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Merge pull request #42 from nakarlsson/master 

Add support for TIESC
pull/43/head
nakarlsson 2018-02-20 09:03:08 +01:00 committed by GitHub
parent b2bfd419a5 c08f90bb82
commit 4bf6be795b
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17 changed files with 1942 additions and 1 deletions
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35
applications/tiesc_k2gice/config.h 100644
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#ifndef __CONFIG_H__
#define __CONFIG_H__
#include <cc.h>
#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__ */

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applications/tiesc_k2gice/k2gice.bin 100644
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326
applications/tiesc_k2gice/k2gice.c 100644
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#ifndef SOES_V1
#include <stddef.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "k2gice.h"
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_Mbuffer Mb;
/* Private variables */
static volatile int watchdog;
/** Mandatory: 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
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
int result = 1;
if(ESCvar.pre_object_download_hook)
{
result = (ESCvar.pre_object_download_hook)(index, subindex);
}
return result;
}
/** Mandatory: 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
* @param[in] sub-index = sub-index of SDO download request to handle
*/
void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
switch (index)
{
/* Handle post-write of parameter values */
default:
{
if(ESCvar.post_object_download_hook != NULL)
{
(ESCvar.post_object_download_hook)(index, subindex);
}
break;
}
}
}
/** Mandatory: 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)
{
DPRINT ("APP_safeoutput\n");
if(ESCvar.safeoutput_override != NULL)
{
(ESCvar.safeoutput_override)();
}
else
{
// Set safe values for Wb.LED
Wb.LED = 0;
}
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
if(ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
if(ESCvar.rxpdo_override != NULL)
{
(ESCvar.rxpdo_override)();
}
else
{
ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
}
}
/** Mandatory: 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.
*/
void DIG_process (uint8_t flags)
{
/* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
if(ESCvar.dcsync > 0)
{
CC_ATOMIC_ADD(ESCvar.synccounter, 1);
}
/* Set outputs */
cb_set_LED();
}
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
CC_ATOMIC_SUB(ESCvar.synccounter, 1);
}
if((ESCvar.dcsync > 0) &&
((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
(CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit)))
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
DPRINT("sync error = %d\n", ESCvar.synccounter);
ESC_stopoutput();
/* Sync error */
ESC_ALerror (ALERR_SYNCERROR);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
CC_ATOMIC_SET(ESCvar.synccounter, 0);
}
}
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_BUTTON();
TXPDO_update();
}
}
}
/**
* 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
*/
void ecat_slv_worker (uint32_t event_mask)
{
do
{
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
}while(ESCvar.ALevent & event_mask);
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
}
/**
* ISR function. It should be called from ISR for applications entirely driven by
* interrupts.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_isr (void)
{
ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
}
/**
* 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.
*/
void ecat_slv_poll (void)
{
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
void ecat_slv (void)
{
ecat_slv_poll();
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/**
* Initialize the slave stack.
*/
void ecat_slv_init (esc_cfg_t * config)
{
DPRINT ("Slave stack init started\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Init watchdog */
watchdog = config->watchdog_cnt;
/* Call stack configuration */
ESC_config (config);
/* Call HW init */
ESC_init (config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
/* Init FoE */
FOE_init();
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx();
ESC_stopinput();
ESC_stopoutput();
}
#endif

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applications/tiesc_k2gice/k2gice.esx 100644
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<?xml version="1.0" encoding="UTF-8"?>
<Slave fileVersion="1" id="k2gice" productCode="0x1234">
<Name>k2gice</Name>
<Vendor>
<Id>0x1337</Id>
<Name>rt-labs</Name>
</Vendor>
<Group>
<Type>k2gice_t</Type>
<Name>k2gice_n</Name>
</Group>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm ControlByte="0x26" DefaultSize="128" StartAddress="0x1000">MBoxOut</Sm>
<Sm ControlByte="0x22" DefaultSize="128" StartAddress="0x1080">MBoxIn</Sm>
<Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
<Mailbox CoE="true">
<Bootstrap Length="128" Start="0x1000"/>
<Standard Length="128" Start="0x1000"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800CE08800000000</ConfigData>
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
<Dictionary>
<Item>
<Name>Device Type</Name>
<Index>0x1000</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00001389</DefaultValue>
</Item>
<Item Managed="true">
<Name>Device Name</Name>
<Index>0x1008</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>k2gice</DefaultValue>
</Item>
<Item>
<Name>Hardware Version</Name>
<Index>0x1009</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item>
<Name>Software Version</Name>
<Index>0x100A</Index>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item Managed="true">
<Name>Identity Object</Name>
<Index>0x1018</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Index>0x02</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1234</DefaultValue>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Index>0x03</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Index>0x04</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>LED</Name>
<Index>0x1600</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>BUTTON</Name>
<Index>0x1A00</Index>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>BUTTON</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager Communication Type</Name>
<Index>0x1C00</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Index>0x02</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Index>0x03</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Index>0x04</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 2 PDO Assignment</Name>
<Index>0x1C12</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 3 PDO Assignment</Name>
<Index>0x1C13</Index>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>BUTTON</Name>
<Index>0x6000</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>BUTTON</Variable>
<VariableType>Input</VariableType>
</Item>
<Item Managed="true">
<Name>LED</Name>
<Index>0x7000</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>LED</Variable>
<VariableType>Output</VariableType>
</Item>
</Dictionary>
<RxPdo>
<Index>0x1600</Index>
<Container>LED</Container>
<Name>LED</Name>
<Entry>
<Index>0x7000</Index>
<SubIndex>0</SubIndex>
<Variable>LED</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Container>BUTTON</Container>
<Name>BUTTON</Name>
<Entry>
<Index>0x6000</Index>
<SubIndex>0</SubIndex>
<Variable>BUTTON</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6000</Index>
<Name>BUTTON</Name>
<Type>UNSIGNED32</Type>
<ObjectType>VAR</ObjectType>
</Input>
<Output>
<Index>0x7000</Index>
<Name>LED</Name>
<Type>UNSIGNED32</Type>
<ObjectType>VAR</ObjectType>
</Output>
</Slave>

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applications/tiesc_k2gice/k2gice.h 100644
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#ifndef __K2GICE_H__
#define __K2GICE_H__
#include "utypes.h"
#include "esc.h"
/**
* This function gets input values and updates Rb.BUTTON
*/
void cb_get_BUTTON();
/**
* This function sets output values according to Wb.LED
*/
void cb_set_LED();
#define DIG_PROCESS_INPUTS_FLAG 0x01
#define DIG_PROCESS_OUTPUTS_FLAG 0x02
#define DIG_PROCESS_WD_FLAG 0x04
#define DIG_PROCESS_APP_HOOK_FLAG 0x08
/** Implements the watch-dog counter to count if we should make a state change
* due to missing incoming SM2 events. Updates local I/O and run the application
* in the following order, call read EtherCAT outputs, execute user provided
* application hook and call write EtherCAT inputs.
*
* @param[in] flags = User input what to execute
*/
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
*
* @param[in] event_mask = Event mask for interrupts to serve and re-activate
* after served
*/
void ecat_slv_worker (uint32_t event_mask);
/**
* ISR for SM0/1, EEPROM and AL CONTROL events in a SM/DC
* synchronization application
*/
CC_DEPRECATED void ecat_slv_isr (void);
/**
* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
* application
*/
void ecat_slv_poll (void);
/**
* Poll all events in a free-run application
*/
void ecat_slv (void);
/**
* Initialize the slave stack
*
* @param[in] config = User input how to configure the stack
*/
void ecat_slv_init (esc_cfg_t * config);
#endif /* __K2GICE_H__ */

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applications/tiesc_k2gice/k2gice.xml 100644
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<?xml version="1.0" encoding="UTF-8"?>
<EtherCATInfo>
<Vendor>
<Id>#x1337</Id>
<Name LcId="1033">rt-labs</Name>
</Vendor>
<Descriptions>
<Groups>
<Group>
<Type>k2gice_t</Type>
<Name LcId="1033">k2gice_n</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x1234" RevisionNo="0">k2gice</Type>
<Name LcId="1033">k2gice</Name>
<GroupType>k2gice_t</GroupType>
<Profile>
<ProfileNo>5001</ProfileNo>
<AddInfo>0</AddInfo>
<Dictionary>
<DataTypes>
<DataType>
<Name>DT1018</Name>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Vendor ID</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Product Code</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Revision Number</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Serial Number</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1600</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>LED</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>BUTTON</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C00ARR</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>STRING(6)</Name>
<BitSize>48</BitSize>
</DataType>
<DataType>
<Name>STRING(3)</Name>
<BitSize>24</BitSize>
</DataType>
<DataType>
<Name>UDINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>UINT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>USINT</Name>
<BitSize>8</BitSize>
</DataType>
</DataTypes>
<Objects>
<Object>
<Index>#x1000</Index>
<Name>Device Type</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>#x00001389</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</Object>
<Object>
<Index>#x1008</Index>
<Name>Device Name</Name>
<Type>STRING(6)</Type>
<BitSize>48</BitSize>
<Info>
<DefaultString>k2gice</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1009</Index>
<Name>Hardware Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100A</Index>
<Name>Software Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1018</Index>
<Name>Identity Object</Name>
<Type>DT1018</Type>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Info>
<DefaultValue>#x1337</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Info>
<DefaultValue>#x1234</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Info>
<DefaultValue>#x00000000</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1600</Index>
<Name>LED</Name>
<Type>DT1600</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LED</Name>
<Info>
<DefaultValue>#x70000020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>BUTTON</Name>
<Type>DT1A00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>BUTTON</Name>
<Info>
<DefaultValue>#x60000020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<Type>DT1C00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Info>
<DefaultValue>3</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1600</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A00</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x6000</Index>
<Name>BUTTON</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>LED</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm ControlByte="#x26" DefaultSize="128" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
<Sm ControlByte="#x22" DefaultSize="128" Enable="1" StartAddress="#x1080">MBoxIn</Sm>
<Sm ControlByte="#x24" Enable="1" StartAddress="#x1100">Outputs</Sm>
<Sm ControlByte="#x20" Enable="1" StartAddress="#x1180">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index>
<Name>LED</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>LED</Name>
<DataType>UDINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>BUTTON</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>BUTTON</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800CE08800000000</ConfigData>
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>

128
applications/tiesc_k2gice/k2gice_objectlist.c 100644
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@ -0,0 +1,128 @@
#ifndef SOES_V1
#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 acName1600[] = "LED";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "LED";
static const char acName1A00[] = "BUTTON";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "BUTTON";
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[] = "BUTTON";
static const char acName6000_0[] = "BUTTON";
static const char acName7000[] = "LED";
static const char acName7000_0[] = "LED";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008_0, 0, "k2gice"},
};
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, 0x1234, 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, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, 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[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName6000_0, 0, &Rb.BUTTON},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName7000_0, 0, &Wb.LED},
};
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, 1, 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_VAR, 0, 0, acName6000, SDO6000},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
#endif

86
applications/tiesc_k2gice/main.c 100644
View File

@ -0,0 +1,86 @@
#include "k2gice.h"
#include "esc_hw.h"
#include "config.h"
#include <string.h>
#include "tiescutils.h"
#include <examples/board/include/board_i2cLed.h>
#include <examples/board/include/board_rotary_switch.h>
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_BUTTON()
{
volatile uint8_t io_input;
Board_readRotarySwitch(&io_input);
Rb.BUTTON = io_input;
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LED()
{
volatile uint8_t io_output;
io_output = Wb.LED;
Board_setDigOutput(io_output);
}
/* Called from stack when stopping outputs */
void user_safeoutput (void)
{
memset(&Wb, 0, (sizeof(Wb)));
Board_setDigOutput(0);
}
/* Configuration parameters for SOES
* SM and Mailbox parameters comes from the
* generated config.h
*/
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = 9999,
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.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 = user_safeoutput,
.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
};
int MainInit(void)
{
ecat_slv_init(&config);
return 0;
}
void MainLoop(void)
{
ecat_slv_poll();
DIG_process(DIG_PROCESS_WD_FLAG);
}
int main()
{
common_main();
return 0;
}

41
applications/tiesc_k2gice/utypes.h 100644
View File

@ -0,0 +1,41 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
/* Inputs */
CC_PACKED_BEGIN
typedef struct
{
uint32_t BUTTON;
} CC_PACKED _Rbuffer;
CC_PACKED_END
/* Outputs */
CC_PACKED_BEGIN
typedef struct
{
uint32_t LED;
} CC_PACKED _Wbuffer;
CC_PACKED_END
/* Parameters */
CC_PACKED_BEGIN
typedef struct
{
} CC_PACKED _Cbuffer;
CC_PACKED_END
/* Manufacturer specific data */
CC_PACKED_BEGIN
typedef struct
{
} CC_PACKED _Mbuffer;
CC_PACKED_END
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern _Mbuffer Mb;
#endif /* __UTYPES_H__ */

2
soes/esc.c
View File

@ -543,7 +543,7 @@ uint8_t ESC_mbxprocess (void)
}
/* outmbx read by master */
if (ESCvar.mbxoutpost && ESCvar.SM[1].IntR)
if (ESCvar.mbxoutpost && (ESCvar.ALevent & ESCREG_ALEVENT_SM1))
{
ESC_ackmbxread ();
/* dispose old backup */

6
soes/hal/tiesc/applInterface.h 100644
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@ -0,0 +1,6 @@
#ifndef _APPLINTERFACE_H_
#define _APPLINTERFACE_H_
/* Not used, to be removed */
#endif /*_APPLINTERFACE_H_ */

29
soes/hal/tiesc/ecat_def.h 100644
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@ -0,0 +1,29 @@
#ifndef __ECAT_DEF_H__
#define __ECAT_DEF_H__
#define ESC_DC_SYNC0_CYCLETIME_OFFSET 0x09A0
#define ESC_SYSTEMTIME_OFFSET 0x0910
#define ESC_DC_SYNC_ACTIVATION_OFFSET 0x0981
#define STATE_INIT ((uint8_t)0x01)
#ifndef SOES
#define SOES 1
#endif
#ifndef VARVOLATILE
#define VARVOLATILE volatile
#endif
#ifndef AL_EVENT_ENABLED
#define AL_EVENT_ENABLED 1
#endif
int MainInit(void);
void MainLoop(void);
extern const unsigned char * tiesc_eeprom;
extern int bRunApplication;
#endif /* __ECAT_DEF_H__ */

6
soes/hal/tiesc/ecatslv.h 100644
View File

@ -0,0 +1,6 @@
#ifndef _ECATSLV_H_
#define _ECATSLV_H_
/* Not used, to be removed */
#endif /*_ECATSLV_H_ */

327
soes/hal/tiesc/esc_hw.c 100644
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@ -0,0 +1,327 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware layer functions.
*
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include <string.h>
#include "cc.h"
#include "esc_hw.h"
#include "esc_eep.h"
#include "k2gice.h"
#include "tiescbsp.h"
#include "tieschw.h"
#include "config.h"
extern PRUICSS_Handle pruIcss1Handle;
extern uint32_t pd_read_addr_err, pd_write_addr_err;
extern uint32_t pdi_read_fail_cnt, pdi_write_fail_cnt;
static PRUICSS_Handle escHwPruIcssHandle;
int bRunApplication;
static void Esc_readmbx(uint8_t *pData, uint16_t Address, uint16_t Len)
{
bsp_pdi_mbx_read_start(escHwPruIcssHandle);
bsp_read(escHwPruIcssHandle, pData, Address, Len);
if(Len >= MBX0_sml - 2)
{
bsp_pdi_mbx_read_complete(escHwPruIcssHandle);
}
}
static void ESC_readRXPDO(uint8_t *pData, uint16_t Address, uint16_t Len)
{
int16_t sm_index;
uint16_t ActAddress = bsp_get_process_data_address(escHwPruIcssHandle, Address, Len,
&sm_index);
if(ActAddress < ESC_ADDR_MEMORY)
{
pd_read_addr_err++;
return;
}
bsp_read(escHwPruIcssHandle, pData, ActAddress, Len);
bsp_process_data_access_complete(escHwPruIcssHandle, Address, Len, sm_index);
}
static void ESC_writembox(uint8_t *pData, uint16_t Address, uint16_t Len)
{
//Do not write to mailbox if already full
if((bsp_read_byte(escHwPruIcssHandle,
ESC_ADDR_SM1_STATUS) & SM_STATUS_MBX_FULL))
{
return;
}
bsp_pdi_mbx_write_start(escHwPruIcssHandle);
bsp_write(escHwPruIcssHandle, pData, Address, Len);
if(Len >= MBX1_sml - 2)
{
bsp_pdi_mbx_write_complete(escHwPruIcssHandle);
}
}
static void ESC_writeTXPDO(uint8_t *pData, uint16_t Address, uint16_t Len)
{
int16_t sm_index;
uint16_t ActualAddr = bsp_get_process_data_address(escHwPruIcssHandle, Address, Len,
&sm_index);
if(ActualAddr < ESC_ADDR_MEMORY)
{
pd_write_addr_err++;
return;
}
bsp_write(escHwPruIcssHandle, pData, ActualAddr, Len);
bsp_process_data_access_complete(escHwPruIcssHandle, Address, Len, sm_index);
}
/** ESC read function used by the Slave stack.
*
* @param[in] address = address of ESC register to read
* @param[out] buf = pointer to buffer to read in
* @param[in] len = number of bytes to read
*/
void ESC_read (uint16_t address, void *buf, uint16_t len)
{
uint16_t alevent;
switch(address)
{
case MBX0_sma:
/* TODO *//*case MBX0_sma_b:*/
{
Esc_readmbx(buf, address, len);
break;
}
case SM2_sma:
{
ESC_readRXPDO(buf, address, len);
break;
}
case ESCREG_SM0:
case ESCREG_SM1:
case ESCREG_SM2:
case ESCREG_SM3:
{
bsp_read(escHwPruIcssHandle, buf, address, len);
/* Handle special case when SOES batch read SM settings,
* indicate that SM ACTIVATE is read
*/
if(len > 5)
{
uint8_t n = (address - ESC_ADDR_SYNCMAN) >> 3;
bsp_pdi_post_read_indication(escHwPruIcssHandle, ESCREG_SM0ACTIVATE + (n << 3));
}
break;
}
default:
{
switch(len)
{
case 1:
{
uint8_t *p = buf;
*p = bsp_read_byte(escHwPruIcssHandle, address);
break;
}
case 2:
{
uint16_t *p = buf;
*p = bsp_read_word(escHwPruIcssHandle, address);
break;
}
case 4:
{
uint32_t *p = buf;
*p = bsp_read_dword(escHwPruIcssHandle, address);
break;
}
default:
{
bsp_read(escHwPruIcssHandle, buf, address, len);
bsp_pdi_post_read_indication(escHwPruIcssHandle, address);
break;
}
}
break;
}
}
alevent = bsp_read_word_isr(escHwPruIcssHandle, ESCREG_ALEVENT);
CC_ATOMIC_SET(ESCvar.ALevent, (etohs(alevent)));
}
/** ESC write function used by the Slave stack.
*
* @param[in] address = address of ESC register to write
* @param[out] buf = pointer to buffer to write from
* @param[in] len = number of bytes to write
*/
void ESC_write (uint16_t address, void *buf, uint16_t len)
{
uint16_t alevent;
switch(address)
{
case MBX1_sma:
/* TODO *//*case MBX1_sma_b:*/
{
if(len != 1)
{
ESC_writembox(buf, address, len);
}
else
{
bsp_pdi_mbx_write_start(escHwPruIcssHandle);
}
break;
}
case (MBX1_sma + MBX1_sml - 1):
{
/* Handle SM end byte is written */
uint8_t * p = buf;
bsp_write_byte(escHwPruIcssHandle, *p, address);
bsp_pdi_mbx_write_complete(escHwPruIcssHandle);
break;
}
case SM3_sma:
{
ESC_writeTXPDO(buf, address, len);
break;
}
default:
{
switch(len)
{
case 1:
{
uint8_t * p = buf;
bsp_write_byte(escHwPruIcssHandle, *p, address);
bsp_pdi_write_indication(escHwPruIcssHandle, address, *p);
break;
}
case 2:
{
uint16_t * p = buf;
bsp_write_word(escHwPruIcssHandle, *p, address);
bsp_pdi_write_indication(escHwPruIcssHandle, address, *p);
break;
}
case 4:
{
uint32_t * p = buf;
bsp_write_dword(escHwPruIcssHandle, *p, address);
bsp_pdi_write_indication(escHwPruIcssHandle, address, *p);
break;
}
default:
{
bsp_write(escHwPruIcssHandle, buf, address, len);
bsp_pdi_write_indication(escHwPruIcssHandle, address, 0);
break;
}
}
break;
}
}
alevent = bsp_read_word_isr(escHwPruIcssHandle, ESCREG_ALEVENT);
CC_ATOMIC_SET(ESCvar.ALevent, (etohs(alevent)));
}
/** ESC interrupt enable function by the Slave stack in IRQ mode.
*
* @param[in] mask = of interrupts to enable
*/
void ESC_interrupt_enable (uint32_t mask)
{
uint32_t readmask;
readmask = bsp_read_dword_isr(escHwPruIcssHandle,ESCREG_ALEVENTMASK);
bsp_write_dword(escHwPruIcssHandle, (mask | readmask), ESCREG_ALEVENTMASK);
}
/** ESC interrupt disable function by the Slave stack in IRQ mode.
*
* @param[in] mask = interrupts to disable
*/
void ESC_interrupt_disable (uint32_t mask)
{
uint32_t readmask;
readmask = bsp_read_dword_isr(escHwPruIcssHandle,ESCREG_ALEVENTMASK);
bsp_write_dword(escHwPruIcssHandle, (~mask & readmask), ESCREG_ALEVENTMASK);
}
/** ESC emulated EEPROM handler
*/
void ESC_eep_handler(void)
{
EEP_process ();
EEP_hw_process();
}
/** SYNC0 ISR handler
*
* @param[in] arg = NOT USED
*/
void Sync0_Isr (void)
{
}
/** SYNC1 ISR handler
*
* @param[in] arg = NOT USED
*/
void Sync1_Isr (void)
{
}
/** PDI ISR handler
*
* @param[in] arg = NOT USED
*/
void PDI_Isr(void)
{
uint16_t alevent;
alevent = bsp_read_word_isr(escHwPruIcssHandle,ESCREG_ALEVENT);
CC_ATOMIC_SET(ESCvar.ALevent, etohs(alevent));
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
}
/** ESC and CPU related HW init
*
* @param[in] arg = esc_cfg provided by the application
*/
void ESC_init (const esc_cfg_t * config)
{
escHwPruIcssHandle = pruIcss1Handle;
bsp_set_sm_properties(escHwPruIcssHandle, 0, MBX0_sma, MBX0_sml);
bsp_set_sm_properties(escHwPruIcssHandle, 1, MBX1_sma, MBX1_sml);
bsp_set_sm_properties(escHwPruIcssHandle, 2, SM2_sma, ESCvar.RXPDOsize);
bsp_set_sm_properties(escHwPruIcssHandle, 3, SM3_sma, ESCvar.TXPDOsize);
bsp_write_dword(escHwPruIcssHandle, 0 , ESCREG_ALEVENTMASK);
}

22
soes/hal/tiesc/esc_hw.h 100644
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@ -0,0 +1,22 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware specifoc EEPROM emulation functions.
*/
#ifndef __esc_hw__
#define __esc_hw__
#include <cc.h>
void EEP_hw_process (void);
void ESC_eep_handler(void);
void ESC_interrupt_enable (uint32_t mask);
void ESC_interrupt_disable (uint32_t mask);
#endif

71
soes/hal/tiesc/esc_hw_eep.c 100644
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@ -0,0 +1,71 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware specific EEPROM emulation functions.
*/
#include <cc.h>
#include <string.h>
#include "esc.h"
#include "esc_hw_eep.h"
#include "tieschw.h"
extern const uint8_t _binary_sii_eeprom_bin_start;
const unsigned char * tiesc_eeprom = &_binary_sii_eeprom_bin_start;
extern uint8_t eeprom_cache[TIESC_EEPROM_SIZE];
/** Initialize EEPROM emulation (load default data, validate checksums, ...).
*
*/
void EEP_init (void)
{
}
/** EEPROM emulation controller side periodic task.
*
*/
void EEP_hw_process (void)
{
return;
}
/** EEPROM read function
*
* @param[in] addr = EEPROM byte address
* @param[out] data = pointer to buffer of output data
* @param[in] count = number of bytes to read
* @return 0 on OK, 1 on error
*/
int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t count)
{
if (addr >= TIESC_EEPROM_SIZE) {
return 1;
}
/* read data from ram buffer */
memcpy(data, eeprom_cache + addr, count);
return 0;
}
/** EEPROM write function
*
* @param[in] addr = EEPROM byte address
* @param[out] data = pointer to buffer of input data
* @param[in] count = number of bytes to write
* @return 0 on OK, 1 on error
*/
int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t count)
{
/* write data to ram buffer */
memcpy(eeprom_cache + addr, data, count);
return 0;
}

23
soes/hal/tiesc/esc_hw_eep.h 100644
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@ -0,0 +1,23 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware specifoc EEPROM emulation functions.
*/
#ifndef __esc_hw_eep__
#define __esc_hw_eep__
#include <cc.h>
#include "esc_eep.h"
/* periodic task */
void EEP_hw_process (void);
#endif