ERR_PIN 'C', 13 |
| #define | LED_CAN1_ERR_PIN 'D', 8 |
| #define | LED_CAN1_RX_PIN 'D', 4 |
| #define | LED_CAN1_TX_PIN 'D', 0 |
| #define | LED_CAN2_ERR_PIN 'F', 5 |
| #define | LED_CAN2_RX_PIN 'B', 15 |
| #define | LED_CAN2_TX_PIN 'F', 4 |
| #define | LF_SOMI (porte & 0x0008) |
| #define | MF_SOMI (porte & 0x0002) |
| #define | NO_STRINGS |
| #define | NUM_LEDS 7 |
| #define | NUM_PINS_PER_PORT 16 |
| #define | NUM_PORTS 7 |
| #define | NUM_SPI_PORTS 2 |
| #define | PALM_PCB_01 |
| #define | PERIPHERAL_BUS_CLOCK_HZ 40000000 |
| #define | PIN_BIT(x) (1<<x) |
| #define | RF_SOMI (porte & 0x0001) |
| #define | SPI2_CS_PIN 'D', 11 |
| #define | SPI_BUF SPI2ABUF |
| #define | SPI_CLOCK_PIN 'D', 6 |
| #define | SPI_CON SPI2ACON |
| #define | SPI_CS_PIN 'D', 7 |
| #define | SPI_MOSI_PIN 'D', 5 |
| #define | SPI_PORT SPI_CHANNEL2A, 10, ET1200_chip_select |
| #define | SPI_STAT SPI2ASTAT |
| #define | SPI_STATbits SPI2ASTATbits |
| #define | SPIP_CHIP_SELECT_DOWN LATDCLR = PIN_BIT(7); |
| #define | SPIP_CHIP_SELECT_UP LATDSET = PIN_BIT(7); |
| #define | SPIP_CLOCK_DOWN LATDCLR = PIN_BIT(6); |
| #define | SPIP_CLOCK_UP LATDSET = PIN_BIT(6); |
| #define | SPIP_INPUT_BIT_0 (porte & 0x0001) |
| #define | SPIP_INPUT_BIT_1 (porte & 0x0002) |
| #define | SPIP_INPUT_BIT_2 (porte & 0x0004) |
| #define | SPIP_INPUT_BIT_3 (porte & 0x0008) |
| #define | SPIP_INPUT_BIT_4 (porte & 0x0010) |
| #define | SPIP_INPUT_BIT_5 (porte & 0x0020) |
| #define | SPIP_INPUT_BIT_6 (porte & 0x0040) |
| #define | SPIP_INPUT_BIT_7 (porte & 0x0080) |
| #define | SPIP_MOSI_DOWN LATDCLR = PIN_BIT(5); |
| #define | SPIP_MOSI_UP LATDSET = PIN_BIT(5); |
| #define | SYSTEM_FREQ_HZ 80000000 |
| #define | TH_SOMI (porte & 0x0040) |
| #define | THIS_NODE_PRODUCT_CODE 0x0006 |
| #define | USE_SIMPLE_PST_CS |
| Use PALM_PCB_00 for the real palm board. | |
Enumerations | |
| enum | ERROR_CODE { CAN_ERROR_CODES, SIMPLE_CAN_ERROR_CODES } |
| enum | EVENT_CODE { CAN_EVENT_CODES } |
Functions | |
| void | bad_CAN_message_seen (void) |
| void | Check_For_EtherCAT_Packet (void) |
| void | Collect_All_CAN_Messages (void) |
| void | delay_ms (int32u milliseconds) |
| void | delay_us (int32u microseconds) |
| void | Fill_Sensor_Data_Structure (I2C_MODULE I2Cm) |
| int32u | get_frame_time_us (void) |
| int8u | get_from_motor_data_type (void) |
| int8u | get_which_motors (void) |
| void | handle_configuration_message (CAN_message *message) |
| void | initialise_this_node (void) |
| void | Read_All_Sensors (void) |
| void | Read_Commands_From_ET1200 (void) |
| void | Send_All_CAN_Messages (void) |
| void | Send_Sensor_Data_Structure (void) |
| void | Service_EtherCAT_Packet (void) |
| void | Translate_SOMI_Bits (void) |
| void | Wait_For_Until_Frame_Time (int32u frame_time_us) |
| void | write_status_data_To_ET1200 (void) |
Variables | |
| ETHERCAT_CAN_BRIDGE_DATA | can_bridge_data_from_ROS |
| ETHERCAT_CAN_BRIDGE_DATA | can_bridge_data_to_ROS |
| int64u | node_id |
| Which group this documentation should go in. | |
| int8u | palm_EDC_0200_sensor_mapping [64] |
Detailed Description
This Node definition for the 0220 Palm EDC node
Definition in file this_node.h.
Define Documentation
| #define ACCEL_CS_PIN 'G', 9 |
Definition at line 269 of file this_node.h.
| #define ALL_LED_BITS_PORTB 0b1000000000000000 |
Definition at line 281 of file this_node.h.
| #define ALL_LED_BITS_PORTC 0b0010000000000000 |
Definition at line 282 of file this_node.h.
| #define ALL_LED_BITS_PORTD 0b0000000100010001 |
Definition at line 283 of file this_node.h.
| #define ALL_LED_BITS_PORTE 0b0000000000000000 |
Definition at line 284 of file this_node.h.
| #define ALL_LED_BITS_PORTF 0b0000000000100000 |
Definition at line 285 of file this_node.h.
| #define AUTO_TRIGGER 0 |
Trigger sampling even if there is no EtherCAT activity. Useful for debugging.
Definition at line 259 of file this_node.h.
| #define CAN_BASE_ADR_MOTORS_RX 0x0300 |
Definition at line 140 of file this_node.h.
| #define CAN_BASE_ADR_MOTORS_TX 0x0200 |
Definition at line 139 of file this_node.h.
| #define CAN_BUS_SPEED_HZ 1000000 |
Definition at line 131 of file this_node.h.
| #define DUAL_CAN_AVAILABLE |
Definition at line 44 of file this_node.h.
| #define ET1200_CHIP_SELECT_PIN 'C', 14 |
Definition at line 261 of file this_node.h.
| #define ET1200_EEPROM_PIN 'G', 2 |
Definition at line 263 of file this_node.h.
| #define ET1200_RESET_PIN 'F', 3 |
Definition at line 262 of file this_node.h.
| #define ET1200_SOMI_PIN 'G', 7 |
Definition at line 268 of file this_node.h.
| #define ET1200_SPI_CHANNEL 0 |
Definition at line 138 of file this_node.h.
| #define FF_SOMI (porte & 0x0004) |
Definition at line 297 of file this_node.h.
| #define FIND_FREE_CAN_BUFFER_MAX_TRIES 8 |
Definition at line 141 of file this_node.h.
| #define I2C_PORT I2C1, 400000 |
Definition at line 279 of file this_node.h.
| #define INCLUDE_IMPLEMENTATION_DETAILS |
The INCLUDE_IMPLEMENTATION_DETAILS define exposes implementation details to this_node.h
All other code should not be exposed to implementation details.
Definition at line 69 of file this_node.h.
| #define LED_AL_ERR_PIN 'C', 13 |
Definition at line 276 of file this_node.h.
| #define LED_CAN1_ERR_PIN 'D', 8 |
Definition at line 272 of file this_node.h.
| #define LED_CAN1_RX_PIN 'D', 4 |
Definition at line 271 of file this_node.h.
| #define LED_CAN1_TX_PIN 'D', 0 |
Definition at line 270 of file this_node.h.
| #define LED_CAN2_ERR_PIN 'F', 5 |
Definition at line 275 of file this_node.h.
| #define LED_CAN2_RX_PIN 'B', 15 |
Definition at line 274 of file this_node.h.
| #define LED_CAN2_TX_PIN 'F', 4 |
Definition at line 273 of file this_node.h.
| #define LF_SOMI (porte & 0x0008) |
Definition at line 300 of file this_node.h.
| #define MF_SOMI (porte & 0x0002) |
Definition at line 298 of file this_node.h.
| #define NO_STRINGS |
Definition at line 60 of file this_node.h.
| #define NUM_LEDS 7 |
Definition at line 135 of file this_node.h.
| #define NUM_PINS_PER_PORT 16 |
Definition at line 134 of file this_node.h.
| #define NUM_PORTS 7 |
Definition at line 133 of file this_node.h.
| #define NUM_SPI_PORTS 2 |
Definition at line 136 of file this_node.h.
| #define PALM_PCB_01 |
Use PALM_PCB_00 for the old prototype board.
Definition at line 188 of file this_node.h.
| #define PERIPHERAL_BUS_CLOCK_HZ 40000000 |
Definition at line 130 of file this_node.h.
| #define PIN_BIT | ( | x | ) | (1<<x) |
Definition at line 303 of file this_node.h.
| #define RF_SOMI (porte & 0x0001) |
Definition at line 299 of file this_node.h.
| #define SPI2_CS_PIN 'D', 11 |
Definition at line 264 of file this_node.h.
| #define SPI_BUF SPI2ABUF |
Definition at line 314 of file this_node.h.
| #define SPI_CLOCK_PIN 'D', 6 |
Definition at line 266 of file this_node.h.
| #define SPI_CON SPI2ACON |
Definition at line 316 of file this_node.h.
| #define SPI_CS_PIN 'D', 7 |
Definition at line 265 of file this_node.h.
| #define SPI_MOSI_PIN 'D', 5 |
Definition at line 267 of file this_node.h.
| #define SPI_PORT SPI_CHANNEL2A, 10, ET1200_chip_select |
Definition at line 278 of file this_node.h.
| #define SPI_STAT SPI2ASTAT |
Definition at line 315 of file this_node.h.
| #define SPI_STATbits SPI2ASTATbits |
Definition at line 317 of file this_node.h.
| #define SPIP_CHIP_SELECT_DOWN LATDCLR = PIN_BIT(7); |
Definition at line 306 of file this_node.h.
| #define SPIP_CHIP_SELECT_UP LATDSET = PIN_BIT(7); |
Definition at line 305 of file this_node.h.
| #define SPIP_CLOCK_DOWN LATDCLR = PIN_BIT(6); |
Definition at line 309 of file this_node.h.
| #define SPIP_CLOCK_UP LATDSET = PIN_BIT(6); |
Definition at line 308 of file this_node.h.
| #define SPIP_INPUT_BIT_0 (porte & 0x0001) |
Definition at line 288 of file this_node.h.
| #define SPIP_INPUT_BIT_1 (porte & 0x0002) |
Definition at line 289 of file this_node.h.
| #define SPIP_INPUT_BIT_2 (porte & 0x0004) |
Definition at line 290 of file this_node.h.
| #define SPIP_INPUT_BIT_3 (porte & 0x0008) |
Definition at line 291 of file this_node.h.
| #define SPIP_INPUT_BIT_4 (porte & 0x0010) |
Definition at line 292 of file this_node.h.
| #define SPIP_INPUT_BIT_5 (porte & 0x0020) |
Definition at line 293 of file this_node.h.
| #define SPIP_INPUT_BIT_6 (porte & 0x0040) |
Definition at line 294 of file this_node.h.
| #define SPIP_INPUT_BIT_7 (porte & 0x0080) |
Definition at line 295 of file this_node.h.
| #define SPIP_MOSI_DOWN LATDCLR = PIN_BIT(5); |
Definition at line 312 of file this_node.h.
| #define SPIP_MOSI_UP LATDSET = PIN_BIT(5); |
Definition at line 311 of file this_node.h.
| #define SYSTEM_FREQ_HZ 80000000 |
Definition at line 129 of file this_node.h.
| #define TH_SOMI (porte & 0x0040) |
Definition at line 301 of file this_node.h.
| #define THIS_NODE_PRODUCT_CODE 0x0006 |
Definition at line 123 of file this_node.h.
| #define USE_SIMPLE_PST_CS |
Use PALM_PCB_00 for the real palm board.
Definition at line 258 of file this_node.h.
Enumeration Type Documentation
| enum ERROR_CODE |
Used for reporting error events, or a change in error state. E.G. the change from CAN1_HAPPY to CAN1_SAD Error and event codes relevant to CAN are defined in the shadow_can.h etc. this enum simply collects together the error codes relevant to this node.
Definition at line 94 of file this_node.h.
| enum EVENT_CODE |
Used for reporting general events, or a change in state. E.G. the change from Idle mode to Active mode Error and event codes relevant to CAN are defined in the shadow_can.h etc. this enum simply collects together the event codes relevant to this node.
Definition at line 107 of file this_node.h.
Function Documentation
| void bad_CAN_message_seen | ( | void | ) |
| void Check_For_EtherCAT_Packet | ( | void | ) |
Ask the ET1200 if an EtherCAT packet arrived. If so, get it serviced. Also, handle the LEDs etc if they need doing.
Definition at line 514 of file this_node.c.
| void Collect_All_CAN_Messages | ( | void | ) |
Correct length pause, which works by watching the CP0 COUNT register. This code handles one rollover, so, as long as the delay isn't more than 107 seconds, you should be OK.
- Parameters:
-
milliseconds The number of microseconds to pause for
Definition at line 825 of file this_node.c.
Correct length pause, which works by watching the CP0 COUNT register.
- Parameters:
-
microseconds The number of microseconds to pause for
Definition at line 805 of file this_node.c.
| void Fill_Sensor_Data_Structure | ( | I2C_MODULE | I2Cm | ) |
| int32u get_frame_time_us | ( | void | ) |
Return the time in microseconds since the the beginning of the current 1ms frame. The timer is started when the PIC sees that new Command data are available.
Definition at line 326 of file this_node.c.
| int8u get_from_motor_data_type | ( | void | ) |
| int8u get_which_motors | ( | void | ) |
| void handle_configuration_message | ( | CAN_message * | message | ) |
| void initialise_this_node | ( | void | ) |
Initialise the hardware of this node. I/O pins SPI I2C LEDs ET1200 interface ET1200 CAN buses parallel SPI tactile sensors
Definition at line 162 of file this_node.c.
| void Read_All_Sensors | ( | void | ) |
Read all of the Joint and Tactile sensors on the Palm
Definition at line 394 of file this_node.c.
| void Read_Commands_From_ET1200 | ( | void | ) |
Definition at line 261 of file this_node.c.
| void Send_All_CAN_Messages | ( | void | ) |
| void Send_Sensor_Data_Structure | ( | void | ) |
| void Service_EtherCAT_Packet | ( | void | ) |
This is the main function of the whole node. It's called every time an EtherCAT packet arrives.
Definition at line 550 of file this_node.c.
| void Translate_SOMI_Bits | ( | void | ) |
| void Wait_For_Until_Frame_Time | ( | int32u | frame_time_us | ) |
Wait until a certain time within the 1000us frame time. This is a useful function for waiting until the last moment to see if any more CAN messages arrive, before writing data back to the ET1200.
Frame time is in microseconds, starting at 0 when the EtherCAT packet arrives, and should never be seen to go beyond 1000, when the next EtherCAT packet should arrive.
- Parameters:
-
frame_time_us The frame time in microseconds.
Definition at line 369 of file this_node.c.
| void write_status_data_To_ET1200 | ( | void | ) | [inline] |
Write the whole etherCAT_status_data[] array to the ET1200. Once these data are written, we are ready for the next EtherCAT packet to arrive, and the idle timer starts.
Definition at line 277 of file this_node.c.
Variable Documentation
| ETHERCAT_CAN_BRIDGE_DATA can_bridge_data_from_ROS |
Definition at line 52 of file this_node.c.
| ETHERCAT_CAN_BRIDGE_DATA can_bridge_data_to_ROS |
Definition at line 53 of file this_node.c.
Which group this documentation should go in.
Definition at line 44 of file this_node.c.
Definition at line 75 of file this_node.c.