Merge pull request #34 from nakarlsson/master

add support for XMC DAVE toolchain

CMakeLists.txt

@@ -7,7 +7,7 @@ project (SOES)
 
 set (SOES_VERSION_MAJOR 2)
 set (SOES_VERSION_MINOR 1)
-set (SOES_VERSION_PATCH 0)
+set (SOES_VERSION_PATCH 1)
 
 # Generate version numbers
 configure_file (

README.md

@@ -12,7 +12,7 @@ SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
 to use. All users are invited to study the source to get an understanding
 how an EtherCAT slave functions.
 
-Features as of 2.1.0:
+Features as of 2.1.1:
  - Address offset based HAL for easy ESC read/write access via any
    interface
  - Mailbox with data link layer

applications/xmc4300_slavedemo/soes.c

@@ -224,8 +224,6 @@ void soes_init (void)
 {
    DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
 
-   ESC_reset();
-
    // configure I/O
    XMC_GPIO_Init(P_BTN, &gpio_config_btn);
    XMC_GPIO_Init(P_LED, &gpio_config_led);

soes/hal/xmc4/esc_hw.c

@@ -11,7 +11,9 @@
  * registers and memory.
  */
 
+#include "esc_hw.h"
 #include "esc.h"
+#include "esc_hw_eep.h"
 #include "esc_eep.h"
 
 #include "xmc_gpio.h"
@@ -286,6 +288,14 @@ void ESC_write (uint16_t address, void *buf, uint16_t len)
    memcpy(ESCADDR(address), buf, len);
 }
 
+/** ESC emulated EEPROM handler
+ */
+void ESC_eep_handler(void)
+{
+   EEP_process ();
+   EEP_hw_process();
+}
+
 void ESC_reset (void)
 {
   /* disable ESC to force reset */
@@ -295,10 +305,12 @@ void ESC_reset (void)
   EEP_init();
 }
 
-void ESC_init (const void * arg)
+void ESC_init (const esc_cfg_t * cfg)
 {
   XMC_ECAT_CONFIG_t ecat_config;
 
+  ESC_reset();
+
   /* configure inputs */
   init_input(ECAT_P0_LINK_STATUS);
   init_input(ECAT_P0_RXD3);

soes/hal/xmc4/esc_hw.h

@@ -0,0 +1,21 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for esc_hw.c
+ */
+
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef __esc_hw__
+#define __esc_hw__
+
+void ESC_eep_handler(void);
+
+#endif

soes/hal/xmc4/esc_hw_eep.h

@@ -11,9 +11,8 @@
 #ifndef __esc_hw_eep__
 #define __esc_hw_eep__
 
+#include "esc_hw.h"
 #include "cc.h"
-#include "esc_eep.h"
-
 #include "xmc_gpio.h"
 #include "xmc_flash.h"
 #include "xmc_fce.h"

soes/include/sys/gcc/cc.h

@@ -21,6 +21,14 @@ extern "C"
    #include <machine/endian.h>   
 #endif
 
+#ifndef MIN
+#define MIN(a,b) (((a)<(b))?(a):(b))
+#endif
+
+#ifndef MAX
+#define MAX(a,b) (((a)>(b))?(a):(b))
+#endif
+
 #define CC_PACKED_BEGIN
 #define CC_PACKED_END
 #define CC_PACKED       __attribute__((packed))