2014-09-12 16:01:33 +02:00
|
|
|
/*
|
|
|
|
|
* SOES Simple Open EtherCAT Slave
|
|
|
|
|
*
|
|
|
|
|
* Copyright (C) 2007-2013 Arthur Ketels
|
|
|
|
|
* Copyright (C) 2012-2013 rt-labs.
|
|
|
|
|
*
|
|
|
|
|
* SOES is free software; you can redistribute it and/or modify it under
|
|
|
|
|
* the terms of the GNU General Public License version 2 as published by the Free
|
|
|
|
|
* Software Foundation.
|
|
|
|
|
*
|
|
|
|
|
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
|
|
|
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
|
|
|
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
|
|
|
* for more details.
|
|
|
|
|
*
|
|
|
|
|
* As a special exception, if other files instantiate templates or use macros
|
|
|
|
|
* or inline functions from this file, or you compile this file and link it
|
|
|
|
|
* with other works to produce a work based on this file, this file does not
|
|
|
|
|
* by itself cause the resulting work to be covered by the GNU General Public
|
|
|
|
|
* License. However the source code for this file must still be made available
|
|
|
|
|
* in accordance with section (3) of the GNU General Public License.
|
|
|
|
|
*
|
|
|
|
|
* This exception does not invalidate any other reasons why a work based on
|
|
|
|
|
* this file might be covered by the GNU General Public License.
|
|
|
|
|
*
|
|
|
|
|
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
|
|
|
|
|
* property of, and protected by Beckhoff Automation GmbH.
|
|
|
|
|
*/
|
2015-05-07 17:43:02 +02:00
|
|
|
|
|
|
|
|
/** \file
|
2014-09-12 16:01:33 +02:00
|
|
|
* \brief
|
|
|
|
|
* Headerfile for esc.h
|
|
|
|
|
*/
|
2015-05-07 17:43:02 +02:00
|
|
|
|
2014-09-12 16:01:33 +02:00
|
|
|
#ifndef __esc__
|
|
|
|
|
#define __esc__
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
#include <cc.h>
|
2015-05-20 13:15:49 +02:00
|
|
|
#include "config.h"
|
2015-05-18 16:54:09 +02:00
|
|
|
|
2014-09-12 16:01:33 +02:00
|
|
|
#define ESCREG_ADDRESS 0x0010
|
|
|
|
|
#define ESCREG_DLSTATUS 0x0110
|
|
|
|
|
#define ESCREG_ALCONTROL 0x0120
|
|
|
|
|
#define ESCREG_ALSTATUS 0x0130
|
|
|
|
|
#define ESCREG_ALERROR 0x0134
|
|
|
|
|
#define ESCREG_ALEVENT_SM_MASK 0x0310
|
|
|
|
|
#define ESCREG_ALEVENT_SMCHANGE 0x0010
|
|
|
|
|
#define ESCREG_ALEVENT_CONTROL 0x0001
|
|
|
|
|
#define ESCREG_ALEVENT_SM2 0x0400
|
|
|
|
|
#define ESCREG_ALEVENT_SM3 0x0800
|
|
|
|
|
#define ESCREG_WDSTATUS 0x0440
|
|
|
|
|
#define ESCREG_SM0 0x0800
|
|
|
|
|
#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)
|
|
|
|
|
#define ESCREG_SM0PDI (ESCREG_SM0 + 7)
|
|
|
|
|
#define ESCREG_SM1 (ESCREG_SM0 + 0x08)
|
|
|
|
|
#define ESCREG_SM2 (ESCREG_SM0 + 0x10)
|
|
|
|
|
#define ESCREG_SM3 (ESCREG_SM0 + 0x18)
|
|
|
|
|
#define ESCREG_LOCALTIME 0x0910
|
|
|
|
|
#define ESCREG_SMENABLE_BIT 0x01
|
|
|
|
|
#define ESCREG_AL_STATEMASK 0x001f
|
|
|
|
|
#define ESCREG_AL_ALLBUTINITMASK 0x0e
|
|
|
|
|
#define ESCREG_AL_ERRACKMASK 0x0f
|
|
|
|
|
|
|
|
|
|
#define ESCinit 0x01
|
|
|
|
|
#define ESCpreop 0x02
|
|
|
|
|
#define ESCboot 0x03
|
|
|
|
|
#define ESCsafeop 0x04
|
|
|
|
|
#define ESCop 0x08
|
|
|
|
|
#define ESCerror 0x10
|
|
|
|
|
|
|
|
|
|
#define INIT_TO_INIT 0x11
|
|
|
|
|
#define INIT_TO_PREOP 0x21
|
|
|
|
|
#define INIT_TO_BOOT 0x31
|
|
|
|
|
#define INIT_TO_SAFEOP 0x41
|
|
|
|
|
#define INIT_TO_OP 0x81
|
|
|
|
|
#define PREOP_TO_INIT 0x12
|
|
|
|
|
#define PREOP_TO_PREOP 0x22
|
|
|
|
|
#define PREOP_TO_BOOT 0x32
|
|
|
|
|
#define PREOP_TO_SAFEOP 0x42
|
|
|
|
|
#define PREOP_TO_OP 0x82
|
|
|
|
|
#define BOOT_TO_INIT 0x13
|
|
|
|
|
#define BOOT_TO_PREOP 0x23
|
|
|
|
|
#define BOOT_TO_BOOT 0x33
|
|
|
|
|
#define BOOT_TO_SAFEOP 0x43
|
|
|
|
|
#define BOOT_TO_OP 0x83
|
|
|
|
|
#define SAFEOP_TO_INIT 0x14
|
|
|
|
|
#define SAFEOP_TO_PREOP 0x24
|
|
|
|
|
#define SAFEOP_TO_BOOT 0x34
|
|
|
|
|
#define SAFEOP_TO_SAFEOP 0x44
|
|
|
|
|
#define SAFEOP_TO_OP 0x84
|
|
|
|
|
#define OP_TO_INIT 0x18
|
|
|
|
|
#define OP_TO_PREOP 0x28
|
|
|
|
|
#define OP_TO_BOOT 0x38
|
|
|
|
|
#define OP_TO_SAFEOP 0x48
|
|
|
|
|
#define OP_TO_OP 0x88
|
|
|
|
|
|
|
|
|
|
#define ALERR_NONE 0x0000
|
|
|
|
|
#define ALERR_INVALIDSTATECHANGE 0x0011
|
|
|
|
|
#define ALERR_UNKNOWNSTATE 0x0012
|
|
|
|
|
#define ALERR_BOOTNOTSUPPORTED 0x0013
|
|
|
|
|
#define ALERR_INVALIDBOOTMBXCONFIG 0x0015
|
|
|
|
|
#define ALERR_INVALIDMBXCONFIG 0x0016
|
|
|
|
|
#define ALERR_INVALIDSMCONFIG 0x0017
|
|
|
|
|
#define ALERR_WATCHDOG 0x001B
|
|
|
|
|
#define ALERR_INVALIDOUTPUTSM 0x001D
|
|
|
|
|
#define ALERR_INVALIDINPUTSM 0x001E
|
|
|
|
|
|
|
|
|
|
#define MBXERR_SYNTAX 0x0001
|
|
|
|
|
#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002
|
|
|
|
|
#define MBXERR_INVALIDCHANNEL 0x0003
|
|
|
|
|
#define MBXERR_SERVICENOTSUPPORTED 0x0004
|
|
|
|
|
#define MBXERR_INVALIDHEADER 0x0005
|
|
|
|
|
#define MBXERR_SIZETOOSHORT 0x0006
|
|
|
|
|
#define MBXERR_NOMOREMEMORY 0x0007
|
|
|
|
|
#define MBXERR_INVALIDSIZE 0x0008
|
|
|
|
|
|
|
|
|
|
#define ABORT_NOTOGGLE 0x05030000
|
|
|
|
|
#define ABORT_UNKNOWN 0x05040001
|
|
|
|
|
#define ABORT_UNSUPPORTED 0x06010000
|
|
|
|
|
#define ABORT_WRITEONLY 0x06010001
|
|
|
|
|
#define ABORT_READONLY 0x06010002
|
|
|
|
|
#define ABORT_NOOBJECT 0x06020000
|
|
|
|
|
#define ABORT_TYPEMISMATCH 0x06070010
|
|
|
|
|
#define ABORT_NOSUBINDEX 0x06090011
|
|
|
|
|
#define ABORT_GENERALERROR 0x08000000
|
|
|
|
|
#define ABORT_NOTINTHISSTATE 0x08000022
|
|
|
|
|
|
|
|
|
|
#define MBXstate_idle 0x00
|
|
|
|
|
#define MBXstate_inclaim 0x01
|
|
|
|
|
#define MBXstate_outclaim 0x02
|
|
|
|
|
#define MBXstate_outreq 0x03
|
|
|
|
|
#define MBXstate_outpost 0x04
|
|
|
|
|
#define MBXstate_backup 0x05
|
|
|
|
|
#define MBXstate_again 0x06
|
|
|
|
|
|
|
|
|
|
#define COE_DEFAULTLENGTH 0x0a
|
|
|
|
|
#define COE_HEADERSIZE 0x0a
|
|
|
|
|
#define COE_SEGMENTHEADERSIZE 0x03
|
|
|
|
|
#define COE_SDOREQUEST 0x02
|
|
|
|
|
#define COE_SDORESPONSE 0x03
|
|
|
|
|
#define COE_SDOINFORMATION 0x08
|
|
|
|
|
#define COE_COMMAND_SDOABORT 0x80
|
|
|
|
|
#define COE_COMMAND_UPLOADREQUEST 0x40
|
|
|
|
|
#define COE_COMMAND_UPLOADRESPONSE 0x40
|
|
|
|
|
#define COE_COMMAND_UPLOADSEGMENT 0x00
|
|
|
|
|
#define COE_COMMAND_UPLOADSEGREQ 0x60
|
|
|
|
|
#define COE_COMMAND_DOWNLOADRESPONSE 0x60
|
|
|
|
|
#define COE_COMMAND_LASTSEGMENTBIT 0x01
|
|
|
|
|
#define COE_SIZE_INDICATOR 0x01
|
|
|
|
|
#define COE_EXPEDITED_INDICATOR 0x02
|
|
|
|
|
#define COE_COMPLETEACCESS 0x10
|
|
|
|
|
#define COE_TOGGLEBIT 0x10
|
|
|
|
|
#define COE_INFOERROR 0x07
|
|
|
|
|
#define COE_GETODLISTRESPONSE 0x02
|
|
|
|
|
#define COE_GETODRESPONSE 0x04
|
|
|
|
|
#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
|
|
|
|
|
#define COE_VALUEINFO_ACCESS 0x01
|
|
|
|
|
#define COE_VALUEINFO_OBJECT 0x02
|
|
|
|
|
#define COE_VALUEINFO_MAPPABLE 0x04
|
|
|
|
|
#define COE_VALUEINFO_TYPE 0x08
|
|
|
|
|
#define COE_VALUEINFO_DEFAULT 0x10
|
|
|
|
|
#define COE_VALUEINFO_MINIMUM 0x20
|
|
|
|
|
#define COE_VALUEINFO_MAXIMUM 0x40
|
|
|
|
|
|
|
|
|
|
#define MBXHSIZE sizeof(_MBXh)
|
|
|
|
|
#define MBXDSIZE MBXSIZE-MBXHSIZE
|
|
|
|
|
|
|
|
|
|
#define MBXERR 0x00
|
|
|
|
|
#define MBXAOE 0x01
|
|
|
|
|
#define MBXEOE 0x02
|
|
|
|
|
#define MBXCOE 0x03
|
|
|
|
|
#define MBXFOE 0x04
|
|
|
|
|
#define MBXODL 0x10
|
|
|
|
|
#define MBXOD 0x20
|
|
|
|
|
#define MBXED 0x30
|
|
|
|
|
#define MBXSEU 0x40
|
|
|
|
|
#define MBXSED 0x50
|
|
|
|
|
|
|
|
|
|
#define SMRESULT_ERRSM0 0x01
|
|
|
|
|
#define SMRESULT_ERRSM1 0x02
|
|
|
|
|
#define SMRESULT_ERRSM2 0x04
|
|
|
|
|
#define SMRESULT_ERRSM3 0x08
|
|
|
|
|
|
|
|
|
|
#define FOE_ERR_NOTDEFINED 0x8000
|
|
|
|
|
#define FOE_ERR_NOTFOUND 0x8001
|
|
|
|
|
#define FOE_ERR_ACCESS 0x8002
|
|
|
|
|
#define FOE_ERR_DISKFULL 0x8003
|
|
|
|
|
#define FOE_ERR_ILLEGAL 0x8004
|
|
|
|
|
#define FOE_ERR_PACKETNO 0x8005
|
|
|
|
|
#define FOE_ERR_EXISTS 0x8006
|
|
|
|
|
#define FOE_ERR_NOUSER 0x8007
|
|
|
|
|
#define FOE_ERR_BOOTSTRAPONLY 0x8008
|
|
|
|
|
#define FOE_ERR_NOTINBOOTSTRAP 0x8009
|
|
|
|
|
#define FOE_ERR_NORIGHTS 0x800A
|
|
|
|
|
#define FOE_ERR_PROGERROR 0x800B
|
|
|
|
|
|
|
|
|
|
#define FOE_OP_RRQ 1
|
|
|
|
|
#define FOE_OP_WRQ 2
|
|
|
|
|
#define FOE_OP_DATA 3
|
|
|
|
|
#define FOE_OP_ACK 4
|
|
|
|
|
#define FOE_OP_ERR 5
|
|
|
|
|
#define FOE_OP_BUSY 6
|
|
|
|
|
|
|
|
|
|
#define FOE_READY 0
|
|
|
|
|
#define FOE_WAIT_FOR_ACK 1
|
|
|
|
|
#define FOE_WAIT_FOR_FINAL_ACK 2
|
|
|
|
|
#define FOE_WAIT_FOR_DATA 3
|
|
|
|
|
|
|
|
|
|
// Attention! this struct is always little-endian
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 PSA;
|
|
|
|
|
uint16 Length;
|
|
|
|
|
|
|
|
|
|
#if defined(EC_LITTLE_ENDIAN)
|
|
|
|
|
uint8 Mode:2;
|
|
|
|
|
uint8 Direction:2;
|
|
|
|
|
uint8 IntECAT:1;
|
|
|
|
|
uint8 IntPDI:1;
|
|
|
|
|
uint8 WTE:1;
|
|
|
|
|
uint8 R1:1;
|
|
|
|
|
|
|
|
|
|
uint8 IntW:1;
|
|
|
|
|
uint8 IntR:1;
|
|
|
|
|
uint8 R2:1;
|
|
|
|
|
uint8 MBXstat:1;
|
|
|
|
|
uint8 BUFstat:2;
|
|
|
|
|
uint8 R3:2;
|
|
|
|
|
|
|
|
|
|
uint8 ECsm:1;
|
|
|
|
|
uint8 ECrep:1;
|
|
|
|
|
uint8 ECr4:4;
|
|
|
|
|
uint8 EClatchEC:1;
|
|
|
|
|
uint8 EClatchPDI:1;
|
|
|
|
|
|
|
|
|
|
uint8 PDIsm:1;
|
|
|
|
|
uint8 PDIrep:1;
|
|
|
|
|
uint8 PDIr5:6;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(EC_BIG_ENDIAN)
|
|
|
|
|
uint8 R1:1;
|
|
|
|
|
uint8 WTE:1;
|
|
|
|
|
uint8 IntPDI:1;
|
|
|
|
|
uint8 IntECAT:1;
|
|
|
|
|
uint8 Direction:2;
|
|
|
|
|
uint8 Mode:2;
|
|
|
|
|
|
|
|
|
|
uint8 R3:2;
|
|
|
|
|
uint8 BUFstat:2;
|
|
|
|
|
uint8 MBXstat:1;
|
|
|
|
|
uint8 R2:1;
|
|
|
|
|
uint8 IntR:1;
|
|
|
|
|
uint8 IntW:1;
|
|
|
|
|
|
|
|
|
|
uint8 EClatchPDI:1;
|
|
|
|
|
uint8 EClatchEC:1;
|
|
|
|
|
uint8 ECr4:4;
|
|
|
|
|
uint8 ECrep:1;
|
|
|
|
|
uint8 ECsm:1;
|
|
|
|
|
|
|
|
|
|
uint8 PDIr5:6;
|
|
|
|
|
uint8 PDIrep:1;
|
|
|
|
|
uint8 PDIsm:1;
|
|
|
|
|
#endif
|
|
|
|
|
} _ESCsm;
|
|
|
|
|
|
|
|
|
|
/* Attention! this struct is always little-endian */
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 PSA;
|
|
|
|
|
uint16 Length;
|
|
|
|
|
uint8 Command;
|
|
|
|
|
uint8 Status;
|
|
|
|
|
uint8 ActESC;
|
|
|
|
|
uint8 ActPDI;
|
|
|
|
|
} _ESCsm2;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 PSA;
|
|
|
|
|
uint16 Length;
|
|
|
|
|
uint8 Command;
|
|
|
|
|
} _ESCsmCompact;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 ALevent;
|
|
|
|
|
uint16 ALstatus;
|
|
|
|
|
uint16 ALcontrol;
|
|
|
|
|
uint16 ALerror;
|
|
|
|
|
uint16 DLstatus;
|
|
|
|
|
uint16 address;
|
|
|
|
|
uint8 mbxcnt;
|
|
|
|
|
uint8 mbxincnt;
|
|
|
|
|
uint8 mbxoutpost;
|
|
|
|
|
uint8 mbxbackup;
|
|
|
|
|
uint8 xoe;
|
|
|
|
|
uint8 txcue;
|
|
|
|
|
uint8 mbxfree;
|
|
|
|
|
uint8 segmented;
|
|
|
|
|
void *data;
|
|
|
|
|
uint16 entries;
|
|
|
|
|
uint16 frags;
|
|
|
|
|
uint16 fragsleft;
|
|
|
|
|
|
|
|
|
|
#if defined(EC_LITTLE_ENDIAN)
|
|
|
|
|
uint8 r1:1;
|
|
|
|
|
uint8 toggle:1;
|
|
|
|
|
uint8 r2:6;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(EC_BIG_ENDIAN)
|
|
|
|
|
uint8 r2:6;
|
|
|
|
|
uint8 toggle:1;
|
|
|
|
|
uint8 r1:1;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
uint8 SMtestresult;
|
|
|
|
|
int16 temp;
|
|
|
|
|
uint16 wdcnt;
|
|
|
|
|
uint32 PrevTime;
|
|
|
|
|
uint32 Time;
|
|
|
|
|
_ESCsm SM[4];
|
|
|
|
|
} _ESCvar;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 length;
|
|
|
|
|
uint16 address;
|
|
|
|
|
|
|
|
|
|
#if defined(EC_LITTLE_ENDIAN)
|
|
|
|
|
uint8 channel:6;
|
|
|
|
|
uint8 priority:2;
|
|
|
|
|
|
|
|
|
|
uint8 mbxtype:4;
|
|
|
|
|
uint8 mbxcnt:4;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(EC_BIG_ENDIAN)
|
|
|
|
|
uint8 priority:2;
|
|
|
|
|
uint8 channel:6;
|
|
|
|
|
|
|
|
|
|
uint8 mbxcnt:4;
|
|
|
|
|
uint8 mbxtype:4;
|
|
|
|
|
#endif
|
|
|
|
|
} _MBXh;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh header;
|
|
|
|
|
uint8 b[MBXDSIZE];
|
|
|
|
|
} _MBX;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint16 numberservice;
|
|
|
|
|
} _COEh;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
#if defined(EC_LITTLE_ENDIAN)
|
|
|
|
|
uint8 opcode:7;
|
|
|
|
|
uint8 incomplete:1;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#if defined(EC_BIG_ENDIAN)
|
|
|
|
|
uint8 incomplete:1;
|
|
|
|
|
uint8 opcode:7;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
uint8 reserved;
|
|
|
|
|
uint16 fragmentsleft;
|
|
|
|
|
} _INFOh;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh mbxheader;
|
|
|
|
|
uint16 type;
|
|
|
|
|
uint16 detail;
|
|
|
|
|
} _MBXerr;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh mbxheader;
|
|
|
|
|
_COEh coeheader;
|
|
|
|
|
uint8 command;
|
|
|
|
|
uint16 index;
|
|
|
|
|
uint8 subindex;
|
|
|
|
|
uint32 size;
|
|
|
|
|
} _COEsdo;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh mbxheader;
|
|
|
|
|
_COEh coeheader;
|
|
|
|
|
_INFOh infoheader;
|
|
|
|
|
uint16 index;
|
|
|
|
|
uint16 datatype;
|
|
|
|
|
uint8 maxsub;
|
|
|
|
|
uint8 objectcode;
|
|
|
|
|
char name;
|
|
|
|
|
} _COEobjdesc;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh mbxheader;
|
|
|
|
|
_COEh coeheader;
|
|
|
|
|
_INFOh infoheader;
|
|
|
|
|
uint16 index;
|
|
|
|
|
uint8 subindex;
|
|
|
|
|
uint8 valueinfo;
|
|
|
|
|
uint16 datatype;
|
|
|
|
|
uint16 bitlength;
|
|
|
|
|
uint16 access;
|
|
|
|
|
char name;
|
|
|
|
|
} _COEentdesc;
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
uint8 opcode;
|
|
|
|
|
uint8 reserved;
|
|
|
|
|
union
|
|
|
|
|
{
|
|
|
|
|
uint32 password;
|
|
|
|
|
uint32 packetnumber;
|
|
|
|
|
uint32 errorcode;
|
|
|
|
|
};
|
|
|
|
|
} _FOEh;
|
|
|
|
|
|
|
|
|
|
#define FOEHSIZE (sizeof(_FOEh))
|
|
|
|
|
#define FOE_DATA_SIZE (MBXSIZEBOOT - (MBXHSIZE+FOEHSIZE))
|
|
|
|
|
|
2015-05-18 16:54:09 +02:00
|
|
|
typedef struct CC_PACKED
|
2014-09-12 16:01:33 +02:00
|
|
|
{
|
|
|
|
|
_MBXh mbxheader;
|
|
|
|
|
_FOEh foeheader;
|
|
|
|
|
union
|
|
|
|
|
{
|
|
|
|
|
char filename[FOE_DATA_SIZE];
|
|
|
|
|
uint8 data[FOE_DATA_SIZE];
|
|
|
|
|
char errortext[FOE_DATA_SIZE];
|
|
|
|
|
};
|
|
|
|
|
} _FOE;
|
|
|
|
|
|
|
|
|
|
/* state definition in mailbox
|
|
|
|
|
* 0 : idle
|
|
|
|
|
* 1 : claimed for inbox
|
|
|
|
|
* 2 : claimed for outbox
|
|
|
|
|
* 3 : request post outbox
|
|
|
|
|
* 4 : outbox posted not send
|
|
|
|
|
* 5 : backup outbox
|
|
|
|
|
* 6 : mailbox needs to be transmitted again
|
|
|
|
|
*/
|
|
|
|
|
typedef struct
|
|
|
|
|
{
|
|
|
|
|
uint8 state;
|
|
|
|
|
} _MBXcontrol;
|
|
|
|
|
|
|
|
|
|
typedef struct esc_cfg
|
|
|
|
|
{
|
|
|
|
|
void (*pre_state_change_hook) (uint8 * as, uint8 * an);
|
|
|
|
|
void (*post_state_change_hook) (uint8 * as, uint8 * an);
|
|
|
|
|
} esc_cfg_t;
|
|
|
|
|
|
|
|
|
|
void ESC_config (esc_cfg_t * cfg);
|
|
|
|
|
void ESC_ALerror (uint16 errornumber);
|
|
|
|
|
void ESC_ALstatus (uint8 status);
|
|
|
|
|
void ESC_SMstatus (uint8 n);
|
|
|
|
|
uint8 ESC_WDstatus (void);
|
|
|
|
|
uint8 ESC_claimbuffer (void);
|
|
|
|
|
uint8 ESC_startmbx (uint8 state);
|
|
|
|
|
void ESC_stopmbx (void);
|
|
|
|
|
void MBX_error (uint16 error);
|
|
|
|
|
uint8 ESC_mbxprocess (void);
|
|
|
|
|
void ESC_xoeprocess (void);
|
|
|
|
|
uint8 ESC_startinput (uint8 state);
|
|
|
|
|
void ESC_stopinput (void);
|
|
|
|
|
uint8 ESC_startoutput (uint8 state);
|
|
|
|
|
void ESC_stopoutput (void);
|
|
|
|
|
void ESC_ALevent (void);
|
|
|
|
|
void ESC_state (void);
|
|
|
|
|
|
|
|
|
|
/* From hardware file */
|
|
|
|
|
uint8 ESC_read (uint16 address, void *buf, uint16 len, void *tALevent);
|
|
|
|
|
uint8 ESC_write (uint16 address, void *buf, uint16 len, void *tALevent);
|
2015-05-20 13:15:49 +02:00
|
|
|
void ESC_init (const void * arg);
|
|
|
|
|
void ESC_reset (void);
|
|
|
|
|
|
2014-09-12 16:01:33 +02:00
|
|
|
/* From application */
|
|
|
|
|
extern void APP_safeoutput ();
|
|
|
|
|
|
|
|
|
|
extern volatile _ESCvar ESCvar;
|
|
|
|
|
extern _MBX MBX[MBXBUFFERS];
|
|
|
|
|
extern _MBXcontrol MBXcontrol[MBXBUFFERS];
|
|
|
|
|
extern uint8 MBXrun;
|
|
|
|
|
extern uint16 SM2_sml, SM3_sml;
|
|
|
|
|
|
2015-05-07 17:43:02 +02:00
|
|
|
typedef struct
|
|
|
|
|
{
|
|
|
|
|
uint8 state;
|
|
|
|
|
} _App;
|
|
|
|
|
|
|
|
|
|
#define APPSTATE_IDLE 0x00
|
|
|
|
|
#define APPSTATE_INPUT 0x01
|
|
|
|
|
#define APPSTATE_OUTPUT 0x02
|
|
|
|
|
|
|
|
|
|
extern _App App;
|
|
|
|
|
|
2014-09-12 16:01:33 +02:00
|
|
|
#endif
|
