├── .gitignore ├── .gitignore └── vscode.gitignore ├── GSD ├── lego0005.bmp ├── lego0005.gsd ├── mega0004.bmp └── mega0004.gsd ├── LICENSE ├── PROFIBUS - Software Stack.png ├── PROFIBUS - Virtual IO-Device.png ├── PROFIBUS_DP.c ├── PROFIBUS_DP.mexw64 ├── PROFIBUS_DP.tlc ├── PROFIBUS_DP_Stack ├── PROFIBUS_DP_Fail_Safe.c ├── PROFIBUS_DP_Fail_Safe.h ├── PROFIBUS_DP_Settings.h ├── PROFIBUS_DP_Stack.c ├── PROFIBUS_DP_Stack.h ├── PROFIBUS_DP_V0.c ├── PROFIBUS_DP_V0.h ├── PROFIBUS_DP_V1.c ├── PROFIBUS_DP_V1.h ├── TimerOne.cpp ├── TimerOne.h ├── hs.c └── hs.h ├── PROFIBUS_DP_wrapper.c └── README.md /.gitignore/.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled source # 2 | ################### 3 | *.mexw64 4 | -------------------------------------------------------------------------------- /.gitignore/vscode.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/* 2 | !.vscode/settings.json 3 | !.vscode/tasks.json 4 | !.vscode/launch.json 5 | !.vscode/extensions.json -------------------------------------------------------------------------------- /GSD/lego0005.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/GSD/lego0005.bmp -------------------------------------------------------------------------------- /GSD/lego0005.gsd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/GSD/lego0005.gsd -------------------------------------------------------------------------------- /GSD/mega0004.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/GSD/mega0004.bmp -------------------------------------------------------------------------------- /GSD/mega0004.gsd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/GSD/mega0004.gsd -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | profibus-dp-software-stack 635 | Copyright (C) 2019 Frederic Depuydt 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | profibus-dp-software-stack Copyright (C) 2019 Frederic Depuydt 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /PROFIBUS - Software Stack.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/PROFIBUS - Software Stack.png -------------------------------------------------------------------------------- /PROFIBUS - Virtual IO-Device.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/PROFIBUS - Virtual IO-Device.png -------------------------------------------------------------------------------- /PROFIBUS_DP.c: -------------------------------------------------------------------------------- 1 | /* 2 | * File: PROFIBUS_DP.c 3 | * 4 | * 5 | * --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 --- 6 | * 7 | * This file is an S-function produced by the S-Function 8 | * Builder which only recognizes certain fields. Changes made 9 | * outside these fields will be lost the next time the block is 10 | * used to load, edit, and resave this file. This file will be overwritten 11 | * by the S-function Builder block. If you want to edit this file by hand, 12 | * you must change it only in the area defined as: 13 | * 14 | * %%%-SFUNWIZ_defines_Changes_BEGIN 15 | * #define NAME 'replacement text' 16 | * %%% SFUNWIZ_defines_Changes_END 17 | * 18 | * DO NOT change NAME--Change the 'replacement text' only. 19 | * 20 | * For better compatibility with the Simulink Coder, the 21 | * "wrapper" S-function technique is used. This is discussed 22 | * in the Simulink Coder's Manual in the Chapter titled, 23 | * "Wrapper S-functions". 24 | * 25 | * ------------------------------------------------------------------------- 26 | * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template | 27 | * ------------------------------------------------------------------------- 28 | * 29 | * Created: Fri Jun 08 15:55:15 2018 30 | */ 31 | 32 | #define S_FUNCTION_LEVEL 2 33 | #define S_FUNCTION_NAME PROFIBUS_DP 34 | /*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/ 35 | /* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */ 36 | #define NUM_INPUTS 2 37 | /* Input Port 0 */ 38 | #define IN_PORT_0_NAME Ready_for_DE 39 | #define INPUT_0_WIDTH 1 40 | #define INPUT_DIMS_0_COL 1 41 | #define INPUT_0_DTYPE uint8_T 42 | #define INPUT_0_COMPLEX COMPLEX_NO 43 | #define IN_0_FRAME_BASED FRAME_NO 44 | #define IN_0_BUS_BASED 0 45 | #define IN_0_BUS_NAME 46 | #define IN_0_DIMS 1-D 47 | #define INPUT_0_FEEDTHROUGH 1 48 | #define IN_0_ISSIGNED 0 49 | #define IN_0_WORDLENGTH 8 50 | #define IN_0_FIXPOINTSCALING 1 51 | #define IN_0_FRACTIONLENGTH 9 52 | #define IN_0_BIAS 0 53 | #define IN_0_SLOPE 0.125 54 | /* Input Port 1 */ 55 | #define IN_PORT_1_NAME Inputs 56 | #define INPUT_1_WIDTH DYNAMICALLY_SIZED 57 | #define INPUT_DIMS_1_COL 1 58 | #define INPUT_1_DTYPE uint8_T 59 | #define INPUT_1_COMPLEX COMPLEX_NO 60 | #define IN_1_FRAME_BASED FRAME_NO 61 | #define IN_1_BUS_BASED 0 62 | #define IN_1_BUS_NAME 63 | #define IN_1_DIMS 1-D 64 | #define INPUT_1_FEEDTHROUGH 1 65 | #define IN_1_ISSIGNED 0 66 | #define IN_1_WORDLENGTH 8 67 | #define IN_1_FIXPOINTSCALING 1 68 | #define IN_1_FRACTIONLENGTH 9 69 | #define IN_1_BIAS 0 70 | #define IN_1_SLOPE 0.125 71 | 72 | #define NUM_OUTPUTS 3 73 | /* Output Port 0 */ 74 | #define OUT_PORT_0_NAME DP_Slave_State 75 | #define OUTPUT_0_WIDTH 1 76 | #define OUTPUT_DIMS_0_COL 1 77 | #define OUTPUT_0_DTYPE uint8_T 78 | #define OUTPUT_0_COMPLEX COMPLEX_NO 79 | #define OUT_0_FRAME_BASED FRAME_NO 80 | #define OUT_0_BUS_BASED 0 81 | #define OUT_0_BUS_NAME 82 | #define OUT_0_DIMS 1-D 83 | #define OUT_0_ISSIGNED 1 84 | #define OUT_0_WORDLENGTH 8 85 | #define OUT_0_FIXPOINTSCALING 1 86 | #define OUT_0_FRACTIONLENGTH 3 87 | #define OUT_0_BIAS 0 88 | #define OUT_0_SLOPE 0.125 89 | /* Output Port 1 */ 90 | #define OUT_PORT_1_NAME Outputs 91 | #define OUTPUT_1_WIDTH DYNAMICALLY_SIZED 92 | #define OUTPUT_DIMS_1_COL 1 93 | #define OUTPUT_1_DTYPE uint8_T 94 | #define OUTPUT_1_COMPLEX COMPLEX_NO 95 | #define OUT_1_FRAME_BASED FRAME_NO 96 | #define OUT_1_BUS_BASED 0 97 | #define OUT_1_BUS_NAME 98 | #define OUT_1_DIMS 1-D 99 | #define OUT_1_ISSIGNED 1 100 | #define OUT_1_WORDLENGTH 8 101 | #define OUT_1_FIXPOINTSCALING 1 102 | #define OUT_1_FRACTIONLENGTH 3 103 | #define OUT_1_BIAS 0 104 | #define OUT_1_SLOPE 0.125 105 | /* Output Port 2 */ 106 | #define OUT_PORT_2_NAME Parameters 107 | #define OUTPUT_2_WIDTH DYNAMICALLY_SIZED 108 | #define OUTPUT_DIMS_2_COL 1 109 | #define OUTPUT_2_DTYPE uint8_T 110 | #define OUTPUT_2_COMPLEX COMPLEX_NO 111 | #define OUT_2_FRAME_BASED FRAME_NO 112 | #define OUT_2_BUS_BASED 0 113 | #define OUT_2_BUS_NAME 114 | #define OUT_2_DIMS 1-D 115 | #define OUT_2_ISSIGNED 1 116 | #define OUT_2_WORDLENGTH 8 117 | #define OUT_2_FIXPOINTSCALING 1 118 | #define OUT_2_FRACTIONLENGTH 3 119 | #define OUT_2_BIAS 0 120 | #define OUT_2_SLOPE 0.125 121 | 122 | #define NPARAMS 4 123 | /* Parameter 1 */ 124 | #define PARAMETER_0_NAME Initial_DP_Address 125 | #define PARAMETER_0_DTYPE uint8_T 126 | #define PARAMETER_0_COMPLEX COMPLEX_NO 127 | /* Parameter 2 */ 128 | #define PARAMETER_1_NAME Number_Of_Inputs 129 | #define PARAMETER_1_DTYPE uint8_T 130 | #define PARAMETER_1_COMPLEX COMPLEX_NO 131 | /* Parameter 3 */ 132 | #define PARAMETER_2_NAME Number_Of_Outputs 133 | #define PARAMETER_2_DTYPE uint8_T 134 | #define PARAMETER_2_COMPLEX COMPLEX_NO 135 | /* Parameter 4 */ 136 | #define PARAMETER_3_NAME Number_Of_Parameters 137 | #define PARAMETER_3_DTYPE uint8_T 138 | #define PARAMETER_3_COMPLEX COMPLEX_NO 139 | 140 | #define SAMPLE_TIME_0 INHERITED_SAMPLE_TIME 141 | #define NUM_DISC_STATES 0 142 | #define DISC_STATES_IC [0] 143 | #define NUM_CONT_STATES 0 144 | #define CONT_STATES_IC [0] 145 | 146 | #define SFUNWIZ_GENERATE_TLC 1 147 | #define SOURCEFILES "__SFB__" 148 | #define PANELINDEX 8 149 | #define USE_SIMSTRUCT 0 150 | #define SHOW_COMPILE_STEPS 1 151 | #define CREATE_DEBUG_MEXFILE 0 152 | #define SAVE_CODE_ONLY 0 153 | #define SFUNWIZ_REVISION 3.0 154 | /* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */ 155 | /*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/ 156 | #include "simstruc.h" 157 | 158 | #define PARAM_DEF0(S) ssGetSFcnParam(S, 0) 159 | #define PARAM_DEF1(S) ssGetSFcnParam(S, 1) 160 | #define PARAM_DEF2(S) ssGetSFcnParam(S, 2) 161 | #define PARAM_DEF3(S) ssGetSFcnParam(S, 3) 162 | 163 | #define IS_PARAM_UINT8(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\ 164 | !mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsUint8(pVal)) 165 | 166 | extern void PROFIBUS_DP_Outputs_wrapper(const uint8_T *Ready_for_DE, 167 | const uint8_T *Inputs, 168 | uint8_T *DP_Slave_State, 169 | uint8_T *Outputs, 170 | uint8_T *Parameters, 171 | const uint8_T *Initial_DP_Address, 172 | const uint8_T *Number_Of_Inputs, 173 | const uint8_T *Number_Of_Outputs, 174 | const uint8_T *Number_Of_Parameters); 175 | 176 | /*====================* 177 | * S-function methods * 178 | *====================*/ 179 | #define MDL_CHECK_PARAMETERS 180 | #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE) 181 | /* Function: mdlCheckParameters ============================================= 182 | * Abstract: 183 | * Validate our parameters to verify they are okay. 184 | */ 185 | static void mdlCheckParameters(SimStruct *S) 186 | { 187 | int paramIndex = 0; 188 | bool validParam = false; 189 | /* All parameters must match the S-function Builder Dialog */ 190 | 191 | 192 | { 193 | const mxArray *pVal0 = ssGetSFcnParam(S,0); 194 | if (!IS_PARAM_UINT8(pVal0)) { 195 | validParam = true; 196 | paramIndex = 0; 197 | goto EXIT_POINT; 198 | } 199 | } 200 | 201 | { 202 | const mxArray *pVal1 = ssGetSFcnParam(S,1); 203 | if (!IS_PARAM_UINT8(pVal1)) { 204 | validParam = true; 205 | paramIndex = 1; 206 | goto EXIT_POINT; 207 | } 208 | } 209 | 210 | { 211 | const mxArray *pVal2 = ssGetSFcnParam(S,2); 212 | if (!IS_PARAM_UINT8(pVal2)) { 213 | validParam = true; 214 | paramIndex = 2; 215 | goto EXIT_POINT; 216 | } 217 | } 218 | 219 | { 220 | const mxArray *pVal3 = ssGetSFcnParam(S,3); 221 | if (!IS_PARAM_UINT8(pVal3)) { 222 | validParam = true; 223 | paramIndex = 3; 224 | goto EXIT_POINT; 225 | } 226 | } 227 | 228 | EXIT_POINT: 229 | if (validParam) { 230 | char parameterErrorMsg[1024]; 231 | sprintf(parameterErrorMsg, "The data type and or complexity of parameter %d does not match the " 232 | "information specified in the S-function Builder dialog. " 233 | "For non-double parameters you will need to cast them using int8, int16, " 234 | "int32, uint8, uint16, uint32 or boolean.", paramIndex + 1); 235 | ssSetErrorStatus(S,parameterErrorMsg); 236 | } 237 | return; 238 | } 239 | #endif /* MDL_CHECK_PARAMETERS */ 240 | /* Function: mdlInitializeSizes =============================================== 241 | * Abstract: 242 | * Setup sizes of the various vectors. 243 | */ 244 | static void mdlInitializeSizes(SimStruct *S) 245 | { 246 | 247 | DECL_AND_INIT_DIMSINFO(inputDimsInfo); 248 | DECL_AND_INIT_DIMSINFO(outputDimsInfo); 249 | ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */ 250 | #if defined(MATLAB_MEX_FILE) 251 | if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { 252 | mdlCheckParameters(S); 253 | if (ssGetErrorStatus(S) != NULL) { 254 | return; 255 | } 256 | } else { 257 | return; /* Parameter mismatch will be reported by Simulink */ 258 | } 259 | #endif 260 | 261 | ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); 262 | 263 | ssSetNumContStates(S, NUM_CONT_STATES); 264 | ssSetNumDiscStates(S, NUM_DISC_STATES); 265 | 266 | 267 | if (!ssSetNumInputPorts(S, NUM_INPUTS)) return; 268 | /*Input Port 0 */ 269 | ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); /* */ 270 | ssSetInputPortDataType(S, 0, SS_UINT8); 271 | ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX); 272 | ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH); 273 | ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/ 274 | 275 | /*Input Port 1 */ 276 | if (!ssSetInputPortDimensionInfo(S, 1, DYNAMIC_DIMENSION)) return; 277 | //ssSetInputPortWidth(S, 1, INPUT_1_WIDTH); 278 | ssSetInputPortDataType(S, 1, SS_UINT8); 279 | ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX); 280 | ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH); 281 | ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/ 282 | _ssSetInputPortNumDimensions(S, 1, INPUT_DIMS_1_COL); 283 | 284 | if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; 285 | /* Output Port 0 */ 286 | ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); 287 | ssSetOutputPortDataType(S, 0, SS_UINT8); 288 | ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); 289 | /* Output Port 1 */ 290 | if (!ssSetOutputPortDimensionInfo(S, 1, DYNAMIC_DIMENSION)) return; 291 | //ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH); 292 | ssSetOutputPortDataType(S, 1, SS_UINT8); 293 | ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX); 294 | _ssSetOutputPortNumDimensions(S, 1, OUTPUT_DIMS_1_COL); 295 | /* Output Port 2 */ 296 | if (!ssSetOutputPortDimensionInfo(S, 2, DYNAMIC_DIMENSION)) return; 297 | //ssSetOutputPortWidth(S, 2, OUTPUT_2_WIDTH); 298 | ssSetOutputPortDataType(S, 2, SS_UINT8); 299 | ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX); 300 | _ssSetOutputPortNumDimensions(S, 2, OUTPUT_DIMS_2_COL); 301 | 302 | ssSetNumSampleTimes(S, 1); 303 | ssSetNumRWork(S, 0); 304 | ssSetNumIWork(S, 0); 305 | ssSetNumPWork(S, 0); 306 | ssSetNumModes(S, 0); 307 | ssSetNumNonsampledZCs(S, 0); 308 | 309 | ssSetSimulinkVersionGeneratedIn(S, "8.7"); 310 | 311 | /* Take care when specifying exception free code - see sfuntmpl_doc.c */ 312 | ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE | 313 | SS_OPTION_USE_TLC_WITH_ACCELERATOR | 314 | SS_OPTION_WORKS_WITH_CODE_REUSE)); 315 | 316 | 317 | const uint8_T *Number_Of_Inputs = (const uint8_T *)mxGetData(PARAM_DEF1(S)); 318 | const uint8_T *Number_Of_Outputs = (const uint8_T *)mxGetData(PARAM_DEF2(S)); 319 | const uint8_T *Number_Of_Parameters = (const uint8_T *)mxGetData(PARAM_DEF3(S)); 320 | ssSetInputPortWidth(S, 1, Number_Of_Inputs[0]); 321 | ssSetOutputPortWidth(S, 1, Number_Of_Outputs[0]); 322 | ssSetOutputPortWidth(S, 2, Number_Of_Parameters[0]); 323 | } 324 | 325 | # define MDL_SET_INPUT_PORT_FRAME_DATA 326 | static void mdlSetInputPortFrameData(SimStruct *S, 327 | int_T port, 328 | Frame_T frameData) 329 | { 330 | ssSetInputPortFrameData(S, port, frameData); 331 | } 332 | /* Function: mdlInitializeSampleTimes ========================================= 333 | * Abstract: 334 | * Specifiy the sample time. 335 | */ 336 | static void mdlInitializeSampleTimes(SimStruct *S) 337 | { 338 | ssSetSampleTime(S, 0, SAMPLE_TIME_0); 339 | ssSetModelReferenceSampleTimeDefaultInheritance(S); 340 | ssSetOffsetTime(S, 0, 0.0); 341 | } 342 | 343 | #define MDL_SET_INPUT_PORT_DATA_TYPE 344 | static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType) 345 | { 346 | ssSetInputPortDataType( S, 0, dType); 347 | } 348 | #define MDL_SET_OUTPUT_PORT_DATA_TYPE 349 | static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType) 350 | { 351 | ssSetOutputPortDataType(S, 0, dType); 352 | } 353 | 354 | #define MDL_SET_DEFAULT_PORT_DATA_TYPES 355 | static void mdlSetDefaultPortDataTypes(SimStruct *S) 356 | { 357 | ssSetInputPortDataType( S, 0, SS_DOUBLE); 358 | ssSetOutputPortDataType(S, 0, SS_DOUBLE); 359 | } 360 | 361 | #define MDL_SET_WORK_WIDTHS 362 | #if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE) 363 | 364 | static void mdlSetWorkWidths(SimStruct *S) 365 | { 366 | 367 | const char_T *rtParamNames[] = {"P1","P2","P3","P4"}; 368 | ssRegAllTunableParamsAsRunTimeParams(S, rtParamNames); 369 | } 370 | 371 | #endif 372 | /* Function: mdlOutputs ======================================================= 373 | * 374 | */ 375 | static void mdlOutputs(SimStruct *S, int_T tid) 376 | { 377 | const uint8_T *Ready_for_DE = (const uint8_T*) ssGetInputPortSignal(S,0); 378 | const uint8_T *Inputs = (const uint8_T*) ssGetInputPortSignal(S,1); 379 | uint8_T *DP_Slave_State = (uint8_T *)ssGetOutputPortRealSignal(S,0); 380 | uint8_T *Outputs = (uint8_T *)ssGetOutputPortRealSignal(S,1); 381 | uint8_T *Parameters = (uint8_T *)ssGetOutputPortRealSignal(S,2); 382 | const uint8_T *Initial_DP_Address = (const uint8_T *)mxGetData(PARAM_DEF0(S)); 383 | const uint8_T *Number_Of_Inputs = (const uint8_T *)mxGetData(PARAM_DEF1(S)); 384 | const uint8_T *Number_Of_Outputs = (const uint8_T *)mxGetData(PARAM_DEF2(S)); 385 | const uint8_T *Number_Of_Parameters = (const uint8_T *)mxGetData(PARAM_DEF3(S)); 386 | 387 | PROFIBUS_DP_Outputs_wrapper(Ready_for_DE, Inputs, DP_Slave_State, Outputs, Parameters, Initial_DP_Address, Number_Of_Inputs, Number_Of_Outputs, Number_Of_Parameters); 388 | 389 | } 390 | 391 | 392 | /* Function: mdlTerminate ===================================================== 393 | * Abstract: 394 | * In this function, you should perform any actions that are necessary 395 | * at the termination of a simulation. For example, if memory was 396 | * allocated in mdlStart, this is the place to free it. 397 | */ 398 | static void mdlTerminate(SimStruct *S) 399 | { 400 | 401 | } 402 | 403 | #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */ 404 | #include "simulink.c" /* MEX-file interface mechanism */ 405 | #else 406 | #include "cg_sfun.h" /* Code generation registration function */ 407 | #endif 408 | 409 | 410 | -------------------------------------------------------------------------------- /PROFIBUS_DP.mexw64: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fredericdepuydt/profibus-dp-software-stack/2764f717c7f4ecd88701c8ffba4d6b9b578733ea/PROFIBUS_DP.mexw64 -------------------------------------------------------------------------------- /PROFIBUS_DP.tlc: -------------------------------------------------------------------------------- 1 | %% File : PROFIBUS_DP.tlc 2 | %% Created : Fri Jun 08 15:55:15 2018 3 | %% 4 | %% Description: 5 | %% Simulink Coder wrapper functions interface generated for 6 | %% S-function "PROFIBUS_DP.c". 7 | %% 8 | %% File generated by S-function Builder Block 9 | %% 10 | %% For more information on using the Target Language with the 11 | %% Simulink Coder, see the Target Language Compiler manual 12 | %% (under Simulink Coder) in the "Inlining S-Functions" 13 | %% chapter under the section and subsection: 14 | %% "Writing Block Target Files to Inline S-Functions", 15 | %% "Function-Based or Wrappered Code". 16 | %% 17 | %implements PROFIBUS_DP "C" 18 | %% Function: BlockTypeSetup =================================================== 19 | %% 20 | %% Purpose: 21 | %% Set up external references for wrapper functions in the 22 | %% generated code. 23 | %% 24 | %function BlockTypeSetup(block, system) Output 25 | %openfile externs 26 | 27 | #ifdef __cplusplus 28 | extern "C" { 29 | #endif 30 | 31 | extern void PROFIBUS_DP_Start_wrapper(const uint8_T *Initial_DP_Address, 32 | const uint8_T *Number_Of_Inputs, 33 | const uint8_T *Number_Of_Outputs, 34 | const uint8_T *Number_Of_Parameters); 35 | 36 | extern void PROFIBUS_DP_Outputs_wrapper(const uint8_T *Ready_for_DE, 37 | const uint8_T *Inputs, 38 | uint8_T *DP_Slave_State, 39 | uint8_T *Outputs, 40 | uint8_T *Parameters, 41 | const uint8_T *Initial_DP_Address, 42 | const uint8_T *Number_Of_Inputs, 43 | const uint8_T *Number_Of_Outputs, 44 | const uint8_T *Number_Of_Parameters); 45 | 46 | extern void PROFIBUS_DP_Terminate_wrapper(const uint8_T *Initial_DP_Address, 47 | const uint8_T *Number_Of_Inputs, 48 | const uint8_T *Number_Of_Outputs, 49 | const uint8_T *Number_Of_Parameters); 50 | 51 | #ifdef __cplusplus 52 | } 53 | #endif 54 | %closefile externs 55 | % 56 | %% 57 | %endfunction 58 | 59 | 60 | %% Function: Outputs ========================================================== 61 | %% 62 | %% Purpose: 63 | %% Code generation rules for mdlOutputs function. 64 | %% 65 | %function Outputs(block, system) Output 66 | %% 67 | %assign pu0 = LibBlockInputSignalAddr(0, "", "", 0) 68 | %assign pu1 = LibBlockInputSignalAddr(1, "", "", 0) 69 | %assign py0 = LibBlockOutputSignalAddr(0, "", "", 0) 70 | %assign py1 = LibBlockOutputSignalAddr(1, "", "", 0) 71 | %assign py2 = LibBlockOutputSignalAddr(2, "", "", 0) 72 | %assign nelements1 = LibBlockParameterSize(P1) 73 | %assign param_width1 = nelements1[0] * nelements1[1] 74 | %if (param_width1) > 1 75 | %assign pp1 = LibBlockMatrixParameterBaseAddr(P1) 76 | %else 77 | %assign pp1 = LibBlockParameterAddr(P1, "", "", 0) 78 | %endif 79 | %assign nelements2 = LibBlockParameterSize(P2) 80 | %assign param_width2 = nelements2[0] * nelements2[1] 81 | %if (param_width2) > 1 82 | %assign pp2 = LibBlockMatrixParameterBaseAddr(P2) 83 | %else 84 | %assign pp2 = LibBlockParameterAddr(P2, "", "", 0) 85 | %endif 86 | %assign nelements3 = LibBlockParameterSize(P3) 87 | %assign param_width3 = nelements3[0] * nelements3[1] 88 | %if (param_width3) > 1 89 | %assign pp3 = LibBlockMatrixParameterBaseAddr(P3) 90 | %else 91 | %assign pp3 = LibBlockParameterAddr(P3, "", "", 0) 92 | %endif 93 | %assign nelements4 = LibBlockParameterSize(P4) 94 | %assign param_width4 = nelements4[0] * nelements4[1] 95 | %if (param_width4) > 1 96 | %assign pp4 = LibBlockMatrixParameterBaseAddr(P4) 97 | %else 98 | %assign pp4 = LibBlockParameterAddr(P4, "", "", 0) 99 | %endif 100 | %assign py_width = LibBlockOutputSignalWidth(0) 101 | %assign pu_width = LibBlockInputSignalWidth(0) 102 | PROFIBUS_DP_Outputs_wrapper(%, %, %, %, %, %, %, %, %); 103 | %% 104 | %endfunction 105 | 106 | 107 | 108 | %% [EOF] PROFIBUS_DP.tlc 109 | 110 | -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/PROFIBUS_DP_Fail_Safe.c: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/PROFIBUS_DP_Fail_Safe.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/PROFIBUS_DP_Settings.h: -------------------------------------------------------------------------------- 1 | 2 | #define BAUDRATE 500000 3 | 4 | #ifdef __HARDWARE_TARGET_ARDUINO__ 5 | #define pin_RE 24 6 | #define pin_DE 22 7 | #define Serial_PB Serial3 8 | 9 | #define PC_DEBUGGING 10 | 11 | #endif 12 | 13 | #ifdef PC_DEBUGGING 14 | #define Serial_Debug Serial 15 | #endif 16 | -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/PROFIBUS_DP_Stack.c: -------------------------------------------------------------------------------- 1 | /* 2 | * PROFIBUS_DP_Slave.c 3 | */ 4 | 5 | void PROFIBUS_begin() 6 | { 7 | 8 | #ifdef __HARDWARE_TARGET_ARDUINO__ 9 | pinMode(pin_RE, OUTPUT); 10 | pinMode(pin_DE, OUTPUT); 11 | 12 | digitalWrite(pin_RE, HIGH); 13 | digitalWrite(pin_DE, LOW); 14 | 15 | Timer1.initialize(11*TBIT*255); 16 | Timer1.stop(); 17 | 18 | #endif 19 | 20 | RX_size = 0; 21 | TX_size = 0; 22 | 23 | // Station Type 24 | station = PROFIBUS_SLAVE; 25 | ADDR = 126; 26 | 27 | #ifdef __HARDWARE_TARGET_ARDUINO__ 28 | ident_H = 0x00; 29 | ident_L = 0x04; 30 | #endif 31 | #ifdef __HARDWARE_TARGET_NXT__ 32 | ident_H = 0x00; 33 | ident_L = 0x05; 34 | #endif 35 | 36 | // Slave settings 37 | master_address = 0xFF; // No master when initialised 38 | DIAG_1.byte = 0x00; 39 | DIAG_2.byte = 0x04; 40 | DIAG_3.byte = 0x00; 41 | DIAG_station_non_existent = 0; 42 | DIAG_station_not_ready = 1; 43 | DIAG_configuration_fault = 0; 44 | DIAG_extended_diagnostic = 0; 45 | DIAG_not_supported = 0; 46 | DIAG_invalid_slave_response = 0; 47 | DIAG_parameter_fault = 0; 48 | DIAG_master_lock = 0; 49 | DIAG_parameter_request = 1; 50 | DIAG_status_diagnostics = 0; 51 | DIAG_watchdog_on = 0; 52 | DIAG_freeze_mode = 0; 53 | DIAG_sync_mode = 0; 54 | DIAG_deactivated = 0; 55 | DIAG_diagnostic_overflow = 0; 56 | 57 | Data_Exch_Packet = 0; 58 | 59 | BUS_threshold = 10*1000; // After 10 sec of no Packets -> No BUS communication 60 | Shutdown_threshold = 5*60*1000; // After 5 min of No BUS communication 61 | 62 | RW_State = PROFIBUS_READSTART; 63 | S_State = PROFIBUS_SS_Power_ON; 64 | MS_State = PROFIBUS_MS_CLEAR; 65 | 66 | } 67 | 68 | void PROFIBUS_setConfig(const uint8_t t_Inputs, const uint8_t t_Outputs, const uint8_t t_Parameters){ 69 | number_Of_Inputs = t_Inputs; 70 | number_Of_Outputs = t_Outputs; 71 | number_Of_Parameters = DEVICE_PARAMETERS + t_Parameters; 72 | STORED_OUT = (uint8_t *) malloc(t_Outputs); 73 | } 74 | 75 | void PROFIBUS_start() 76 | { 77 | #ifdef __HARDWARE_TARGET_ARDUINO__ 78 | Serial_PB.begin(BAUDRATE,SERIAL_8E1); 79 | #endif 80 | #ifdef __HARDWARE_TARGET_NXT__ 81 | hs_init(); 82 | hs_enable(BAUDRATE); 83 | #endif 84 | #ifdef PC_DEBUGGING 85 | Serial_Debug.begin(BAUDRATE); 86 | #endif 87 | } 88 | 89 | 90 | void PROFIBUS_run() 91 | { 92 | PROFIBUS_S_State(); 93 | switch(RW_State) 94 | { 95 | case PROFIBUS_IDLE: 96 | break; 97 | case PROFIBUS_READSTART: 98 | PROFIBUS_readstart(); 99 | break; 100 | case PROFIBUS_READ: 101 | PROFIBUS_read(); 102 | break; 103 | case PROFIBUS_WRITESTART: 104 | PROFIBUS_writestart(); 105 | break; 106 | case PROFIBUS_WRITE: 107 | PROFIBUS_write(); 108 | break; 109 | case PROFIBUS_WRITESTOP: 110 | PROFIBUS_writestop(); 111 | break; 112 | default: 113 | RW_State = PROFIBUS_IDLE; 114 | break; 115 | } 116 | } 117 | 118 | void PROFIBUS_S_State(){ 119 | if(BUS_active){ 120 | #ifdef __HARDWARE_TARGET_ARDUINO__ 121 | BUS_curr_time = millis(); 122 | if(BUS_curr_time - BUS_last_time > BUS_threshold){ 123 | #endif 124 | #ifdef __HARDWARE_TARGET_NXT__ 125 | BUS_curr_time++; 126 | if(BUS_curr_time > BUS_threshold){ 127 | #endif 128 | Data_Exch_Packet = 0; 129 | DIAG_station_not_ready = 1; 130 | DIAG_parameter_request = 1; 131 | DIAG_configuration_fault = 1; 132 | FailSafe(); 133 | S_State = PROFIBUS_SS_Power_ON; 134 | Shutdown_time = 0; 135 | BUS_active = 0; 136 | } 137 | }else{ 138 | Shutdown_time++; 139 | if(Shutdown_time > Shutdown_threshold){ 140 | nxt_avr_power_down(); 141 | } 142 | } 143 | 144 | switch(S_State){ 145 | case PROFIBUS_SS_Data_XCHG: 146 | if(DIAG_watchdog_on){ 147 | #ifdef __HARDWARE_TARGET_ARDUINO__ 148 | WD_curr_time = millis(); 149 | if(WD_curr_time - WD_last_time > WD_threshold){ 150 | #endif 151 | #ifdef __HARDWARE_TARGET_NXT__ 152 | WD_curr_time++; 153 | if(WD_curr_time > WD_threshold){ 154 | #endif 155 | Data_Exch_Packet = 0; 156 | DIAG_station_not_ready = 1; 157 | DIAG_parameter_request = 1; 158 | FailSafe(); 159 | S_State = PROFIBUS_SS_Wait_PRM; 160 | break; 161 | } 162 | } 163 | if(DIAG_parameter_fault){ 164 | S_State = PROFIBUS_SS_Wait_CFG; 165 | }else if(DIAG_configuration_fault){ 166 | S_State = PROFIBUS_SS_Wait_PRM; 167 | }else if(DIAG_station_not_ready || MS_State == PROFIBUS_MS_CLEAR){ 168 | for(i=0;i= 0 && ADDR <= 125 && BUS_active){ 182 | S_State = PROFIBUS_SS_Wait_PRM; 183 | } 184 | break; 185 | case PROFIBUS_SS_Wait_PRM: 186 | if(DIAG_parameter_fault == 0 && DIAG_parameter_request == 0){ // CHECK IF PARAM OK 187 | S_State = PROFIBUS_SS_Wait_CFG; 188 | } 189 | break; 190 | case PROFIBUS_SS_Wait_CFG: 191 | if(!DIAG_configuration_fault){ 192 | S_State = PROFIBUS_SS_Pre_Data_XCHG; 193 | } 194 | break; 195 | default: 196 | S_State = PROFIBUS_SS_Power_ON; 197 | break; 198 | } 199 | 200 | } 201 | 202 | void PROFIBUS_stop() 203 | { 204 | #ifdef __HARDWARE_TARGET_ARDUINO__ 205 | Serial_PB.end(); 206 | #endif 207 | } 208 | 209 | void PROFIBUS_writestart() 210 | { 211 | #ifdef __HARDWARE_TARGET_ARDUINO__ 212 | if(Serial_PB.available()){ 213 | Serial_PB.read(); 214 | }else{ 215 | digitalWrite(pin_RE,HIGH); 216 | delayMicroseconds(1*TBIT); 217 | digitalWrite(pin_DE, HIGH); 218 | delayMicroseconds(5*TBIT); 219 | RW_State = PROFIBUS_WRITE; 220 | PROFIBUS_write(); 221 | } 222 | #endif 223 | #ifdef __HARDWARE_TARGET_NXT__ 224 | RW_State = PROFIBUS_WRITE; 225 | PROFIBUS_write(); 226 | #endif 227 | } 228 | 229 | void PROFIBUS_write() 230 | { 231 | #ifdef __HARDWARE_TARGET_ARDUINO__ 232 | Serial_PB.write(TX_buf,TX_size); 233 | RW_State = PROFIBUS_IDLE; 234 | Timer1.start(); 235 | Timer1.attachInterrupt(PROFIBUS_writestop,TX_size*11*TBIT); 236 | #endif 237 | #ifdef __HARDWARE_TARGET_NXT__ 238 | hs_write(TX_buf,0,TX_size); 239 | RW_State = PROFIBUS_WRITESTOP; 240 | #endif 241 | } 242 | void PROFIBUS_writestop() 243 | { 244 | #ifdef __HARDWARE_TARGET_ARDUINO__ 245 | Timer1.stop(); 246 | Timer1.detachInterrupt(); 247 | Serial_PB.flush(); 248 | digitalWrite(pin_DE, LOW); 249 | RW_State = PROFIBUS_READSTART; 250 | PROFIBUS_readstart(); 251 | #endif 252 | #ifdef __HARDWARE_TARGET_NXT__ 253 | RW_State = PROFIBUS_READSTART; 254 | PROFIBUS_readstart(); 255 | #endif 256 | } 257 | 258 | void PROFIBUS_readstart() 259 | { 260 | #ifdef __HARDWARE_TARGET_ARDUINO__ 261 | digitalWrite(pin_RE, LOW); 262 | #endif 263 | RX_size = 0; 264 | RX_pointer = 0; 265 | RW_State = PROFIBUS_READ; 266 | } 267 | 268 | void PROFIBUS_read() 269 | { 270 | 271 | RX_prev_size = RX_size; 272 | #ifdef __HARDWARE_TARGET_ARDUINO__ 273 | while(Serial_PB.available()){ 274 | RX_buf[RX_size+RX_pointer]=Serial_PB.read(); 275 | RX_size++; 276 | } 277 | #endif 278 | 279 | #ifdef __HARDWARE_TARGET_NXT__ 280 | RX_size += hs_read(RX_buf,RX_size+RX_pointer,1024); 281 | #endif 282 | 283 | if(RX_prev_size != RX_size){ 284 | BUS_active = 1; 285 | #ifdef __HARDWARE_TARGET_ARDUINO__ 286 | BUS_last_time = millis(); 287 | #endif 288 | #ifdef __HARDWARE_TARGET_NXT__ 289 | BUS_curr_time = 0; 290 | #endif 291 | } 292 | while(RX_size>0 && RW_State == PROFIBUS_READ){ 293 | if(RX_pointer>=768){ 294 | // Removing Telegrams from Buffer 295 | for(i=0;i= 6){ 366 | if(buf[5]!=0x16 || buf[4]!=CRC(&buf[1],3)){ 367 | // BAD PACKET 368 | RW_State = PROFIBUS_READ_NEXT_BYTE; 369 | }else{ 370 | if((buf[1]&0x7F)!=ADDR){ 371 | // Removing SD1 Telegram from Buffer 372 | RW_State = PROFIBUS_READ_NEXT_PACKET; 373 | }else{ 374 | // GOOD PACKET 375 | RW_State = PROFIBUS_READ_NEXT_PACKET; 376 | switch(buf[3]&0x0F){ 377 | case 0x00: // TE: Time Event (Clock synchronisation) 378 | break; 379 | case 0x03: // SDA_Low: Send Data Acknowledged (Low priority) 380 | break; 381 | case 0x04: // SDN_Low: Send Data Not acknowledged (Low priority) 382 | break; 383 | case 0x05: // SDA_High: Send Data Acknowledged (High priority) 384 | break; 385 | case 0x06: // SDN_High: Send Data Not acknowledged (High priority) 386 | break; 387 | case 0x07: // MSRD: Send Request Data with Multicast Reply 388 | break; 389 | case 0x09: // Request FDL Status 390 | createSD1(buf[2],ADDR,station); 391 | RW_State = PROFIBUS_WRITESTART; 392 | break; 393 | case 0x0C: // SRD_Low: Send and Request Data 394 | break; 395 | case 0x0D: // SRD_High: Send and Request Data 396 | createSC(); 397 | RW_State = PROFIBUS_WRITESTART; 398 | break; 399 | case 0x0E: // Request Ident with reply 400 | break; 401 | case 0x0F: // Request LSAP Status with reply 402 | createSC(); 403 | RW_State = PROFIBUS_WRITESTART; 404 | break; 405 | case 0x80: // CV: Clock Value (Clock synchronisation) 406 | break; 407 | } 408 | } 409 | } 410 | if(RW_State == PROFIBUS_READ_NEXT_PACKET){ 411 | RX_pointer = RX_pointer+6; 412 | RX_size = RX_size-6; 413 | RW_State = PROFIBUS_READ; 414 | } 415 | }else{ 416 | RW_State = PROFIBUS_READ_MORE; 417 | } 418 | break; 419 | case PROFIBUS_SD2: 420 | if(RX_size >= 4){ 421 | if(buf[1]!=buf[2] || buf[3]!=PROFIBUS_SD2){ 422 | // BAD PACKET 423 | RW_State = PROFIBUS_READ_NEXT_BYTE; 424 | }else{ 425 | if(RX_size>=buf[1]+6){ 426 | if(buf[buf[1]+5]!=0x16 || buf[buf[1]+4]!=CRC(&buf[4],buf[1])){ 427 | // BAD PACKET 428 | RW_State = PROFIBUS_READ_NEXT_BYTE; 429 | }else{ 430 | if((buf[4]&0x7F)!=ADDR && (buf[4]&0x7F)!=127){ 431 | // Removing SD2 Telegram from Buffer 432 | RW_State = PROFIBUS_READ_NEXT_PACKET; 433 | }else{ 434 | // GOOD PACKET 435 | RW_State = PROFIBUS_READ_NEXT_PACKET; 436 | SA = buf[5]&0x7F; 437 | DA = buf[4]&0x7F; 438 | FC = buf[6]; 439 | if(buf[4]>>7 || buf[5]>>7){ 440 | // SAP 441 | process_SAP(&buf[7],buf[1]-3); 442 | }else{ 443 | // NO SAP 444 | if(S_State >= PROFIBUS_SS_Pre_Data_XCHG){ 445 | // DATA EXCHANGE 446 | Data_Exch_Packet = 1; 447 | #ifdef __HARDWARE_TARGET_ARDUINO__ 448 | WD_last_time = millis(); 449 | #endif 450 | #ifdef __HARDWARE_TARGET_NXT__ 451 | WD_curr_time=0; 452 | #endif 453 | for(i=0;i= 14){ 508 | if(buf[13]!=0x16 || buf[12]!=CRC(&buf[1],11)){ 509 | // BAD PACKET 510 | RW_State = PROFIBUS_READ_NEXT_BYTE; 511 | }else{ 512 | // Removing SD3 Telegram from Buffer 513 | RX_pointer=RX_pointer+14; 514 | RX_size = RX_size-14; 515 | RW_State = PROFIBUS_READ; 516 | } 517 | }else{ 518 | RW_State = PROFIBUS_READ_MORE; 519 | } 520 | break; 521 | /*case PROFIBUS_SD4: 522 | RW_State = PROFIBUS_READ_NEXT_BYTE; 523 | break;*/ 524 | /*case PROFIBUS_SC: 525 | RW_State = PROFIBUS_READ_NEXT_BYTE; 526 | break;*/ 527 | default: 528 | RW_State = PROFIBUS_READ_NEXT_BYTE; 529 | break; 530 | } 531 | } 532 | 533 | void process_SAP(const uint8_t *buf, const size_t size) 534 | { 535 | switch(buf[1]) 536 | { 537 | case SSAP_DP_MS0: 538 | switch(buf[0]) 539 | { 540 | case DSAP_SET_SLAVE_ADDRESS: 541 | ADDR = buf[2]; 542 | if(station!=PROFIBUS_SLAVE){ 543 | station = PROFIBUS_MASTER_NOT_READY; 544 | } 545 | createSC(); 546 | RW_State = PROFIBUS_WRITESTART; 547 | break; 548 | case DSAP_READ_INPUT: 549 | TX_buf[7]=buf[1]; 550 | TX_buf[8]=DSAP_READ_INPUT; 551 | for(i=0;i. 33 | * 34 | * See Google Code project http://code.google.com/p/arduino-timerone/ for latest 35 | */ 36 | #ifndef TIMERONE_cpp 37 | #define TIMERONE_cpp 38 | 39 | #include "TimerOne.h" 40 | 41 | TimerOne Timer1; // preinstatiate 42 | 43 | ISR(TIMER1_OVF_vect) // interrupt service routine that wraps a user defined function supplied by attachInterrupt 44 | { 45 | Timer1.isrCallback(); 46 | } 47 | 48 | 49 | void TimerOne::initialize(long microseconds) 50 | { 51 | TCCR1A = 0; // clear control register A 52 | TCCR1B = _BV(WGM13); // set mode 8: phase and frequency correct pwm, stop the timer 53 | setPeriod(microseconds); 54 | } 55 | 56 | 57 | void TimerOne::setPeriod(long microseconds) // AR modified for atomic access 58 | { 59 | 60 | long cycles = (F_CPU / 2000000) * microseconds; // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2 61 | if(cycles < RESOLUTION) clockSelectBits = _BV(CS10); // no prescale, full xtal 62 | else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11); // prescale by /8 63 | else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64 64 | else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12); // prescale by /256 65 | else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024 66 | else cycles = RESOLUTION - 1, clockSelectBits = _BV(CS12) | _BV(CS10); // request was out of bounds, set as maximum 67 | 68 | oldSREG = SREG; 69 | cli(); // Disable interrupts for 16 bit register access 70 | ICR1 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct pwm mode 71 | SREG = oldSREG; 72 | 73 | TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); 74 | TCCR1B |= clockSelectBits; // reset clock select register, and starts the clock 75 | } 76 | 77 | void TimerOne::setPwmDuty(char pin, int duty) 78 | { 79 | unsigned long dutyCycle = pwmPeriod; 80 | 81 | dutyCycle *= duty; 82 | dutyCycle >>= 10; 83 | 84 | oldSREG = SREG; 85 | cli(); 86 | if(pin == 1 || pin == 9) OCR1A = dutyCycle; 87 | else if(pin == 2 || pin == 10) OCR1B = dutyCycle; 88 | SREG = oldSREG; 89 | } 90 | 91 | void TimerOne::pwm(char pin, int duty, long microseconds) // expects duty cycle to be 10 bit (1024) 92 | { 93 | if(microseconds > 0) setPeriod(microseconds); 94 | if(pin == 1 || pin == 9) { 95 | DDRB |= _BV(PORTB1); // sets data direction register for pwm output pin 96 | TCCR1A |= _BV(COM1A1); // activates the output pin 97 | } 98 | else if(pin == 2 || pin == 10) { 99 | DDRB |= _BV(PORTB2); 100 | TCCR1A |= _BV(COM1B1); 101 | } 102 | setPwmDuty(pin, duty); 103 | resume(); // Lex - make sure the clock is running. We don't want to restart the count, in case we are starting the second WGM 104 | // and the first one is in the middle of a cycle 105 | } 106 | 107 | void TimerOne::disablePwm(char pin) 108 | { 109 | if(pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables pwm on PB1 110 | else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables pwm on PB2 111 | } 112 | 113 | void TimerOne::attachInterrupt(void (*isr)(), long microseconds) 114 | { 115 | if(microseconds > 0) setPeriod(microseconds); 116 | isrCallback = isr; // register the user's callback with the real ISR 117 | TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit 118 | // might be running with interrupts disabled (eg inside an ISR), so don't touch the global state 119 | // sei(); 120 | resume(); 121 | } 122 | 123 | void TimerOne::detachInterrupt() 124 | { 125 | TIMSK1 &= ~_BV(TOIE1); // clears the timer overflow interrupt enable bit 126 | // timer continues to count without calling the isr 127 | } 128 | 129 | void TimerOne::resume() // AR suggested 130 | { 131 | TCCR1B |= clockSelectBits; 132 | } 133 | 134 | void TimerOne::restart() // Depricated - Public interface to start at zero - Lex 10/9/2011 135 | { 136 | start(); 137 | } 138 | 139 | void TimerOne::start() // AR addition, renamed by Lex to reflect it's actual role 140 | { 141 | unsigned int tcnt1; 142 | 143 | TIMSK1 &= ~_BV(TOIE1); // AR added 144 | GTCCR |= _BV(PSRSYNC); // AR added - reset prescaler (NB: shared with all 16 bit timers); 145 | 146 | oldSREG = SREG; // AR - save status register 147 | cli(); // AR - Disable interrupts 148 | TCNT1 = 0; 149 | SREG = oldSREG; // AR - Restore status register 150 | resume(); 151 | do { // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt 152 | oldSREG = SREG; 153 | cli(); 154 | tcnt1 = TCNT1; 155 | SREG = oldSREG; 156 | } while (tcnt1==0); 157 | 158 | // TIFR1 = 0xff; // AR - Clear interrupt flags 159 | // TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit 160 | } 161 | 162 | void TimerOne::stop() 163 | { 164 | TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // clears all clock selects bits 165 | } 166 | 167 | unsigned long TimerOne::read() //returns the value of the timer in microseconds 168 | { //rember! phase and freq correct mode counts up to then down again 169 | unsigned long tmp; // AR amended to hold more than 65536 (could be nearly double this) 170 | unsigned int tcnt1; // AR added 171 | 172 | oldSREG= SREG; 173 | cli(); 174 | tmp=TCNT1; 175 | SREG = oldSREG; 176 | 177 | char scale=0; 178 | switch (clockSelectBits) 179 | { 180 | case 1:// no prescalse 181 | scale=0; 182 | break; 183 | case 2:// x8 prescale 184 | scale=3; 185 | break; 186 | case 3:// x64 187 | scale=6; 188 | break; 189 | case 4:// x256 190 | scale=8; 191 | break; 192 | case 5:// x1024 193 | scale=10; 194 | break; 195 | } 196 | 197 | do { // Nothing -- max delay here is ~1023 cycles. AR modified 198 | oldSREG = SREG; 199 | cli(); 200 | tcnt1 = TCNT1; 201 | SREG = oldSREG; 202 | } while (tcnt1==tmp); //if the timer has not ticked yet 203 | 204 | //if we are counting down add the top value to how far we have counted down 205 | tmp = ( (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1)+(long)ICR1 ); // AR amended to add casts and reuse previous TCNT1 206 | return ((tmp*1000L)/(F_CPU /1000L))<. 33 | * 34 | * See Google Code project http://code.google.com/p/arduino-timerone/ for latest 35 | */ 36 | #ifndef TIMERONE_h 37 | #define TIMERONE_h 38 | 39 | #include 40 | #include 41 | 42 | #define RESOLUTION 65536 // Timer1 is 16 bit 43 | 44 | class TimerOne 45 | { 46 | public: 47 | 48 | // properties 49 | unsigned int pwmPeriod; 50 | unsigned char clockSelectBits; 51 | char oldSREG; // To hold Status Register while ints disabled 52 | 53 | // methods 54 | void initialize(long microseconds=1000000); 55 | void start(); 56 | void stop(); 57 | void restart(); 58 | void resume(); 59 | unsigned long read(); 60 | void pwm(char pin, int duty, long microseconds=-1); 61 | void disablePwm(char pin); 62 | void attachInterrupt(void (*isr)(), long microseconds=-1); 63 | void detachInterrupt(); 64 | void setPeriod(long microseconds); 65 | void setPwmDuty(char pin, int duty); 66 | void (*isrCallback)(); 67 | }; 68 | 69 | extern TimerOne Timer1; 70 | #endif -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/hs.c: -------------------------------------------------------------------------------- 1 | /** 2 | * High Speed / RS485 Interface 3 | * This module provides basic access to the NXT RS485 hardware 4 | * Includes additional routines to perform lowlevel BitBus packet I/O 5 | * functions. 6 | * Author: Andy Shaw 7 | */ 8 | #include "mytypes.h" 9 | #include "AT91SAM7.h" 10 | #include "hs.h" 11 | #include "uart.h" 12 | #include "aic.h" 13 | #include 14 | #include "display.h" 15 | #include "systick.h" 16 | #include "memory.h" 17 | #include "sensors1.h" 18 | 19 | // Buffer sizes etc, 20 | // NOTE: The input code for this device assumes that 2 buffers are in use. 21 | // Max data size 22 | #define BUFSZ 64 // 10/04/16 takashic 23 | 24 | // smaller than leJOS 10/04/16 takashic 25 | #define IN_BUF_SZ (BUFSZ) 26 | #define OUT_BUF_SZ (BUFSZ) 27 | 28 | #define IN_BUF_CNT 2 29 | #define OUT_BUF_CNT 2 30 | #define BAUD_RATE 460000 31 | 32 | // statically allocated 10/04/15 takashic 33 | //static U8 *in_buf[IN_BUF_CNT]; 34 | //static U8 *out_buf[OUT_BUF_CNT]; 35 | static U8 in_buf[IN_BUF_CNT][IN_BUF_SZ]; 36 | static U8 out_buf[OUT_BUF_CNT][OUT_BUF_SZ]; 37 | 38 | static U8 in_buf_in_ptr, out_buf_ptr; 39 | 40 | static U8* buf_ptr; 41 | 42 | //static int in_buf_idx = 0; 43 | static int in_buf_idx; // 10/04/16 takashic 44 | 45 | 46 | //int hs_enable() // 10/04/15 takashic 47 | int hs_enable(U32 baud_rate) 48 | { 49 | U8 trash; 50 | int i_state; 51 | 52 | // added divided by zero protection 10/04/15 takashic 53 | if (baud_rate == 0) 54 | { 55 | baud_rate = BAUD_RATE; 56 | } 57 | 58 | // Flush buffers 10/04/17 takashic 59 | memset(in_buf, 0, sizeof(in_buf)); 60 | memset(out_buf, 0, sizeof(out_buf)); 61 | 62 | // Initialize UART ISR handler 10/04/17 takashic 63 | i_state = uart_us0_init_irq(); 64 | 65 | // Initialize the device 66 | in_buf_in_ptr = out_buf_ptr = 0; 67 | in_buf_idx = 0; 68 | 69 | // Enable power to the device 70 | *AT91C_PMC_PCER = (1 << AT91C_ID_US0); 71 | 72 | // Disable pull ups 73 | *AT91C_PIOA_PPUDR = HS_RX_PIN | HS_TX_PIN | HS_RTS_PIN; 74 | // Disable PIO A on I/O lines */ 75 | *AT91C_PIOA_PDR = HS_RX_PIN | HS_TX_PIN | HS_RTS_PIN; 76 | // Enable device control 77 | *AT91C_PIOA_ASR = HS_RX_PIN | HS_TX_PIN | HS_RTS_PIN; 78 | // Now program up the device 79 | *AT91C_US0_CR = AT91C_US_RSTSTA; 80 | *AT91C_US0_CR = AT91C_US_STTTO; 81 | *AT91C_US0_RTOR = 0; 82 | *AT91C_US0_TTGR = 0; 83 | *AT91C_US0_IDR = AT91C_US_TIMEOUT; 84 | *AT91C_US0_MR = AT91C_US_USMODE_RS485; 85 | *AT91C_US0_MR &= ~AT91C_US_SYNC; 86 | *AT91C_US0_MR |= AT91C_US_CLKS_CLOCK | AT91C_US_CHRL_8_BITS | AT91C_US_PAR_EVEN | AT91C_US_NBSTOP_1_BIT | AT91C_US_OVER; 87 | *AT91C_US0_BRGR = ((CLOCK_FREQUENCY/8/baud_rate) | (((CLOCK_FREQUENCY/8) - ((CLOCK_FREQUENCY/8/baud_rate) * baud_rate)) / ((baud_rate + 4)/8)) << 16); 88 | *AT91C_US0_PTCR = (AT91C_PDC_RXTDIS | AT91C_PDC_TXTDIS); 89 | *AT91C_US0_RCR = 0; 90 | *AT91C_US0_TCR = 0; 91 | *AT91C_US0_RNPR = 0; 92 | *AT91C_US0_TNPR = 0; 93 | aic_mask_off(AT91C_ID_US0); 94 | aic_clear(AT91C_ID_US0); 95 | 96 | trash = *AT91C_US0_RHR; 97 | trash = *AT91C_US0_CSR; 98 | 99 | *AT91C_US0_RPR = (unsigned int)&(in_buf[0][0]); 100 | *AT91C_US0_RCR = IN_BUF_SZ; 101 | *AT91C_US0_RNPR = (unsigned int)&(in_buf[1][0]); 102 | *AT91C_US0_RNCR = IN_BUF_SZ; 103 | 104 | *AT91C_US0_IER = 1; 105 | *AT91C_US0_CR = AT91C_US_RXEN | AT91C_US_TXEN; 106 | *AT91C_US0_PTCR = AT91C_PDC_RXTEN | AT91C_PDC_TXTEN; 107 | 108 | buf_ptr = &(in_buf[0][0]); 109 | 110 | if(i_state){ 111 | uart_us0_interrupts_enable(); 112 | } 113 | 114 | return 1; 115 | } 116 | 117 | void hs_disable(void) 118 | { 119 | // Turn off the device and make the pins available for other uses 120 | *AT91C_PMC_PCDR = (1 << AT91C_ID_US0); 121 | 122 | sp_reset(RS485_PORT); 123 | 124 | } 125 | 126 | void hs_init(void) 127 | { 128 | // Initial state is off 129 | 130 | // flush buffers 10/04/16 takashic 131 | memset(in_buf, 0, sizeof(in_buf)); 132 | memset(out_buf, 0, sizeof(out_buf)); 133 | 134 | hs_disable(); 135 | } 136 | 137 | U32 hs_write(U8 *buf, U32 off, U32 len) 138 | { 139 | // Write data to the device. Return the number of bytes written 140 | if (*AT91C_US0_TNCR == 0) 141 | { 142 | 143 | if (len > OUT_BUF_SZ) len = OUT_BUF_SZ; 144 | memcpy(&(out_buf[out_buf_ptr][0]), buf+off, len); 145 | *AT91C_US0_TNPR = (unsigned int) &(out_buf[out_buf_ptr][0]); 146 | *AT91C_US0_TNCR = len; 147 | out_buf_ptr = (out_buf_ptr+1) % OUT_BUF_CNT; 148 | return len; 149 | } 150 | else 151 | return 0; 152 | } 153 | 154 | U32 hs_pending() 155 | { 156 | // return the state of any pending i/o requests one bit for input one bit 157 | // for output. 158 | // First check for any input 159 | int ret = 0; 160 | int bytes_ready; 161 | if (*AT91C_US0_RNCR == 0) 162 | bytes_ready = IN_BUF_SZ*2 - *AT91C_US0_RCR; 163 | else 164 | bytes_ready = IN_BUF_SZ - *AT91C_US0_RCR; 165 | if (bytes_ready > in_buf_idx) ret |= 1; 166 | if ((*AT91C_US0_TCR != 0) || (*AT91C_US0_TNCR != 0)) ret |= 2; 167 | return ret; 168 | } 169 | 170 | 171 | 172 | U32 hs_read(U8 * buf, U32 off, U32 len) 173 | { 174 | int bytes_ready; 175 | int total_bytes_ready; 176 | int cmd_len; 177 | int i; 178 | U8* tmp_ptr; 179 | 180 | cmd_len = 0; 181 | if (*AT91C_US0_RNCR == 0) { 182 | bytes_ready = IN_BUF_SZ; 183 | total_bytes_ready = IN_BUF_SZ*2 - *AT91C_US0_RCR; 184 | } 185 | else 186 | total_bytes_ready = bytes_ready = IN_BUF_SZ - *AT91C_US0_RCR; 187 | 188 | if (total_bytes_ready > in_buf_idx) 189 | { 190 | cmd_len = (int) (total_bytes_ready - in_buf_idx); 191 | if (cmd_len > len) cmd_len = len; 192 | 193 | if (bytes_ready >= in_buf_idx + cmd_len) 194 | { 195 | for(i=0;i= IN_BUF_SZ && *AT91C_US0_RNCR == 0) 210 | { 211 | // Switch current buffer, and set up next 212 | in_buf_idx -= IN_BUF_SZ; 213 | *AT91C_US0_RNPR = (unsigned int) buf_ptr; 214 | *AT91C_US0_RNCR = IN_BUF_SZ; 215 | in_buf_in_ptr = (in_buf_in_ptr+1) % IN_BUF_CNT; 216 | buf_ptr = &(in_buf[in_buf_in_ptr][0]); 217 | } 218 | return cmd_len; 219 | } 220 | 221 | 222 | -------------------------------------------------------------------------------- /PROFIBUS_DP_Stack/hs.h: -------------------------------------------------------------------------------- 1 | #ifndef HS_H_ 2 | #define HS_H_ 3 | 4 | #include "mytypes.h" 5 | 6 | #define HS_RX_PIN AT91C_PIO_PA5 7 | #define HS_TX_PIN AT91C_PIO_PA6 8 | #define HS_RTS_PIN AT91C_PIO_PA7 9 | 10 | void hs_init(void); 11 | //int hs_enable(void); // 10/04/16 takashic 12 | int hs_enable(U32 baud_rate); 13 | void hs_disable(void); 14 | U32 hs_write(U8 *buf, U32 off, U32 len); 15 | U32 hs_read(U8 * buf, U32 off, U32 len); 16 | U32 hs_pending(void); 17 | 18 | #endif /*HS_H_*/ 19 | -------------------------------------------------------------------------------- /PROFIBUS_DP_wrapper.c: -------------------------------------------------------------------------------- 1 | 2 | /* 3 | * Include Files 4 | * 5 | */ 6 | #if defined(MATLAB_MEX_FILE) 7 | #include "tmwtypes.h" 8 | #include "simstruc_types.h" 9 | #else 10 | #include "rtwtypes.h" 11 | #endif 12 | 13 | 14 | 15 | /* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */ 16 | #include 17 | /* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */ 18 | #define u_width 1 19 | #define y_width 1 20 | 21 | 22 | #if !defined(MATLAB_MEX_FILE) 23 | #include "PROFIBUS_DP_Stack/PROFIBUS_DP_Stack.h" 24 | uint8_T initiate = 0; 25 | #endif 26 | 27 | 28 | /* 29 | * Output functions 30 | * 31 | */ 32 | void PROFIBUS_DP_Outputs_wrapper(const uint8_T *Ready_for_DE, 33 | const uint8_T *Inputs, 34 | uint8_T *DP_Slave_State, 35 | uint8_T *Outputs, 36 | uint8_T *Parameters, 37 | const uint8_T *Initial_DP_Address, 38 | const uint8_T *Number_Of_Inputs, 39 | const uint8_T *Number_Of_Outputs, 40 | const uint8_T *Number_Of_Parameters) 41 | { 42 | #if !defined(MATLAB_MEX_FILE) 43 | if(initiate == 0){ 44 | PROFIBUS_begin(); 45 | PROFIBUS_setConfig(Number_Of_Inputs[0], Number_Of_Outputs[0], Number_Of_Parameters[0]); 46 | PROFIBUS_start(); 47 | ADDR = Initial_DP_Address[0]; 48 | initiate = 1; 49 | }else{ 50 | DIAG_station_not_ready = ~Ready_for_DE[0]; 51 | IN = Inputs; 52 | OUT = Outputs; 53 | PARAM = Parameters; 54 | PROFIBUS_run(); 55 | DP_Slave_State[0] = S_State; 56 | 57 | } 58 | #endif 59 | } 60 | 61 | 62 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # PROFIBUS DP Software Stack 2 | [![Build Status](https://travis-ci.org/fredericdepuydt/profibus-dp-software-stack.svg?branch=master)](https://travis-ci.org/fredericdepuydt/profibus-dp-software-stack) [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0) 3 | --------------------------------------------------------------------------------