mirror of
https://github.com/OpenEtherCATsociety/SOES.git
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65 lines
1.5 KiB
C
65 lines
1.5 KiB
C
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#ifndef __SLAVE_H__
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#define __SLAVE_H__
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#include "utypes.h"
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#include "esc.h"
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/**
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* This function gets input values and updates Rb.Buttons
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*/
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void cb_get_Buttons();
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/**
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* This function sets output values according to Wb.LEDgroup0
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*/
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void cb_set_LEDgroup0();
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/**
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* This function sets output values according to Wb.LEDgroup1
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*/
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void cb_set_LEDgroup1();
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/**
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* This function is called after a SDO write of the object Cb.variableRW.
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*/
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void cb_post_write_variableRW(int subindex);
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#define DIG_PROCESS_INPUTS_FLAG 0x01
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#define DIG_PROCESS_OUTPUTS_FLAG 0x02
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#define DIG_PROCESS_WD_FLAG 0x04
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#define DIG_PROCESS_APP_HOOK_FLAG 0x08
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/** Implements the watch-dog counter to count if we should make a state change
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* due to missing incoming SM2 events. Updates local I/O and run the application
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* in the following order, call read EtherCAT outputs, execute user provided
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* application hook and call write EtherCAT inputs.
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*
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* @param[in] flags = User input what to execute
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*/
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void DIG_process (uint8_t flags);
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/**
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* ISR for SM0/1, EEPROM and AL CONTROL events in a SM/DC
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* synchronization application
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*/
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void ecat_slv_isr (void);
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/**
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* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
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* application
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*/
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void ecat_slv_poll (void);
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/**
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* Poll all events in a free-run application
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*/
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void ecat_slv (void);
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/**
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* Initialize the slave stack
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*
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* @param[in] config = User input how to configure the stack
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*/
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void ecat_slv_init (esc_cfg_t * config);
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#endif /* __SLAVE_H__ */
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