diff --git a/applications/rtl_lan9252demo/ecat_options.h b/applications/rtl_lan9252demo/ecat_options.h deleted file mode 100644 index c91b2be..0000000 --- a/applications/rtl_lan9252demo/ecat_options.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef __ECAT_OPTIONS_H__ -#define __ECAT_OPTIONS_H__ - -#include "cc.h" - -#define USE_FOE 1 -#define USE_EOE 0 - -#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 - -#define MAX_RXPDO_SIZE 42 -#define MAX_TXPDO_SIZE 42 - -#define MAX_MAPPINGS_SM2 2 -#define MAX_MAPPINGS_SM3 1 - -#endif /* __ECAT_OPTIONS_H__ */ diff --git a/applications/rtl_lan9252demo/main.c b/applications/rtl_lan9252demo/main.c deleted file mode 100644 index 7951706..0000000 --- a/applications/rtl_lan9252demo/main.c +++ /dev/null @@ -1,52 +0,0 @@ -#include -#include "ecat_slv.h" -#include "utypes.h" - -/* Application variables */ -_Objects Obj; - -void cb_get_inputs (void) -{ -} - -void cb_set_outputs (void) -{ -} - -int main_run (void * arg) -{ - static esc_cfg_t config = - { - .user_arg = "/spi1/lan9252", - .use_interrupt = 0, - .watchdog_cnt = 150, - .set_defaults_hook = NULL, - .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 = NULL, - .esc_hw_interrupt_disable = NULL, - .esc_hw_eep_handler = NULL, - .esc_check_dc_handler = NULL, - }; - - ecat_slv_init (&config); - - while (1) - { - ecat_slv(); - } - - return 0; -} - -int main (void) -{ - rprintf ("Hello Main\n"); - task_spawn ("soes", main_run, 8, 2048, NULL); -} diff --git a/applications/rtl_lan9252demo/slave.bin b/applications/rtl_lan9252demo/slave.bin deleted file mode 100644 index 6371298..0000000 Binary files a/applications/rtl_lan9252demo/slave.bin and /dev/null differ diff --git a/applications/rtl_lan9252demo/slave.esx b/applications/rtl_lan9252demo/slave.esx deleted file mode 100644 index fffdb28..0000000 --- a/applications/rtl_lan9252demo/slave.esx +++ /dev/null @@ -1,298 +0,0 @@ - - - lan9252 - - 0x1337 - rt-labs AB - - - lan9252_spi - lan9252 - - Outputs - Inputs - MBoxOut - MBoxIn - Outputs - Inputs - - - - - - 8002000000000000 - 0010800080108000 - - - - Device Type - 0x1000 - UNSIGNED32 - 0x01901389 - - - Device Name - 0x1008 - VISIBLE_STRING - evb9252_dig - - - Hardware Version - 0x1009 - VISIBLE_STRING - 1.0 - - - Software Version - 0x100A - VISIBLE_STRING - 1.0 - - - Identity Object - 0x1018 - RECORD - - Number of Elements - UNSIGNED8 - 4 - - - Vendor ID - UNSIGNED32 - 0x1337 - - - Product Code - UNSIGNED32 - 1234 - - - Revision Number - UNSIGNED32 - 0 - - - Serial Number - UNSIGNED32 - 0x00000000 - - - - LEDs - 0x1600 - RECORD - - Number of Elements - UNSIGNED8 - 2 - - - LED0 - UNSIGNED32 - 0x70000108 - - - LED1 - UNSIGNED32 - 0x70000208 - - - - Buttons - 0x1A00 - RECORD - - Number of Elements - UNSIGNED8 - 1 - - - Button1 - UNSIGNED32 - 0x60000108 - - - - Sync Manager Communication Type - 0x1C00 - ARRAY - - Number of Elements - UNSIGNED8 - 4 - - - Communications Type SM0 - UNSIGNED8 - 1 - - - Communications Type SM1 - UNSIGNED8 - 2 - - - Communications Type SM2 - UNSIGNED8 - 3 - - - Communications Type SM3 - UNSIGNED8 - 4 - - - - Sync Manager 2 PDO Assignment - 0x1C12 - ARRAY - - Number of Elements - UNSIGNED8 - 1 - - - PDO Mapping - UNSIGNED16 - 0x1600 - - - - Sync Manager 3 PDO Assignment - 0x1C13 - ARRAY - - Number of Elements - UNSIGNED8 - 1 - - - PDO Mapping - UNSIGNED16 - 0x1A00 - - - - Buttons - 0x6000 - RECORD - Buttons - Input - - Number of Elements - UNSIGNED8 - 1 - - - Button1 - UNSIGNED8 - 0 - RO - Button1 - Input - - - - LEDs - 0x7000 - RECORD - LEDs - Output - - Number of Elements - UNSIGNED8 - 2 - - - LED0 - UNSIGNED8 - 0 - RO - LED0 - Output - - - LED1 - UNSIGNED8 - 0 - RO - LED1 - Output - - - - Parameters - 0x8000 - RECORD - Parameters - Parameter - - Number of Elements - UNSIGNED8 - 1 - - - Multiplier - UNSIGNED32 - 0 - RW - Multiplier - Parameter - - - - - 0x1600 - LEDs - LEDs - - 0x7000 - 1 - LED0 - - - 0x7000 - 2 - LED1 - - - - 0x1A00 - Buttons - Buttons - - 0x6000 - 1 - Button1 - - - - Buttons - RECORD - - Button1 - UNSIGNED8 - - - - LEDs - RECORD - - LED0 - UNSIGNED8 - - - LED1 - UNSIGNED8 - - - - Parameters - RECORD - - Multiplier - UNSIGNED32 - - - \ No newline at end of file diff --git a/applications/rtl_lan9252demo/slave.xml b/applications/rtl_lan9252demo/slave.xml deleted file mode 100644 index a0e1f16..0000000 --- a/applications/rtl_lan9252demo/slave.xml +++ /dev/null @@ -1,691 +0,0 @@ - - - - #x1337 - rt-labs AB - - - - - lan9252_spi - lan9252 - - - - - evb9252_dig - lan9252 - lan9252_spi - - 5001 - 400 - - - - DT1018 - 144 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - Vendor ID - UDINT - 32 - 16 - - ro - - - - 2 - Product Code - UDINT - 32 - 48 - - ro - - - - 3 - Revision Number - UDINT - 32 - 80 - - ro - - - - 4 - Serial Number - UDINT - 32 - 112 - - ro - - - - - DT1600 - 80 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - LED0 - UDINT - 32 - 16 - - ro - - - - 2 - LED1 - UDINT - 32 - 48 - - ro - - - - - DT1A00 - 48 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - Button1 - UDINT - 32 - 16 - - ro - - - - - DT1C00ARR - USINT - 32 - - 1 - 4 - - - - DT1C00 - 48 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - Elements - DT1C00ARR - 32 - 16 - - ro - - - - - DT1C12ARR - UINT - 16 - - 1 - 1 - - - - DT1C12 - 32 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - Elements - DT1C12ARR - 16 - 16 - - ro - - - - - DT1C13ARR - UINT - 16 - - 1 - 1 - - - - DT1C13 - 32 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - Elements - DT1C13ARR - 16 - 16 - - ro - - - - - DT6000 - 24 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - Button1 - USINT - 8 - 16 - - ro - - - - - DT7000 - 32 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - LED0 - USINT - 8 - 16 - - ro - - - - 2 - LED1 - USINT - 8 - 24 - - ro - - - - - DT8000 - 48 - - 0 - Number of Elements - USINT - 8 - 0 - - ro - - - - 1 - Multiplier - UDINT - 32 - 16 - - rw - - - - - STRING(3) - 24 - - - STRING(11) - 88 - - - UDINT - 32 - - - UINT - 16 - - - USINT - 8 - - - - - #x1000 - Device Type - UDINT - 32 - - #x01901389 - - - ro - m - - - - #x1008 - Device Name - STRING(11) - 88 - - evb9252_dig - - - ro - - - - #x1009 - Hardware Version - STRING(3) - 24 - - 1.0 - - - ro - o - - - - #x100A - Software Version - STRING(3) - 24 - - 1.0 - - - ro - - - - #x1018 - Identity Object - DT1018 - 144 - - - Number of Elements - - 4 - - - - Vendor ID - - #x1337 - - - - Product Code - - 1234 - - - - Revision Number - - 0 - - - - Serial Number - - #x00000000 - - - - - ro - - - - #x1600 - LEDs - DT1600 - 80 - - - Number of Elements - - 2 - - - - LED0 - - #x70000108 - - - - LED1 - - #x70000208 - - - - - ro - - - - #x1A00 - Buttons - DT1A00 - 48 - - - Number of Elements - - 1 - - - - Button1 - - #x60000108 - - - - - ro - - - - #x1C00 - Sync Manager Communication Type - DT1C00 - 48 - - - Number of Elements - - 4 - - - - Communications Type SM0 - - 1 - - - - Communications Type SM1 - - 2 - - - - Communications Type SM2 - - 3 - - - - Communications Type SM3 - - 4 - - - - - ro - - - - #x1C12 - Sync Manager 2 PDO Assignment - DT1C12 - 32 - - - Number of Elements - - 1 - - - - PDO Mapping - - #x1600 - - - - - ro - - - - #x1C13 - Sync Manager 3 PDO Assignment - DT1C13 - 32 - - - Number of Elements - - 1 - - - - PDO Mapping - - #x1A00 - - - - - ro - - - - #x6000 - Buttons - DT6000 - 24 - - - Number of Elements - - 1 - - - - Button1 - - 0 - - - - - ro - - - - #x7000 - LEDs - DT7000 - 32 - - - Number of Elements - - 2 - - - - LED0 - - 0 - - - - LED1 - - 0 - - - - - ro - - - - #x8000 - Parameters - DT8000 - 48 - - - Number of Elements - - 1 - - - - Multiplier - - 0 - - - - - ro - - - - - - Outputs - Inputs - MBoxOut - MBoxIn - Outputs - Inputs - - #x1600 - LEDs - - #x7000 - 1 - 8 - LED0 - USINT - - - #x7000 - 2 - 8 - LED1 - USINT - - - - #x1A00 - Buttons - - #x6000 - 1 - 8 - Button1 - USINT - - - - - - - - 256 - 8002000000000000 - 0010800080108000 - - - - - \ No newline at end of file diff --git a/applications/rtl_lan9252demo/slave_objectlist.c b/applications/rtl_lan9252demo/slave_objectlist.c deleted file mode 100644 index c3c6a58..0000000 --- a/applications/rtl_lan9252demo/slave_objectlist.c +++ /dev/null @@ -1,139 +0,0 @@ -#include "esc_coe.h" -#include "utypes.h" -#include - -#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 acName1008[] = "Device Name"; -static const char acName1009[] = "Hardware Version"; -static const char acName100A[] = "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 acName1600[] = "LEDs"; -static const char acName1600_00[] = "Max SubIndex"; -static const char acName1600_01[] = "LED0"; -static const char acName1600_02[] = "LED1"; -static const char acName1A00[] = "Buttons"; -static const char acName1A00_00[] = "Max SubIndex"; -static const char acName1A00_01[] = "Button1"; -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 acName1C13[] = "Sync Manager 3 PDO Assignment"; -static const char acName1C13_00[] = "Max SubIndex"; -static const char acName1C13_01[] = "PDO Mapping"; -static const char acName6000[] = "Buttons"; -static const char acName6000_00[] = "Max SubIndex"; -static const char acName6000_01[] = "Button1"; -static const char acName7000[] = "LEDs"; -static const char acName7000_00[] = "Max SubIndex"; -static const char acName7000_01[] = "LED0"; -static const char acName7000_02[] = "LED1"; -static const char acName8000[] = "Parameters"; -static const char acName8000_00[] = "Max SubIndex"; -static const char acName8000_01[] = "Multiplier"; - -const _objd SDO1000[] = -{ - {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x13890190, NULL}, -}; -const _objd SDO1008[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"}, -}; -const _objd SDO1009[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV}, -}; -const _objd SDO100A[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName100A, 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, 1234, NULL}, - {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL}, - {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL}, -}; -const _objd SDO1600[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 2, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL}, - {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000208, NULL}, -}; -const _objd SDO1A00[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, 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[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, -}; -const _objd SDO1C13[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL}, -}; -const _objd SDO6000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Obj.Buttons.Button1}, -}; -const _objd SDO7000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.LEDs.LED0}, - {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Obj.LEDs.LED1}, -}; -const _objd SDO8000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier}, -}; - -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}, - {0x1600, OTYPE_RECORD, 2, 0, acName1600, SDO1600}, - {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, - {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, - {0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12}, - {0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13}, - {0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000}, - {0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000}, - {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000}, - {0xffff, 0xff, 0xff, 0xff, NULL, NULL} -}; diff --git a/applications/rtl_lan9252demo/utypes.h b/applications/rtl_lan9252demo/utypes.h deleted file mode 100644 index 9749fcd..0000000 --- a/applications/rtl_lan9252demo/utypes.h +++ /dev/null @@ -1,45 +0,0 @@ -#ifndef __UTYPES_H__ -#define __UTYPES_H__ - -#include "cc.h" - - -/* Object dictionary storage */ - -typedef struct -{ - /* Inputs */ - struct - { - uint8_t Button1; - } Buttons; - - - /* Outputs */ - struct - { - uint8_t LED0; - uint8_t LED1; - } LEDs; - - - /* Parameters */ - struct - { - uint32_t Multiplier; - } Parameters; - - - /* Manufacturer specific data */ - - /* Dynamic TX PDO:s */ - - /* Dynamic RX PDO:s */ - - /* Sync Managers */ - -} _Objects; - -extern _Objects Obj; - -#endif /* __UTYPES_H__ */ diff --git a/applications/rtl_xmc4_irq/ecat_options.h b/applications/rtl_xmc4_irq/ecat_options.h deleted file mode 100644 index ba8a47a..0000000 --- a/applications/rtl_xmc4_irq/ecat_options.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef __ECAT_OPTIONS_H__ -#define __ECAT_OPTIONS_H__ - -#include "cc.h" - -#define USE_FOE 0 -#define USE_EOE 0 - -#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 0x64 -#define SM2_act 1 -#define SM3_sma 0x1180 -#define SM3_smc 0x20 -#define SM3_act 1 - -#define MAX_RXPDO_SIZE 42 -#define MAX_TXPDO_SIZE 42 - -#define MAX_MAPPINGS_SM2 2 -#define MAX_MAPPINGS_SM3 1 - -#endif /* __ECAT_OPTIONS_H__ */ diff --git a/applications/rtl_xmc4_irq/main.c b/applications/rtl_xmc4_irq/main.c deleted file mode 100644 index 13ee295..0000000 --- a/applications/rtl_xmc4_irq/main.c +++ /dev/null @@ -1,90 +0,0 @@ -/* - * Licensed under the GNU General Public License version 2 with exceptions. See - * LICENSE file in the project root for full license information - */ - -#include -#include -#include -#include -#include "esc_hw.h" -#include "esc.h" -#include "ecat_slv.h" -#include "config.h" -#include "utypes.h" - -/* Application variables */ -_Objects Obj; - -/** - * This function is called when to get input values - */ -void cb_get_inputs() -{ - Obj.Buttons.Button1 = gpio_get(GPIO_BUTTON1); -} - -/** -* This function is called when to set outputs values - */ -void cb_set_outputs() -{ - gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0); - gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1); -} - -void safe_out(void) -{ - rprintp("safe out\n"); - return; -} - -void cb_state_change (uint8_t * as, uint8_t * an) -{ - if (*as == SAFEOP_TO_OP) - { - /* Enable watchdog interrupt */ - ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD); - } -} - -/* 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; -} - -/* Configuration parameters for SOES - * SM and Mailbox parameters comes from the - * generated config.h - */ -int main(void) -{ - static esc_cfg_t config = - { - .user_arg = NULL, - .use_interrupt = 1, - .watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */ - .set_defaults_hook = NULL, - .pre_state_change_hook = NULL, - .post_state_change_hook = cb_state_change, - .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 = NULL - }; - - rprintf("Hello Main\n"); - ecat_slv_init(&config); - return 0; -} diff --git a/applications/rtl_xmc4_irq/slave.bin b/applications/rtl_xmc4_irq/slave.bin deleted file mode 100644 index 8dd83b3..0000000 Binary files a/applications/rtl_xmc4_irq/slave.bin and /dev/null differ diff --git a/applications/rtl_xmc4_irq/slave.esx b/applications/rtl_xmc4_irq/slave.esx deleted file mode 100644 index ddd246f..0000000 --- a/applications/rtl_xmc4_irq/slave.esx +++ /dev/null @@ -1,778 +0,0 @@ - - - xmc43relax - - 0x1337 - rt-labs - - - xmc4 - xmc4 - - Outputs - Inputs - MBoxState - MBoxOut - MBoxIn - Outputs - Inputs - - - - - - 8006810600000000 - 0010800080108000 - - - - 0x1000 - Device Type - UNSIGNED32 - 0x00001389 - - - 0x1008 - Device Name - VISIBLE_STRING - xmc43relax - 10 - - - 0x1009 - Hardware Version - VISIBLE_STRING - 1.0 - 4 - - - 0x100A - Software Version - VISIBLE_STRING - 1.0 - 4 - - - 0x1018 - Identity Object - RECORD - - 0x00 - Max SubIndex - UNSIGNED8 - 4 - - - 0x01 - Vendor ID - UNSIGNED32 - 0x1337 - - - 0x02 - Product Code - UNSIGNED32 - 0x4300 - - - 0x03 - Revision Number - UNSIGNED32 - 0 - - - 0x04 - Serial Number - UNSIGNED32 - 0x00000000 - - - - 0x10F1 - ErrorSettings - RECORD - ErrorSettings - Manufacturer - - 0x00 - Max SubIndex - UNSIGNED8 - 2 - - - 0x01 - RW - Local Error Reaction - UNSIGNED32 - 0 - Local_Error_Reaction - Manufacturer - - - 0x02 - RW - SyncErrorCounterLimit - UNSIGNED16 - 2 - SyncErrorCounterLimit - Manufacturer - - - - 0x1600 - LEDgroup0 - RECORD - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - LED0 - UNSIGNED32 - 0x70000108 - - - - 0x1601 - LEDgroup1 - RECORD - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - LED1 - UNSIGNED32 - 0x70010108 - - - - 0x1A00 - Buttons - RECORD - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - Button1 - UNSIGNED32 - 0x60000108 - - - - 0x1C00 - Sync Manager Communication Type - ARRAY - - 0x00 - Max SubIndex - UNSIGNED8 - 4 - - - 0x01 - Communications Type SM0 - UNSIGNED8 - 1 - - - 0x02 - Communications Type SM1 - UNSIGNED8 - 2 - - - 0x03 - Communications Type SM2 - UNSIGNED8 - 3 - - - 0x04 - Communications Type SM3 - UNSIGNED8 - 4 - - - - 0x1C12 - Sync Manager 2 PDO Assignment - ARRAY - - 0x00 - Max SubIndex - UNSIGNED8 - 2 - - - 0x01 - PDO Mapping - UNSIGNED16 - 0x1600 - - - 0x02 - PDO Mapping - UNSIGNED16 - 0x1601 - - - - 0x1C13 - Sync Manager 3 PDO Assignment - ARRAY - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - PDO Mapping - UNSIGNED16 - 0x1A00 - - - - 0x1C32 - SyncMgrParam - RECORD - SyncMgrParam - Manufacturer - - 0x00 - Max SubIndex - UNSIGNED8 - 32 - - - 0x01 - RW - Sync mode - UNSIGNED16 - 0 - Sync_mode - Manufacturer - - - 0x02 - RO - CycleTime - UNSIGNED32 - 0 - CycleTime - Manufacturer - - - 0x03 - RO - ShiftTime - UNSIGNED32 - 0 - ShiftTime - Manufacturer - - - 0x04 - RO - Sync modes supported - UNSIGNED16 - 0 - Sync_modes_supported - Manufacturer - - - 0x05 - RO - Minimum Cycle Time - UNSIGNED32 - 125000 - Minimum_Cycle_Time - Manufacturer - - - 0x06 - RO - Calc and Copy Time - UNSIGNED32 - 0 - Calc_and_Copy_Time - Manufacturer - - - 0x07 - RO - Minimum Delay Time - UNSIGNED32 - 0 - Minimum_Delay_Time - Manufacturer - - - 0x08 - RO - GetCycleTime - UNSIGNED16 - 0 - GetCycleTime - Manufacturer - - - 0x09 - RO - DelayTime - UNSIGNED32 - 0 - DelayTime - Manufacturer - - - 0x0A - RO - Sync0CycleTime - UNSIGNED32 - 0 - Sync0CycleTime - Manufacturer - - - 0x0B - RO - SMEventMissedCnt - UNSIGNED16 - 0 - SMEventMissedCnt - Manufacturer - - - 0x0C - RO - CycleTimeTooSmallCnt - UNSIGNED16 - 0 - CycleTimeTooSmallCnt - Manufacturer - - - 0x0D - RO - Shift too short counter - UNSIGNED16 - 0 - Shift_too_short_counter - Manufacturer - - - 0x0E - RO - RxPDOToggleFailed - UNSIGNED16 - 0 - RxPDOToggleFailed - Manufacturer - - - 0x0F - RO - Minimum Cycle Distance - UNSIGNED32 - 0 - Minimum_Cycle_Distance - Manufacturer - - - 0x10 - RO - Maximum Cycle Distance - UNSIGNED32 - 0 - Maximum_Cycle_Distance - Manufacturer - - - 0x11 - RO - Minimum SM Sync Distance - UNSIGNED32 - 0 - Minimum_SM_Sync_Distance - Manufacturer - - - 0x12 - RO - Maximum SM Sync Distance - UNSIGNED32 - 0 - Maximum_SM_Sync_Distance - Manufacturer - - - 0x20 - RO - SyncError - BOOLEAN - 0 - SyncError - Manufacturer - - - - 0x6000 - Buttons - RECORD - Buttons - Input - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - RO - Button1 - UNSIGNED8 - 0 - TX - Button1 - Input - - - - 0x7000 - LEDgroup0 - RECORD - LEDgroup0 - Output - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - RO - LED0 - UNSIGNED8 - 0 - RX - LED0 - Output - - - - 0x7001 - LEDgroup1 - RECORD - LEDgroup1 - Output - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - RO - LED1 - UNSIGNED8 - 0 - RX - LED1 - Output - - - - 0x8000 - Parameters - RECORD - Parameters - Parameter - - 0x00 - Max SubIndex - UNSIGNED8 - 1 - - - 0x01 - RO - Multiplier - UNSIGNED32 - 0 - Multiplier - Parameter - - - - 0x8001 - RW - variableRW - UNSIGNED32 - 0 - variableRW - Parameter - - - - 0x1C12 - - 0x01 - 0x1600 - - - 0x02 - 0x1601 - - - - 0x1C13 - - 0x01 - 0x1A00 - - - - 0x1600 - LEDgroup0 - - 0x1 - 0x7000 - 0x01 - LED0 - - - - 0x1601 - LEDgroup1 - - 0x1 - 0x7001 - 0x01 - LED1 - - - - 0x1A00 - Buttons - - 0x1 - 0x6000 - 0x01 - Button1 - - - - 0x6000 - Buttons - TX - RECORD - - 0x01 - Button1 - UNSIGNED8 - TX - - - - 0x7000 - LEDgroup0 - RX - RECORD - - 0x01 - LED0 - UNSIGNED8 - RX - - - - 0x7001 - LEDgroup1 - RX - RECORD - - 0x01 - LED1 - UNSIGNED8 - RX - - - - 0x8000 - Parameters - NONE - RECORD - - 0x01 - Multiplier - UNSIGNED32 - NONE - - - - 0x8001 - RW - variableRW - UNSIGNED32 - NONE - VAR - - - 0x10F1 - ErrorSettings - NONE - RECORD - - 0x01 - RW - Local Error Reaction - UNSIGNED32 - NONE - - - 0x02 - RW - SyncErrorCounterLimit - UNSIGNED16 - 2 - NONE - - - - 0x1C32 - SyncMgrParam - NONE - RECORD - - 0x01 - RW - Sync mode - UNSIGNED16 - NONE - - - 0x02 - CycleTime - UNSIGNED32 - NONE - - - 0x03 - ShiftTime - UNSIGNED32 - NONE - - - 0x04 - Sync modes supported - UNSIGNED16 - NONE - - - 0x05 - Minimum Cycle Time - UNSIGNED32 - 125000 - NONE - - - 0x06 - Calc and Copy Time - UNSIGNED32 - NONE - - - 0x07 - Minimum Delay Time - UNSIGNED32 - NONE - - - 0x08 - GetCycleTime - UNSIGNED16 - NONE - - - 0x09 - DelayTime - UNSIGNED32 - NONE - - - 0x0A - Sync0CycleTime - UNSIGNED32 - NONE - - - 0x0B - SMEventMissedCnt - UNSIGNED16 - NONE - - - 0x0C - CycleTimeTooSmallCnt - UNSIGNED16 - NONE - - - 0x0D - Shift too short counter - UNSIGNED16 - NONE - - - 0x0E - RxPDOToggleFailed - UNSIGNED16 - NONE - - - 0x0F - Minimum Cycle Distance - UNSIGNED32 - NONE - - - 0x10 - Maximum Cycle Distance - UNSIGNED32 - NONE - - - 0x11 - Minimum SM Sync Distance - UNSIGNED32 - NONE - - - 0x12 - Maximum SM Sync Distance - UNSIGNED32 - NONE - - - 0x20 - SyncError - NONE - - - diff --git a/applications/rtl_xmc4_irq/slave.xml b/applications/rtl_xmc4_irq/slave.xml deleted file mode 100644 index dee01df..0000000 --- a/applications/rtl_xmc4_irq/slave.xml +++ /dev/null @@ -1,1180 +0,0 @@ - - - - #x1337 - rt-labs - - - - - xmc4 - xmc4 - - - - - xmc43relax - xmc43relax - xmc4 - - 5001 - 0 - - - - DT1018 - 144 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Vendor ID - UDINT - 32 - 16 - - ro - - - - 2 - Product Code - UDINT - 32 - 48 - - ro - - - - 3 - Revision Number - UDINT - 32 - 80 - - ro - - - - 4 - Serial Number - UDINT - 32 - 112 - - ro - - - - - DT10F1 - 64 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Local Error Reaction - UDINT - 32 - 16 - - rw - - - - 2 - SyncErrorCounterLimit - UINT - 16 - 48 - - rw - - - - - DT1600 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - LED0 - UDINT - 32 - 16 - - ro - - - - - DT1601 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - LED1 - UDINT - 32 - 16 - - ro - - - - - DT1A00 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Button1 - UDINT - 32 - 16 - - ro - - - - - DT1C00ARR - USINT - 32 - - 1 - 4 - - - - DT1C00 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - Elements - DT1C00ARR - 32 - 16 - - ro - - - - - DT1C12ARR - UINT - 32 - - 1 - 2 - - - - DT1C12 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - Elements - DT1C12ARR - 32 - 16 - - ro - - - - - DT1C13ARR - UINT - 16 - - 1 - 1 - - - - DT1C13 - 32 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - Elements - DT1C13ARR - 16 - 16 - - ro - - - - - DT1C32 - 488 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Sync mode - UINT - 16 - 16 - - rw - - - - 2 - CycleTime - UDINT - 32 - 32 - - ro - - - - 3 - ShiftTime - UDINT - 32 - 64 - - ro - - - - 4 - Sync modes supported - UINT - 16 - 96 - - ro - - - - 5 - Minimum Cycle Time - UDINT - 32 - 112 - - ro - - - - 6 - Calc and Copy Time - UDINT - 32 - 144 - - ro - - - - 7 - Minimum Delay Time - UDINT - 32 - 176 - - ro - - - - 8 - GetCycleTime - UINT - 16 - 208 - - ro - - - - 9 - DelayTime - UDINT - 32 - 224 - - ro - - - - 10 - Sync0CycleTime - UDINT - 32 - 256 - - ro - - - - 11 - SMEventMissedCnt - UINT - 16 - 288 - - ro - - - - 12 - CycleTimeTooSmallCnt - UINT - 16 - 304 - - ro - - - - 13 - Shift too short counter - UINT - 16 - 320 - - ro - - - - 14 - RxPDOToggleFailed - UINT - 16 - 336 - - ro - - - - 15 - Minimum Cycle Distance - UDINT - 32 - 352 - - ro - - - - 16 - Maximum Cycle Distance - UDINT - 32 - 384 - - ro - - - - 17 - Minimum SM Sync Distance - UDINT - 32 - 416 - - ro - - - - 18 - Maximum SM Sync Distance - UDINT - 32 - 448 - - ro - - - - 32 - SyncError - BOOL - 1 - 480 - - ro - - - - - DT6000 - 24 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Button1 - USINT - 8 - 16 - - ro - T - - - - - DT7000 - 24 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - LED0 - USINT - 8 - 16 - - ro - R - - - - - DT7001 - 24 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - LED1 - USINT - 8 - 16 - - ro - R - - - - - DT8000 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - Multiplier - UDINT - 32 - 16 - - ro - - - - - STRING(4) - 32 - - - STRING(10) - 80 - - - BOOL - 1 - - - UDINT - 32 - - - UINT - 16 - - - USINT - 8 - - - - - #x1000 - Device Type - UDINT - 32 - - #x00001389 - - - ro - m - - - - #x1008 - Device Name - STRING(10) - 80 - - xmc43relax - - - ro - - - - #x1009 - Hardware Version - STRING(4) - 32 - - 1.0 - - - ro - o - - - - #x100A - Software Version - STRING(4) - 32 - - 1.0 - - - ro - - - - #x1018 - Identity Object - DT1018 - 144 - - - Max SubIndex - - 4 - - - - Vendor ID - - #x1337 - - - - Product Code - - #x4300 - - - - Revision Number - - 0 - - - - Serial Number - - #x00000000 - - - - - ro - - - - #x10F1 - ErrorSettings - DT10F1 - 64 - - - Max SubIndex - - 2 - - - - Local Error Reaction - - 0 - - - - SyncErrorCounterLimit - - 2 - - - - - ro - - - - #x1600 - LEDgroup0 - DT1600 - 48 - - - Max SubIndex - - 1 - - - - LED0 - - #x70000108 - - - - - ro - - - - #x1601 - LEDgroup1 - DT1601 - 48 - - - Max SubIndex - - 1 - - - - LED1 - - #x70010108 - - - - - ro - - - - #x1A00 - Buttons - DT1A00 - 48 - - - Max SubIndex - - 1 - - - - Button1 - - #x60000108 - - - - - ro - - - - #x1C00 - Sync Manager Communication Type - DT1C00 - 48 - - - Max SubIndex - - 4 - - - - Communications Type SM0 - - 1 - - - - Communications Type SM1 - - 2 - - - - Communications Type SM2 - - 3 - - - - Communications Type SM3 - - 4 - - - - - ro - - - - #x1C12 - Sync Manager 2 PDO Assignment - DT1C12 - 48 - - - Max SubIndex - - 2 - - - - PDO Mapping - - #x1600 - - - - PDO Mapping - - #x1601 - - - - - ro - - - - #x1C13 - Sync Manager 3 PDO Assignment - DT1C13 - 32 - - - Max SubIndex - - 1 - - - - PDO Mapping - - #x1A00 - - - - - ro - - - - #x1C32 - SyncMgrParam - DT1C32 - 488 - - - Max SubIndex - - 32 - - - - Sync mode - - 0 - - - - CycleTime - - 0 - - - - ShiftTime - - 0 - - - - Sync modes supported - - 0 - - - - Minimum Cycle Time - - 125000 - - - - Calc and Copy Time - - 0 - - - - Minimum Delay Time - - 0 - - - - GetCycleTime - - 0 - - - - DelayTime - - 0 - - - - Sync0CycleTime - - 0 - - - - SMEventMissedCnt - - 0 - - - - CycleTimeTooSmallCnt - - 0 - - - - Shift too short counter - - 0 - - - - RxPDOToggleFailed - - 0 - - - - Minimum Cycle Distance - - 0 - - - - Maximum Cycle Distance - - 0 - - - - Minimum SM Sync Distance - - 0 - - - - Maximum SM Sync Distance - - 0 - - - - SyncError - - 0 - - - - - ro - - - - #x6000 - Buttons - DT6000 - 24 - - - Max SubIndex - - 1 - - - - Button1 - - 0 - - - - - ro - - - - #x7000 - LEDgroup0 - DT7000 - 24 - - - Max SubIndex - - 1 - - - - LED0 - - 0 - - - - - ro - - - - #x7001 - LEDgroup1 - DT7001 - 24 - - - Max SubIndex - - 1 - - - - LED1 - - 0 - - - - - ro - - - - #x8000 - Parameters - DT8000 - 48 - - - Max SubIndex - - 1 - - - - Multiplier - - 0 - - - - - ro - - - - #x8001 - variableRW - UDINT - 32 - - 0 - - - rw - - - - - - Outputs - Inputs - MBoxState - MBoxOut - MBoxIn - Outputs - Inputs - - #x1600 - LEDgroup0 - - #x7000 - #x1 - 8 - LED0 - USINT - - - - #x1601 - LEDgroup1 - - #x7001 - #x1 - 8 - LED1 - USINT - - - - #x1A00 - Buttons - - #x6000 - #x1 - 8 - Button1 - USINT - - - - - - - 256 - 8006810600000000 - 0010800080108000 - - - - - \ No newline at end of file diff --git a/applications/rtl_xmc4_irq/slave_objectlist.c b/applications/rtl_xmc4_irq/slave_objectlist.c deleted file mode 100644 index 496f07a..0000000 --- a/applications/rtl_xmc4_irq/slave_objectlist.c +++ /dev/null @@ -1,217 +0,0 @@ -#include "esc_coe.h" -#include "utypes.h" -#include - -#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 acName1008[] = "Device Name"; -static const char acName1009[] = "Hardware Version"; -static const char acName100A[] = "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[] = "Local Error Reaction"; -static const char acName10F1_02[] = "SyncErrorCounterLimit"; -static const char acName1600[] = "LEDgroup0"; -static const char acName1600_00[] = "Max SubIndex"; -static const char acName1600_01[] = "LED0"; -static const char acName1601[] = "LEDgroup1"; -static const char acName1601_00[] = "Max SubIndex"; -static const char acName1601_01[] = "LED1"; -static const char acName1A00[] = "Buttons"; -static const char acName1A00_00[] = "Max SubIndex"; -static const char acName1A00_01[] = "Button1"; -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 acName1C13[] = "Sync Manager 3 PDO Assignment"; -static const char acName1C13_00[] = "Max SubIndex"; -static const char acName1C13_01[] = "PDO Mapping"; -static const char acName1C32[] = "SyncMgrParam"; -static const char acName1C32_00[] = "Max SubIndex"; -static const char acName1C32_01[] = "Sync mode"; -static const char acName1C32_02[] = "CycleTime"; -static const char acName1C32_03[] = "ShiftTime"; -static const char acName1C32_04[] = "Sync modes supported"; -static const char acName1C32_05[] = "Minimum Cycle Time"; -static const char acName1C32_06[] = "Calc and Copy Time"; -static const char acName1C32_07[] = "Minimum Delay Time"; -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[] = "Shift too short counter"; -static const char acName1C32_0E[] = "RxPDOToggleFailed"; -static const char acName1C32_0F[] = "Minimum Cycle Distance"; -static const char acName1C32_10[] = "Maximum Cycle Distance"; -static const char acName1C32_11[] = "Minimum SM Sync Distance"; -static const char acName1C32_12[] = "Maximum SM Sync Distance"; -static const char acName1C32_20[] = "SyncError"; -static const char acName6000[] = "Buttons"; -static const char acName6000_00[] = "Max SubIndex"; -static const char acName6000_01[] = "Button1"; -static const char acName7000[] = "LEDgroup0"; -static const char acName7000_00[] = "Max SubIndex"; -static const char acName7000_01[] = "LED0"; -static const char acName7001[] = "LEDgroup1"; -static const char acName7001_00[] = "Max SubIndex"; -static const char acName7001_01[] = "LED1"; -static const char acName8000[] = "Parameters"; -static const char acName8000_00[] = "Max SubIndex"; -static const char acName8000_01[] = "Multiplier"; -static const char acName8001[] = "variableRW"; - -const _objd SDO1000[] = -{ - {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL}, -}; -const _objd SDO1008[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc43relax"}, -}; -const _objd SDO1009[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName1009, 0, HW_REV}, -}; -const _objd SDO100A[] = -{ - {0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName100A, 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, 0x4300, 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_UNSIGNED32, 32, ATYPE_RW, acName10F1_01, 0, &Obj.ErrorSettings.Local_Error_Reaction}, - {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Obj.ErrorSettings.SyncErrorCounterLimit}, -}; -const _objd SDO1600[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL}, -}; -const _objd SDO1601[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL}, -}; -const _objd SDO1A00[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, 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[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL}, - {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL}, - {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL}, -}; -const _objd SDO1C13[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL}, -}; -const _objd SDO1C32[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL}, - {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName1C32_01, 0, &Obj.SyncMgrParam.Sync_mode}, - {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, 0, &Obj.SyncMgrParam.Sync_modes_supported}, - {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.Minimum_Cycle_Time}, - {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.Calc_and_Copy_Time}, - {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.Minimum_Delay_Time}, - {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.Shift_too_short_counter}, - {0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Obj.SyncMgrParam.RxPDOToggleFailed}, - {0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Obj.SyncMgrParam.Minimum_Cycle_Distance}, - {0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.Maximum_Cycle_Distance}, - {0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.Minimum_SM_Sync_Distance}, - {0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.Maximum_SM_Sync_Distance}, - {0x20, DTYPE_BOOLEAN, 1, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError}, -}; -const _objd SDO6000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button1}, -}; -const _objd SDO7000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDgroup0.LED0}, -}; -const _objd SDO7001[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.LEDgroup1.LED1}, -}; -const _objd SDO8000[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8000_01, 0, &Obj.Parameters.Multiplier}, -}; -const _objd SDO8001[] = -{ - {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW}, -}; - -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, 1, 0, acName1600, SDO1600}, - {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, - {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, - {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, - {0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12}, - {0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13}, - {0x1C32, OTYPE_RECORD, 19, 0, acName1C32, SDO1C32}, - {0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000}, - {0x7000, OTYPE_RECORD, 1, 0, acName7000, SDO7000}, - {0x7001, OTYPE_RECORD, 1, 0, acName7001, SDO7001}, - {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000}, - {0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001}, - {0xffff, 0xff, 0xff, 0xff, NULL, NULL} -}; diff --git a/applications/rtl_xmc4_irq/utypes.h b/applications/rtl_xmc4_irq/utypes.h deleted file mode 100644 index 51e3325..0000000 --- a/applications/rtl_xmc4_irq/utypes.h +++ /dev/null @@ -1,79 +0,0 @@ -#ifndef __UTYPES_H__ -#define __UTYPES_H__ - -#include "cc.h" - - -/* Object dictionary storage */ - -typedef struct -{ - /* Inputs */ - struct - { - uint8_t Button1; - } Buttons; - - - /* Outputs */ - struct - { - uint8_t LED0; - } LEDgroup0; - - struct - { - uint8_t LED1; - } LEDgroup1; - - - /* Parameters */ - struct - { - uint32_t Multiplier; - } Parameters; - - uint32_t variableRW; - - /* Manufacturer specific data */ - struct - { - uint32_t Local_Error_Reaction; - uint16_t SyncErrorCounterLimit; - } ErrorSettings; - - struct - { - uint16_t Sync_mode; - uint32_t CycleTime; - uint32_t ShiftTime; - uint16_t Sync_modes_supported; - uint32_t Minimum_Cycle_Time; - uint32_t Calc_and_Copy_Time; - uint32_t Minimum_Delay_Time; - uint16_t GetCycleTime; - uint32_t DelayTime; - uint32_t Sync0CycleTime; - uint16_t SMEventMissedCnt; - uint16_t CycleTimeTooSmallCnt; - uint16_t Shift_too_short_counter; - uint16_t RxPDOToggleFailed; - uint32_t Minimum_Cycle_Distance; - uint32_t Maximum_Cycle_Distance; - uint32_t Minimum_SM_Sync_Distance; - uint32_t Maximum_SM_Sync_Distance; - uint8_t SyncError; - } SyncMgrParam; - - - /* Dynamic TX PDO:s */ - - /* Dynamic RX PDO:s */ - - /* Sync Managers */ - -} _Objects; - -extern _Objects Obj; - -#endif /* __UTYPES_H__ */