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add APP_setwatchdog 

Add function to set watchdog count.
pull/52/head
Hans-Erik Floryd 2019-04-02 21:30:33 +02:00
parent d204255ad3
commit 14397b0575
2 changed files with 28 additions and 10 deletions
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32
soes/ecat_slv.c
View File

@ -23,7 +23,7 @@ static volatile int watchdog;
static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned (8)));
static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned (8)));
/** Mandatory: Function to pre-qualify the incoming SDO download.
/** Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
@ -60,7 +60,7 @@ uint32_t ESC_pre_objecthandler (uint16_t index,
return abort;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
/** Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO download request to handle
@ -74,9 +74,8 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
}
}
/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
/** Hook called from the slave stack ESC_stopoutputs to act on state changes
* forcing us to stop outputs. Here we can set them to a safe state.
* set
*/
void APP_safeoutput (void)
{
@ -88,7 +87,7 @@ void APP_safeoutput (void)
}
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
/** Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
@ -103,7 +102,7 @@ void TXPDO_update (void)
}
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
/** Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
@ -118,7 +117,17 @@ void RXPDO_update (void)
}
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
/* Set the watchdog count value, don't have any affect when using
* HW watchdog 0x4xx
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog (int watchdogcnt)
{
CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
}
/* Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
@ -183,7 +192,7 @@ void DIG_process (uint8_t flags)
}
}
/**
/*
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
@ -225,7 +234,7 @@ void ecat_slv_worker (uint32_t event_mask)
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
}
/**
/*
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
@ -264,6 +273,9 @@ void ecat_slv_poll (void)
}
}
/*
* Poll all events in a free-run application
*/
void ecat_slv (void)
{
ecat_slv_poll();
@ -271,7 +283,7 @@ void ecat_slv (void)
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/**
/*
* Initialize the slave stack.
*/
void ecat_slv_init (esc_cfg_t * config)

6
soes/ecat_slv.h
View File

@ -15,6 +15,12 @@ void cb_get_inputs();
*/
void cb_set_outputs();
/** Set the watchdog count value
*
* @param[in] watchdogcnt = new watchdog count value
*/
void APP_setwatchdog (int watchdogcnt);
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04