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add sample application for dynamic pdos

pull/52/head
Hans-Erik Floryd 2019-01-20 15:35:55 +01:00
parent 5b33b077ca
commit 0170a15229
8 changed files with 1970 additions and 0 deletions
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14
applications/rtl_xmc4_dynpdo/CMakeLists.txt 100644
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add_custom_command (
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/sii_eeprom.bin
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
COMMAND arm-eabi-objcopy -I binary -O elf32-littlearm -B arm sii_eeprom.bin ${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
)
add_executable (demo
slave_objectlist.c
main.c
${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
)
target_link_libraries(demo LINK_PUBLIC soes)

44
applications/rtl_xmc4_dynpdo/config.h 100644
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#ifndef __CONFIG_H__
#define __CONFIG_H__
#include <cc.h>
#define MAX_INPUT_SIZE 128 /* Max processdata size (inputs) */
#define MAX_OUTPUT_SIZE 128 /* Max processdata size (outputs) */
#define MAX_PDO 2 /* Max number of writeable PDOs (RX + TX) */
#define MAX_PDO_ENTRIES 4 /* Max number of entries in a writeable PDO */
#define MAX_SM_ENTRIES 4 /* Max number of PDOs in a SyncManager */
#define MAX_SM_MAPPINGS 16 /* Max number of mapped objects in a SyncManager */
#define MBXSIZE 128
#define MBXSIZEBOOT 128
#define MBXBUFFERS 3
#define MBX0_sma 0x1000
#define MBX0_sml MBXSIZE
#define MBX0_sme MBX0_sma+MBX0_sml-1
#define MBX0_smc 0x26
#define MBX1_sma MBX0_sma+MBX0_sml
#define MBX1_sml MBXSIZE
#define MBX1_sme MBX1_sma+MBX1_sml-1
#define MBX1_smc 0x22
#define MBX0_sma_b 0x1000
#define MBX0_sml_b MBXSIZEBOOT
#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define MBX0_smc_b 0x26
#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
#define MBX1_sml_b MBXSIZEBOOT
#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define MBX1_smc_b 0x22
#define SM2_sma 0x1100
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1180
#define SM3_smc 0x20
#define SM3_act 1
#endif /* __CONFIG_H__ */

87
applications/rtl_xmc4_dynpdo/main.c 100644
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include <kern.h>
#include "esc.h"
#include "esc_hw.h"
#include "ecat_slv.h"
#include "config.h"
#include "utypes.h"
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
_SMmap SMmap2[MAX_MAPPINGS_SM2];
_SMmap SMmap3[MAX_MAPPINGS_SM3];
/* Application variables */
_Objects Obj;
/* Private variables */
static uint8_t inputs[MAX_INPUT_SIZE] __attribute__((aligned (8)));
static uint8_t outputs[MAX_OUTPUT_SIZE] __attribute__((aligned (8)));
void cb_get_inputs (void)
{
Obj.IN1 = 1;
Obj.IN2 = 2;
Obj.IN3 = 3;
Obj.IN4 = 4;
}
void cb_set_outputs (void)
{
}
/* Setup of DC */
uint16_t dc_checker (void)
{
/* Indicate we run DC */
ESCvar.dcsync = 1;
/* Fetch the sync counter limit SDO10F1*/
ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
return 0;
}
int main (void)
{
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.rxpdos_address = outputs,
.rxpdos_mappings = MAX_SM_MAPPINGS,
.txpdos_address = inputs,
.txpdos_mappings = MAX_SM_MAPPINGS,
.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = ESC_eep_handler,
.esc_check_dc_handler = dc_checker
};
rprintf ("Hello world\n");
ecat_slv_init (&config);
return 0;
}

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applications/rtl_xmc4_dynpdo/sii_eeprom.bin 100644
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1435
applications/rtl_xmc4_dynpdo/slave.xml 100644
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283
applications/rtl_xmc4_dynpdo/slave_objectlist.c 100644
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#ifndef SOES_V1
#include "esc.h"
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
#ifndef HW_REV
#define HW_REV "1.0"
#endif
#ifndef SW_REV
#define SW_REV "1.0"
#endif
static const char acName1000[] = "Device Type";
static const char acName1000_0[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1008_0[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName1009_0[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName100A_0[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Max SubIndex";
static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName10F1[] = "ErrorSettings";
static const char acName10F1_00[] = "Max SubIndex";
static const char acName10F1_01[] = "Dummy_x01";
static const char acName10F1_02[] = "SyncErrorCounterLimit";
static const char acName1600[] = "Outputs";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "OUT1";
static const char acName1600_02[] = "OUT2";
static const char acName1600_03[] = "OUT3";
static const char acName1A00[] = "IN1";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "IN1";
static const char acName1A00_02[] = "Padding";
static const char acName1A01[] = "IN2";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "IN2";
static const char acName1A01_02[] = "Padding";
static const char acName1A02[] = "IN3";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "IN3";
static const char acName1A02_02[] = "Padding";
static const char acName1A03[] = "IN4";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "IN4";
static const char acName1A03_02[] = "Padding";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
static const char acName1C00_02[] = "Communications Type SM1";
static const char acName1C00_03[] = "Communications Type SM2";
static const char acName1C00_04[] = "Communications Type SM3";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C32[] = "SyncMgrParam";
static const char acName1C32_00[] = "Max SubIndex";
static const char acName1C32_01[] = "SyncType";
static const char acName1C32_02[] = "CycleTime";
static const char acName1C32_03[] = "ShiftTime";
static const char acName1C32_04[] = "SyncTypeSupport";
static const char acName1C32_05[] = "MinCycleTime";
static const char acName1C32_06[] = "CalcCopyTime";
static const char acName1C32_07[] = "MinDelayTime";
static const char acName1C32_08[] = "GetCycleTime";
static const char acName1C32_09[] = "DelayTime";
static const char acName1C32_0A[] = "Sync0CycleTime";
static const char acName1C32_0B[] = "SMEventMissedCnt";
static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
static const char acName1C32_0D[] = "ShiftTimeTooSmallCnt";
static const char acName1C32_0E[] = "RxPDOToggleFailed";
static const char acName1C32_0F[] = "MinCycleDist";
static const char acName1C32_10[] = "MaxCycleDist";
static const char acName1C32_11[] = "MinSMSYNCDist";
static const char acName1C32_12[] = "MaxSMSYNCDist";
static const char acName1C32_14[] = "Dummy_x14";
static const char acName1C32_20[] = "SyncError";
static const char acName6000[] = "IN1";
static const char acName6000_0[] = "IN1";
static const char acName6001[] = "IN2";
static const char acName6001_0[] = "IN2";
static const char acName6002[] = "IN3";
static const char acName6002_0[] = "IN3";
static const char acName6003[] = "IN4";
static const char acName6003_0[] = "IN4";
static const char acName7000[] = "Outputs";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "OUT1";
static const char acName7000_02[] = "OUT2";
static const char acName7000_03[] = "OUT3";
static const char acName8000[] = "PARAM1";
static const char acName8000_0[] = "PARAM1";
static const char acName8001[] = "PARAM2";
static const char acName8001_0[] = "PARAM2";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1008_0, 0, "slave"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, SW_REV},
};
const _objd SDO1018[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 0x1337, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x10cc, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
};
const _objd SDO10F1[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_01, 0, &Obj.ErrorSettings.Dummy_x01},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Obj.ErrorSettings.SyncErrorCounterLimit},
};
const _objd SDO1600[] =
{
/* Writeable PDO */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1600_00, 3, &Obj.PDO[0].maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_01, 0x70000108, &Obj.PDO[0].value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_02, 0x70000210, &Obj.PDO[0].value[1]},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_03, 0x70000320, &Obj.PDO[0].value[2]},
};
const _objd SDO1A00[] =
{
/* Writeable PDO */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A00_00, 2, &Obj.PDO[1].maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A00_01, 0x60000001, &Obj.PDO[1].value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A00_02, 0x00000007, &Obj.PDO[1].value[1]},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010002, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x00000006, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020003, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_02, 0x00000005, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030004, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_02, 0x00000004, NULL},
};
const _objd SDO1C00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
};
const _objd SDO1C12[] =
{
/* Writeable SM */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C12_00, 1, &Obj.SM[0].maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM[0].value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0, &Obj.SM[0].value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0, &Obj.SM[0].value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0, &Obj.SM[0].value[3]},
};
const _objd SDO1C13[] =
{
/* Writeable SM */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 4, &Obj.SM[1].maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM[1].value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x1A01, &Obj.SM[1].value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x1A02, &Obj.SM[1].value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x1A03, &Obj.SM[1].value[3]},
};
const _objd SDO1C32[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_01, 1, &Obj.SyncMgrParam.SyncType},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Obj.SyncMgrParam.CycleTime},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Obj.SyncMgrParam.ShiftTime},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0x6, &Obj.SyncMgrParam.SyncTypeSupport},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.MinCycleTime},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.CalcCopyTime},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.MinDelayTime},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Obj.SyncMgrParam.GetCycleTime},
{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Obj.SyncMgrParam.DelayTime},
{0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Obj.SyncMgrParam.Sync0CycleTime},
{0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Obj.SyncMgrParam.SMEventMissedCnt},
{0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Obj.SyncMgrParam.CycleTimeTooSmallCnt},
{0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Obj.SyncMgrParam.ShiftTimeTooSmallCnt},
{0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Obj.SyncMgrParam.RxPDOToggleFailed},
{0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Obj.SyncMgrParam.MinCycleDist},
{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.MaxCycleDist},
{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.MinSMSYNCDist},
{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.MaxSMSYNCDist},
{0x14, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_14, 0, &Obj.SyncMgrParam.Dummy_x14},
{0x20, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError},
};
const _objd SDO6000[] =
{
{0x0, DTYPE_BIT1, 1, ATYPE_TXPDO | ATYPE_RO, acName6000_0, 0, &Obj.IN1},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_BIT2, 2, ATYPE_TXPDO | ATYPE_RO, acName6001_0, 0, &Obj.IN2},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_BIT3, 3, ATYPE_TXPDO | ATYPE_RO, acName6002_0, 0, &Obj.IN3},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_BIT4, 4, ATYPE_TXPDO | ATYPE_RO, acName6003_0, 0, &Obj.IN4},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 3, NULL},
{0x01, DTYPE_INTEGER8, 8, ATYPE_RXPDO | ATYPE_RO, acName7000_01, 0, &Obj.Outputs.OUT1},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RXPDO | ATYPE_RO, acName7000_02, 0, &Obj.Outputs.OUT2},
{0x03, DTYPE_INTEGER32, 32, ATYPE_RXPDO | ATYPE_RO, acName7000_03, 0, &Obj.Outputs.OUT3},
};
const _objd SDO8000[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RW, acName8000_0, 0x42, &Obj.PARAM1},
};
const _objd SDO8001[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RW, acName8001_0, 99, &Obj.PARAM2},
};
const _objectlist SDOobjects[] =
{
{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
{0x1600, OTYPE_RECORD, 3, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 2, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 2, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 2, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 2, 0, acName1A03, SDO1A03},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13},
{0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x7000, OTYPE_RECORD, 3, 0, acName7000, SDO7000},
{0x8000, OTYPE_VAR, 0, 0, acName8000, SDO8000},
{0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
#endif

78
applications/rtl_xmc4_dynpdo/utypes.h 100644
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@ -0,0 +1,78 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "config.h"
/* NOTE: Not packed, does not use bitfields */
typedef struct
{
/* Inputs */
uint8_t IN1; /* (BIT1) */
uint8_t IN2; /* (BIT2) */
uint8_t IN3; /* (BIT3) */
uint8_t IN4; /* (BIT4) */
/* Outputs */
struct
{
int8_t OUT1;
int16_t OUT2;
int32_t OUT3;
} Outputs;
/* Parameters */
int32_t PARAM1;
int32_t PARAM2;
/* Manufacturer specific data */
struct
{
uint16_t SyncType;
uint32_t CycleTime;
uint32_t ShiftTime;
uint16_t SyncTypeSupport;
uint32_t MinCycleTime;
uint32_t CalcCopyTime;
uint32_t MinDelayTime;
uint16_t GetCycleTime;
uint32_t DelayTime;
uint32_t Sync0CycleTime;
uint16_t SMEventMissedCnt;
uint16_t CycleTimeTooSmallCnt;
uint16_t ShiftTimeTooSmallCnt;
uint16_t RxPDOToggleFailed;
uint32_t MinCycleDist;
uint32_t MaxCycleDist;
uint32_t MinSMSYNCDist;
uint32_t MaxSMSYNCDist;
uint8_t Dummy_x14;
uint8_t SyncError;
} SyncMgrParam;
struct
{
uint8_t Dummy_x01;
uint16_t SyncErrorCounterLimit;
} ErrorSettings;
/* Storage for configurable PDO:s */
struct
{
uint8_t maxsub;
uint32_t value[4];
} PDO[2];
/* Storage for configurable Sync Managers */
struct
{
uint8_t maxsub;
uint16_t value[4];
} SM[2];
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

29
cmake/toolchain/rt-kernel-xmc4.cmake 100644
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# Guard against multiple inclusion
if(_TOOLCHAIN_CMAKE_)
return()
endif()
set(_TOOLCHAIN_CMAKE_ TRUE)
INCLUDE(CMakeForceCompiler)
SET(CMAKE_SYSTEM_NAME rt-kernel)
# specify the cross compiler
CMAKE_FORCE_C_COMPILER(arm-eabi-gcc GNU)
CMAKE_FORCE_CXX_COMPILER(arm-eabi-g++ GNU)
set(ARCH xmc4)
set(CPU cortex-m4f)
set(BSP xmc48relax)
set(MACHINE_FLAGS "-mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16")
set(SOES_DEMO applications/rtl_xmc4_dynpdo)
include_directories(
${SOES_SOURCE_DIR}/${SOES_DEMO}
${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4
)
set(HAL_SOURCES
${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4/esc_hw.c
${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4/esc_hw_eep.c
)