rev: оставлени минимум, необходимый для запуска ESC и переноса в ПЗИ
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@ -131,7 +131,7 @@
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</option>
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<option id="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION.709225531" name="Compiler version" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION" value="20.2.7.LTS" valueType="string"/>
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<targetPlatform id="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.targetPlatformDebug.194958588" name="Platform" superClass="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.targetPlatformDebug"/>
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<builder buildPath="${BuildDirectory}" id="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.builderDebug.1122592557" keepEnvironmentInBuildfile="false" name="GNU Make" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.builderDebug"/>
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<tool id="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.compilerDebug.270880711" name="Arm Compiler" superClass="com.ti.ccstudio.buildDefinitions.TMS470_20.2.exe.compilerDebug">
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<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_20.2.compilerID.DIAG_WARNING.1929093725" name="Treat diagnostic <id> as warning (--diag_warning, -pdsw)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_20.2.compilerID.DIAG_WARNING" useByScannerDiscovery="false" valueType="stringList">
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@ -1,4 +1,11 @@
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eclipse.preferences.version=1
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encoding//FLASH/device/subdir_rules.mk=UTF-8
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encoding//FLASH/device/subdir_vars.mk=UTF-8
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encoding//FLASH/makefile=UTF-8
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encoding//FLASH/objects.mk=UTF-8
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encoding//FLASH/sources.mk=UTF-8
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encoding//FLASH/subdir_rules.mk=UTF-8
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encoding//FLASH/subdir_vars.mk=UTF-8
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encoding//RAM/device/subdir_rules.mk=UTF-8
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encoding//RAM/device/subdir_vars.mk=UTF-8
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encoding//RAM/makefile=UTF-8
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40
cia402appl.c
40
cia402appl.c
@ -65,7 +65,6 @@ V4.30 : create file (state machine; handling state transition options; input fee
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#include "cia402appl.h"
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#undef _CiA402_
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//#include <DebugP.h>
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/*--------------------------------------------------------------------------------------
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------
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@ -1397,48 +1396,45 @@ void APPL_Application(void)
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\brief This is the main function
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*////////////////////////////////////////////////////////////////////////////////////////
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int main(void) // TODO: main()
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{
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/* initialize the Hardware and the EtherCAT Slave Controller */
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HW_Init();
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///< инициализация hard of CM
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ESC_initHW();
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/*
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* FIXME : мои настройки и проверки
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*/
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// HW_SetLed(TRUE, TRUE); ///< AMG Этих LED/pins нет в rev.1
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/*
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* Register MII Management Control/Status (0x0510:0x0511)
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* 7:3
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*/
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///< Запись PHY адреса
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uint16_t reg1;
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ESC_writeWordISR(0x8002, ESC_MII_CTRL_STATUS_1_OFFSET); ///< разблокировать запись в 0х0512
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// Register PHY Register Address (0x0513)
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ESC_writeWordISR(0x01, ESC_PHY_REG_ADDRESS_OFFSET);
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reg1 = ESC_readWord(ESC_PHY_REG_ADDRESS_OFFSET);
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// запись нового адреса 0x04
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reg1 = ESC_readWord(ESC_PHY_ADDRESS_OFFSET);
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ESC_writeWordISR(0x18, ESC_PHY_ADDRESS_OFFSET);
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reg1 = ESC_readWord(ESC_PHY_ADDRESS_OFFSET);
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// port rgisters
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uint8_t reg2 = ESC_readWord(0x07);
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///** Пример из С2000
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// ESC_writeWordISR(0x0D00, ESC_PHY_REG_ADDRESS_OFFSET); //0x0D for CM, set extended PHY register control
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// ESC_writeWordISR(0x0D00, ESC_PHY_REG_ADDRESS_OFFSET); // 0x0D for CM, set extended PHY register control
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// ESC_writeWordISR(0x0007, ESC_PHY_DATA_OFFSET); // DEVAD for MMD7
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); //write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0E00, ESC_PHY_REG_ADDRESS_OFFSET); //0x0E for CM, set extended PHY Data register
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// ESC_writeWordISR(0x003D, ESC_PHY_DATA_OFFSET); // PHY extended register address
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); //write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0D00, ESC_PHY_REG_ADDRESS_OFFSET); //0x0D for CM, set extended PHY register control
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// ESC_writeWordISR(0x4007, ESC_PHY_DATA_OFFSET); // change to Data in REGCR Bit 15:14
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); //write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0E00, ESC_PHY_REG_ADDRESS_OFFSET); //0x0E for CM, set extended PHY Data register
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// ESC_writeWord(0x0100, ESC_MII_CTRL_STATUS_1_OFFSET); //Read command for C28x, status_2_offset register for CM
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); // write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0E00, ESC_PHY_REG_ADDRESS_OFFSET); // 0x0E for CM, set extended PHY Data register
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// ESC_writeWordISR(0x003D, ESC_PHY_DATA_OFFSET); // PHY extended register address
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); // write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0D00, ESC_PHY_REG_ADDRESS_OFFSET); // 0x0D for CM, set extended PHY register control
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// ESC_writeWordISR(0x4007, ESC_PHY_DATA_OFFSET); // change to Data in REGCR Bit 15:14
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// ESC_writeWord(0x0200, ESC_MII_CTRL_STATUS_1_OFFSET); // write command for C28x, status_2_offset register for CM
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// ESC_writeWordISR(0x0E00, ESC_PHY_REG_ADDRESS_OFFSET); // 0x0E for CM, set extended PHY Data register
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// ESC_writeWord(0x0100, ESC_MII_CTRL_STATUS_1_OFFSET); // Read command for C28x, status_2_offset register for CM
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//---------------------------------------------------------------------
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//** Инициализация словарей
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/* Инициализация словарей */
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MainInit();
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/*Initialize Axes structures*/
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@ -12,35 +12,8 @@
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// $Release Date: Fri Nov 17 18:58:50 IST 2023 $
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// $Copyright:
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// Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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// Файл зачищенный и заточенный под ПЧ2П board rev.1 2024(C)
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//###########################################################################
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//
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@ -48,6 +21,8 @@
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//
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#include "ethercat_slave_cm_hal.h"
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#undef PDI_HAL_TEST
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#ifdef PDI_HAL_TEST
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//
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@ -68,8 +43,7 @@ static uint32_t ESC_readBlockData[ESC_HAL_TEST_BLOCK_LENGTH / 4U];
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// ESC_getTimer
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//
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//*****************************************************************************
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uint32_t
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ESC_getTimer(void)
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uint32_t ESC_getTimer(void)
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{
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//
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// Return 1's compliment of the CPU timer
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@ -82,8 +56,7 @@ ESC_getTimer(void)
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// ESC_clearTimer
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//
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//*****************************************************************************
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void
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ESC_clearTimer(void)
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void ESC_clearTimer(void)
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{
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//
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// Set the timer period count
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@ -101,8 +74,7 @@ ESC_clearTimer(void)
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// ESC_timerIncPerMilliSec
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//
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//*****************************************************************************
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uint32_t
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ESC_timerIncPerMilliSec(void)
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uint32_t ESC_timerIncPerMilliSec(void)
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{
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//
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// Returns value based on core frequency of 125MHz.
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@ -1023,29 +995,18 @@ ESC_releaseESCReset(void)
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// ESC_initHW
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//
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//*****************************************************************************
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uint16_t
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ESC_initHW(void)
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uint16_t ESC_initHW(void)
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{
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//
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// Set application-specific timeout for waiting for EEPROM to load
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// and one for waiting for memory initialization
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// (End user can adjust as needed)
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//
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uint16_t eepromTimeOut = 0x1000U;
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uint16_t memoryTimeOut = 0x300U;
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//
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// Initialize CM - Disable watchdog, enable peripherals
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// (Device clocking setup by CPU1)
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//
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CM_init();
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//
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// Initialize ESC GPIOs
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//
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// Already setup and initialized by CPU1
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//
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//
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// Register EtherCAT Interrupt Handlers
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//
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@ -1067,39 +1028,19 @@ ESC_initHW(void)
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CPUTimer_setPreScaler(CPUTIMER0_BASE, 0U);
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CPUTimer_startTimer(CPUTIMER0_BASE);
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#ifdef PDI_HAL_TEST
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//
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// Enable Pass, fail signals for HAL PDI Test
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//
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ESC_passFailSignalSetup();
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#endif // PDI_HAL_TEST
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//
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// Configure EEPROM Size for 16K bits or less
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//
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ESCSS_configureEEPROMSize(ESC_SS_CONFIG_BASE, ESCSS_LESS_THAN_16K);
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//
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// Reset ESC
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//
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ESC_resetESC();
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#ifdef PDI_HAL_TEST
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//
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// Enable the debug access
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//
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while((HWREGH(ESC_SS_BASE + ESCSS_O_ACCESS_CTRL) &
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ESCSS_ACCESS_CTRL_ENABLE_DEBUG_ACCESS) !=
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ESCSS_ACCESS_CTRL_ENABLE_DEBUG_ACCESS)
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{
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ESCSS_enableDebugAccess(ESC_SS_BASE);
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}
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#endif // PDI_HAL_TEST
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//
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// Initialize ESCSS Memory
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//
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ESCSS_initMemory(ESC_SS_BASE);
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///< ПОСЛЕ ЭТОГО ЗАПУСКАЕТСЯ ESC >>>>>>>>>> !!!
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//
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// Wait for ESCSS memory initialization to complete
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@ -1161,8 +1102,7 @@ ESC_initHW(void)
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// ESC_releaseHW
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//
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//*****************************************************************************
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void
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ESC_releaseHW(void)
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void ESC_releaseHW(void)
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{
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//
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// Intentionally empty - Implementation is left to the end user
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@ -1237,6 +1177,6 @@ ESC_applicationSync1Handler(void)
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ESCSS_clearRawInterruptStatus(ESC_SS_BASE, ESCSS_INTR_CLR_SYNC1_CLR);
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}
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//
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// End of File
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//
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//-----------------------------------------------------------------
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// End of File
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//-----------------------------------------------------------------
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