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90 lines
3.1 KiB
C++
90 lines
3.1 KiB
C++
#include "DSP2833x_Device.h"
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#include "DSP28x_Project.h"
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#include "Protocol/CAN.h"
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#include "Protocol/CAN_data.h"
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#include "Protocol/DigitalIO.h"
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#include "Protocol/MemoryMap.h"
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#include "Periphery.h"
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Periphery::Periphery() :
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_canb(canSpace::CANA),
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_digitalIO(),
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_zone6_ptr(reinterpret_cast<Uint16*>(0x100000)),
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_modbusSettingsMsg(),
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_modbusInit(false)
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{
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_softVersion.DSP = 202;
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_softVersion.CPLD = 0;
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}
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void Periphery::config(){
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//--------------------------------------Init CAN interface----------------------------------------------------------
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_canb.initGpio();
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_canb.config();
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// Data Frame MBOX
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_canb.configRxMBox(canSpace::MODBUS_SETTINGS_MBOX, canSpace::MsgID(0x0), canSpace::MsgCtrlReg(0x6)); // Modbus settings
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// _canb.configTxMBox(canSpace::MODBUS_DATA_COMM_TO_CPU_MBOX, canSpace::MsgID(0x29), canSpace::MsgCtrlReg(0x26)); // Send Modbus data to CPU
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// _canb.configRxMBox(canSpace::MODBUS_DATA_CPU_TO_COMM_MBOX, canSpace::MsgID(0x28), canSpace::MsgCtrlReg(0x6)); // Receive Modbus data from CPU
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_canb.configTxMBox(canSpace::DIGITAL_INPUT_MBOX, canSpace::MsgID(0x30), canSpace::MsgCtrlReg(0x2)); // Receive DI
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_canb.configRxMBox(canSpace::DIGITAL_OUTPUT_MBOX, canSpace::MsgID(0x31), canSpace::MsgCtrlReg(0x2)); // Send DO
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// Remote frame MBOX
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_canb.configTxMBox(canSpace::COMM_VERSION_MBOX, canSpace::MsgID(0x1, false, true), canSpace::MsgCtrlReg(0));
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// Interrupts
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_canb.configSystemIsr(canSpace::I0EN_ENABLE |
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canSpace::EPIM_ENABLE | canSpace::WLIM_ENABLE | canSpace::AAIM_ENABLE);
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//--------------------------------------Init XINTF interface----------------------------------------------------------
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InitXintf();
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//---------------------------------------Init DIO interface----------------------------------------------------------
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_digitalIO.setup(_zone6_ptr);
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_digitalIO.setMemoryOffset(interface::DISCRETE_DATA_OFFSET);
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}
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Uint16 Periphery::getVersionFPGA(){
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Uint16 data;
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data = *_zone6_ptr + interface::SOFT_VERSION_OFFSET;
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return data;
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}
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void Periphery::updateVersionFPGA(){
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_softVersion.CPLD = getVersionFPGA() & 0x3FF; // no more than 1023 (9.9.9) should be limit
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_message.mdl.word.LOW_WORD = _softVersion.DSP;
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_message.mdl.word.HI_WORD = _softVersion.CPLD;
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_canb.updateTXMessage(canSpace::COMM_VERSION_MBOX, _message);
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}
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void Periphery::processDigitalInput(){
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Uint16 data = 0;
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_digitalIO.readDigitalIO(data);
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_canb.transmitMsg(canSpace::DIGITAL_INPUT_MBOX, (data));
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}
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void Periphery::processDigitalOutput(){
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if(_canb.isNewMessage(canSpace::DIGITAL_OUTPUT_MBOX)){
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_canb.receiveMsg(canSpace::DIGITAL_OUTPUT_MBOX, _message);
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Uint16 data = _message.mdl.word.LOW_WORD;
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_digitalIO.writeDigitalIO(data);
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}
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}
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void Periphery::initExternalModbus(){
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if (!_modbusInit && (_canb.isNewMessage(canSpace::MODBUS_SETTINGS_MBOX))) {
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_canb.receiveMsg(canSpace::MODBUS_SETTINGS_MBOX, _modbusSettingsMsg);
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_modbusInit = true; // TODO modbus init function must be here
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}
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}
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