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Update applications to SOES v3.0

pull/52/head
Andreas Karlsson 2019-04-04 17:48:16 +02:00 committed by Hans-Erik Floryd
parent 68427b6e1e
commit 5770a66558
64 changed files with 4472 additions and 3430 deletions
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1
.gitignore vendored
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@ -33,3 +33,4 @@
/build
soes/version.h
applications/xmc4300_slavedemo/XMC_Peripheral_Library

1
applications/linux_lan9252demo/CMakeLists.txt
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@ -1,7 +1,6 @@
add_executable (demo
main.c
slave.c
slave_objectlist.c
)
target_link_libraries(demo LINK_PUBLIC soes)

35
applications/linux_lan9252demo/config.h
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@ -1,35 +0,0 @@
#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__ */

44
applications/linux_lan9252demo/ecat_options.h 100644
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@ -0,0 +1,44 @@
#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__ */

72
applications/linux_lan9252demo/main.c
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@ -1,48 +1,54 @@
#include <stdio.h>
#include "slave.h"
#include "ecat_slv.h"
#include "utypes.h"
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_Buttons()
/* Application variables */
_Objects Obj;
void cb_get_inputs (void)
{
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDs()
void cb_set_outputs (void)
{
}
/**
* This function is called after a SDO write of the object Cb.Parameters.
*/
void cb_post_write_Parameters(int subindex)
int main_run (void * arg)
{
static esc_cfg_t config =
{
.user_arg = "/dev/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,
};
}
printf ("Hello Main\n");
ecat_slv_init (&config);
void main_run(void * arg)
{
soes_init();
while (1)
{
ecat_slv();
}
while(1) {
soes();
}
}
int main(void)
{
printf("Hello Main\n");
main_run(NULL);
return 0;
}
int main (void)
{
printf ("Hello Main\n");
main_run (NULL);
return 0;
}

300
applications/linux_lan9252demo/slave.c
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@ -1,300 +0,0 @@
#include <stddef.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "slave.h"
#define WATCHDOG_RESET_VALUE 150
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
/* 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;
/* Private variables */
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
static int watchdog = WATCHDOG_RESET_VALUE;
static void (*application_loop_callback)(void) = NULL;
/** 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)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** 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)
{
case 0x1c12:
{
if (rxpdoitems > 1)
{
rxpdoitems = 1;
}
if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
&& (rxpdomap != 0x0000))
{
rxpdomap = 0x1600;
}
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
{
if (txpdoitems > 1)
{
txpdoitems = 1;
}
if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
&& (rxpdomap != 0x0000))
{
txpdomap = 0x1A00;
}
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
/* Handle post-write of parameter values */
case 0x8000:
{
cb_post_write_Parameters(subindex);
break;
}
default:
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");
// Set safe values for Wb.LEDs
Wb.LEDs.LED0 = 0;
Wb.LEDs.LED1 = 0;
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
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 (void)
{
if (watchdog > 0)
{
watchdog--;
}
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
RXPDO_update();
watchdog = WATCHDOG_RESET_VALUE;
/* Set outputs */
cb_set_LEDs();
}
if (watchdog <= 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
{
watchdog = WATCHDOG_RESET_VALUE;
}
if (ESCvar.App.state)
{
/* Update inputs */
cb_get_Buttons();
TXPDO_update();
}
}
/********** TODO: Generic code beyond this point ***************/
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
#if 0
/* Add specific step change hooks here */
if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
{
boot_inithook();
}
else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
{
init_boothook();
}
#endif
}
/**
* Set callback run once every loop in the SOES application loop.
*/
void set_application_loop_hook(void (*callback)(void))
{
application_loop_callback = callback;
}
/**
* SOES main function. It should be called periodically.
* Reads the EtherCAT state and status. Responsible for I/O updates.
*/
void soes (void)
{
/* On init restore PDO mappings to default size */
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* 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();
}
DIG_process();
if (application_loop_callback != NULL)
{
(application_loop_callback)();
}
}
/**
* Initialize the SOES stack.
*/
void soes_init (void)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = "/dev/lan9252",
.use_interrupt = 0,
.watchdog_cnt = 0,
.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 = 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_config (&config);
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();
}

141
applications/linux_lan9252demo/slave.esx
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<Slave id="evb9252_dig" productCode="1234">
<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="evb9252_dig" productCode="1234" additionalInfo="0x0190">
<Name>lan9252</Name>
<Vendor>
<Id>0x1337</Id>
@ -24,275 +24,332 @@
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
<Dictionary>
<Item>
<Name>Device Type</Name>
<Item Managed="true">
<Index>0x1000</Index>
<Name>Device Type</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x01901389</DefaultValue>
</Item>
<Item Managed="true">
<Name>Device Name</Name>
<Index>0x1008</Index>
<Name>Device Name</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>evb9252_dig</DefaultValue>
<Length>11</Length>
</Item>
<Item>
<Name>Hardware Version</Name>
<Item Managed="false">
<Index>0x1009</Index>
<Name>Hardware Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item>
<Name>Software Version</Name>
<Item Managed="false">
<Index>0x100A</Index>
<Name>Software Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item Managed="true">
<Name>Identity Object</Name>
<Index>0x1018</Index>
<Name>Identity Object</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>Vendor ID</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Name>Product Code</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>1234</DefaultValue>
</SubItem>
<SubItem>
<Index>0x03</Index>
<Name>Revision Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Name>Serial Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDs</Name>
<Index>0x1600</Index>
<Name>LEDs</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>LED0</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000108</DefaultValue>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Name>LED1</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000208</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Buttons</Name>
<Index>0x1A00</Index>
<Name>Buttons</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>Button1</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60000108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager Communication Type</Name>
<Index>0x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>Communications Type SM0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Name>Communications Type SM1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Index>0x03</Index>
<Name>Communications Type SM2</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Name>Communications Type SM3</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 2 PDO Assignment</Name>
<Index>0x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 3 PDO Assignment</Name>
<Index>0x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Buttons</Name>
<Index>0x6000</Index>
<Name>Buttons</Name>
<DataType>RECORD</DataType>
<Variable>Buttons</Variable>
<VariableType>Input</VariableType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Access>RO</Access>
<Name>Button1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Button1</Variable>
<VariableType>Input</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDs</Name>
<Index>0x7000</Index>
<Name>LEDs</Name>
<DataType>RECORD</DataType>
<Variable>LEDs</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>LED0</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Access>RO</Access>
<Name>LED1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>LED1</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>Parameters</Name>
<Index>0x8000</Index>
<Name>Parameters</Name>
<DataType>RECORD</DataType>
<Variable>Parameters</Variable>
<VariableType>Parameter</VariableType>
<SubItem>
<Name>Number of Elements</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Access>RW</Access>
<Name>Multiplier</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RW</Access>
<Variable>Multiplier</Variable>
<VariableType>Parameter</VariableType>
</SubItem>
</Item>
</Dictionary>
<SmAssignment>
<Index>0x1C12</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1600</AssignedPdo>
</Entry>
</SmAssignment>
<SmAssignment>
<Index>0x1C13</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1A00</AssignedPdo>
</Entry>
</SmAssignment>
<RxPdo>
<Index>0x1600</Index>
<Container>LEDs</Container>
<Name>LEDs</Name>
<Entry>
<Index>0x7000</Index>
<SubIndex>1</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>LED0</Variable>
</Entry>
<Entry>
<Index>0x7000</Index>
<SubIndex>2</SubIndex>
<Index>0x2</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x02</MappedSubIndex>
<Variable>LED1</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Container>Buttons</Container>
<Name>Buttons</Name>
<Entry>
<Index>0x6000</Index>
<SubIndex>1</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x6000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>Button1</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6000</Index>
<Name>Buttons</Name>
<Type>RECORD</Type>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RO</Access>
<Name>Button1</Name>
<Type>UNSIGNED8</Type>
<DefaultValue>0</DefaultValue>
</Member>
</Input>
<Output>
<Index>0x7000</Index>
<Name>LEDs</Name>
<Type>RECORD</Type>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED0</Name>
<Type>UNSIGNED8</Type>
<DefaultValue>0</DefaultValue>
</Member>
<Member>
<Index>0x02</Index>
<Access>RO</Access>
<Name>LED1</Name>
<Type>UNSIGNED8</Type>
<DefaultValue>0</DefaultValue>
</Member>
</Output>
<Parameter>
<Index>0x8000</Index>
<Name>Parameters</Name>
<Type>RECORD</Type>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RW</Access>
<Name>Multiplier</Name>
<Type>UNSIGNED32</Type>
<DefaultValue>0</DefaultValue>
</Member>
</Parameter>
</Slave>
</Slave>

38
applications/linux_lan9252demo/slave.h
View File

@ -1,38 +0,0 @@
#ifndef __SLAVE_H__
#define __SLAVE_H__
#include "utypes.h"
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_Buttons();
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDs();
/**
* This function is called after a SDO write of the object Cb.Parameters.
*/
void cb_post_write_Parameters(int subindex);
/**
* This function sets an application loop callback function.
*/
void set_application_loop_hook(void (*callback)(void));
/**
* Main function for SOES application
*/
void soes (void);
/**
* Initialize the SOES stack
*/
void soes_init (void);
#endif /* __SLAVE_H__ */

60
applications/linux_lan9252demo/slave.xml
View File

@ -26,7 +26,7 @@
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -80,7 +80,7 @@
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -114,7 +114,7 @@
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -147,7 +147,7 @@
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -179,7 +179,7 @@
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -211,7 +211,7 @@
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -234,7 +234,7 @@
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -258,7 +258,7 @@
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -292,7 +292,7 @@
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
@ -311,10 +311,6 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>STRING(3)</Name>
<BitSize>24</BitSize>
</DataType>
<DataType>
<Name>STRING(11)</Name>
<BitSize>88</BitSize>
@ -327,6 +323,10 @@
<Name>UINT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>STRING(0)</Name>
<BitSize>0</BitSize>
</DataType>
<DataType>
<Name>USINT</Name>
<BitSize>8</BitSize>
@ -361,8 +361,8 @@
<Object>
<Index>#x1009</Index>
<Name>Hardware Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Type>STRING(0)</Type>
<BitSize>0</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
@ -374,8 +374,8 @@
<Object>
<Index>#x100A</Index>
<Name>Software Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Type>STRING(0)</Type>
<BitSize>0</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
@ -390,7 +390,7 @@
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
@ -431,7 +431,7 @@
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
@ -460,7 +460,7 @@
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
@ -483,7 +483,7 @@
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
@ -524,7 +524,7 @@
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
@ -547,7 +547,7 @@
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
@ -570,7 +570,7 @@
<BitSize>24</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
@ -593,7 +593,7 @@
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
@ -622,7 +622,7 @@
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
@ -652,14 +652,14 @@
<Name>LEDs</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>LED0</Name>
<DataType>USINT</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<SubIndex>#x2</SubIndex>
<BitLen>8</BitLen>
<Name>LED1</Name>
<DataType>USINT</DataType>
@ -670,14 +670,14 @@
<Name>Buttons</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>Button1</Name>
<DataType>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
<CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
<FoE/>
</Mailbox>
<Eeprom>

48
applications/linux_lan9252demo/slave_objectlist.c
View File

@ -1,66 +1,70 @@
#include "soes/esc_coe.h"
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
#ifndef HW_REV
#define HW_REV "1.0"
#endif
#ifndef SW_REV
#define SW_REV "1.0"
#endif
static const char acName1000[] = "Device Type";
static const char acName1000_0[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1008_0[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName1009_0[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName100A_0[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName6000[] = "Buttons";
static const char acName6000_00[] = "Number of Elements";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "Button1";
static const char acName7000[] = "LEDs";
static const char acName7000_00[] = "Number of Elements";
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[] = "Number of Elements";
static const char acName8000_00[] = "Max SubIndex";
static const char acName8000_01[] = "Multiplier";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x01901389, NULL},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x01901389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "evb9252_dig"},
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName100A, 0, SW_REV},
};
const _objd SDO1018[] =
{
@ -102,18 +106,18 @@ const _objd SDO1C13[] =
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Rb.Buttons.Button1},
{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, &Wb.LEDs.LED0},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Wb.LEDs.LED1},
{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, &Cb.Parameters.Multiplier},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier},
};
const _objectlist SDOobjects[] =

50
applications/linux_lan9252demo/utypes.h
View File

@ -1,47 +1,45 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "cc.h"
/* Object dictionary storage */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Inputs */
struct
{
uint8_t Button1;
} CC_PACKED Buttons;
CC_PACKED_END
} CC_PACKED _Rbuffer;
CC_PACKED_END
} Buttons;
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Outputs */
struct
{
uint8_t LED0;
uint8_t LED1;
} CC_PACKED LEDs;
CC_PACKED_END
} CC_PACKED _Wbuffer;
CC_PACKED_END
} LEDs;
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Parameters */
struct
{
uint32_t Multiplier;
} CC_PACKED Parameters;
CC_PACKED_END
} CC_PACKED _Cbuffer;
CC_PACKED_END
} Parameters;
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
/* Manufacturer specific data */
/* Dynamic TX PDO:s */
/* Dynamic RX PDO:s */
/* Sync Managers */
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

35
applications/rtl_lan9252demo/config.h
View File

@ -1,35 +0,0 @@
#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__ */

44
applications/rtl_lan9252demo/ecat_options.h 100644
View File

@ -0,0 +1,44 @@
#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__ */

73
applications/rtl_lan9252demo/main.c
View File

@ -1,49 +1,52 @@
#include <kern.h>
#include "slave.h"
#include <stdio.h>
#include "ecat_slv.h"
#include "utypes.h"
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_Buttons()
/* Application variables */
_Objects Obj;
void cb_get_inputs (void)
{
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDs()
void cb_set_outputs (void)
{
}
/**
* This function is called after a SDO write of the object Cb.Parameters.
*/
void cb_post_write_Parameters(int subindex)
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);
void main_run(void * arg)
{
soes_init();
while(1) {
soes();
}
}
int main(void)
{
rprintf("Hello Main\n");
task_spawn ("soes", main_run, 8, 2048, NULL);
while (1)
{
ecat_slv();
}
return 0;
}
int main (void)
{
rprintf ("Hello Main\n");
task_spawn ("soes", main_run, 8, 2048, NULL);
}

298
applications/rtl_lan9252demo/slave.c
View File

@ -1,298 +0,0 @@
#include <stddef.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "slave.h"
#define WATCHDOG_RESET_VALUE 150
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
/* 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;
/* Private variables */
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
static int watchdog = WATCHDOG_RESET_VALUE;
static void (*application_loop_callback)(void) = NULL;
/** 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)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** 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)
{
case 0x1c12:
{
if (rxpdoitems > 1)
{
rxpdoitems = 1;
}
if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
&& (rxpdomap != 0x0000))
{
rxpdomap = 0x1600;
}
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
{
if (txpdoitems > 1)
{
txpdoitems = 1;
}
if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
&& (rxpdomap != 0x0000))
{
txpdomap = 0x1A00;
}
ESCvar.TXPDOsize = ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
/* Handle post-write of parameter values */
case 0x8000:
{
cb_post_write_Parameters(subindex);
break;
}
default:
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");
// Set safe values for Wb.LEDs
Wb.LEDs.LED0 = 0;
Wb.LEDs.LED1 = 0;
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
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 (void)
{
if (watchdog > 0)
{
watchdog--;
}
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
RXPDO_update();
watchdog = WATCHDOG_RESET_VALUE;
/* Set outputs */
cb_set_LEDs();
}
if (watchdog <= 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
{
watchdog = WATCHDOG_RESET_VALUE;
}
if (ESCvar.App.state)
{
/* Update inputs */
cb_get_Buttons();
TXPDO_update();
}
}
/********** TODO: Generic code beyond this point ***************/
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
#if 0
/* Add specific step change hooks here */
if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
{
boot_inithook();
}
else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
{
init_boothook();
}
#endif
}
/**
* Set callback run once every loop in the SOES application loop.
*/
void set_application_loop_hook(void (*callback)(void))
{
application_loop_callback = callback;
}
/**
* SOES main function. It should be called periodically.
* Reads the EtherCAT state and status. Responsible for I/O updates.
*/
void soes (void)
{
/* On init restore PDO mappings to default size */
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* 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 mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
DIG_process();
if (application_loop_callback != NULL)
{
(application_loop_callback)();
}
}
/**
* Initialize the SOES stack.
*/
void soes_init (void)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = "/spi1/lan9252",
.use_interrupt = 0,
.watchdog_cnt = 0,
.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 = 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_config (&config);
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();
}

38
applications/rtl_lan9252demo/slave.h
View File

@ -1,38 +0,0 @@
#ifndef __SLAVE_H__
#define __SLAVE_H__
#include "utypes.h"
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_Buttons();
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_LEDs();
/**
* This function is called after a SDO write of the object Cb.Parameters.
*/
void cb_post_write_Parameters(int subindex);
/**
* This function sets an application loop callback function.
*/
void set_application_loop_hook(void (*callback)(void));
/**
* Main function for SOES application
*/
void soes (void);
/**
* Initialize the SOES stack
*/
void soes_init (void);
#endif /* __SLAVE_H__ */

48
applications/rtl_lan9252demo/slave_objectlist.c
View File

@ -1,66 +1,70 @@
#include "soes/esc_coe.h"
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
#ifndef HW_REV
#define HW_REV "1.0"
#endif
#ifndef SW_REV
#define SW_REV "1.0"
#endif
static const char acName1000[] = "Device Type";
static const char acName1000_0[] = "Device Type";
static const char acName1008[] = "Device Name";
static const char acName1008_0[] = "Device Name";
static const char acName1009[] = "Hardware Version";
static const char acName1009_0[] = "Hardware Version";
static const char acName100A[] = "Software Version";
static const char acName100A_0[] = "Software Version";
static const char acName1018[] = "Identity Object";
static const char acName1018_00[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
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[] = "Number of Elements";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName6000[] = "Buttons";
static const char acName6000_00[] = "Number of Elements";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "Button1";
static const char acName7000[] = "LEDs";
static const char acName7000_00[] = "Number of Elements";
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[] = "Number of Elements";
static const char acName8000_00[] = "Max SubIndex";
static const char acName8000_01[] = "Multiplier";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x01901389, NULL},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x13890190, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "evb9252_dig"},
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName100A, 0, SW_REV},
};
const _objd SDO1018[] =
{
@ -102,18 +106,18 @@ const _objd SDO1C13[] =
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Rb.Buttons.Button1},
{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, &Wb.LEDs.LED0},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Wb.LEDs.LED1},
{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, &Cb.Parameters.Multiplier},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier},
};
const _objectlist SDOobjects[] =

50
applications/rtl_lan9252demo/utypes.h
View File

@ -1,47 +1,45 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "cc.h"
/* Object dictionary storage */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Inputs */
struct
{
uint8_t Button1;
} CC_PACKED Buttons;
CC_PACKED_END
} CC_PACKED _Rbuffer;
CC_PACKED_END
} Buttons;
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Outputs */
struct
{
uint8_t LED0;
uint8_t LED1;
} CC_PACKED LEDs;
CC_PACKED_END
} CC_PACKED _Wbuffer;
CC_PACKED_END
} LEDs;
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Parameters */
struct
{
uint32_t Multiplier;
} CC_PACKED Parameters;
CC_PACKED_END
} CC_PACKED _Cbuffer;
CC_PACKED_END
} Parameters;
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
/* Manufacturer specific data */
/* Dynamic TX PDO:s */
/* Dynamic RX PDO:s */
/* Sync Managers */
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

1
applications/rtl_slavedemo/CMakeLists.txt
View File

@ -1,6 +1,5 @@
add_executable (rtl_slavedemo
soes.c
objectlist.c
led_handler.c
bootstrap.c

3
applications/rtl_slavedemo/bootstrap.c
View File

@ -46,7 +46,7 @@ void boot_inithook (void)
}
}
uint32_t flash_foe_buffer (foe_writefile_cfg_t * self, uint8_t * data)
uint32_t flash_foe_buffer (foe_writefile_cfg_t * self, uint8_t * data, size_t length)
{
uint32_t flash_cmd_failed = 0;
uint32_t calculated_address = self->dest_start_address + self->address_offset;
@ -118,7 +118,6 @@ void bootstrap_foe_init (void)
{
.buffer_size = FLASH_WRITE_BLOCK_SIZE, /* Buffer size before we flush to destination */
.fbuffer = (uint8_t *)&fbuf,
.empty_write = 0xFF,
.n_files = NELEMENTS (files),
.files = files
};

44
applications/rtl_slavedemo/ecat_options.h 100644
View File

@ -0,0 +1,44 @@
#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 1
#define MAX_MAPPINGS_SM3 2
#endif /* __ECAT_OPTIONS_H__ */

122
applications/rtl_slavedemo/main.c
View File

@ -4,8 +4,128 @@
*/
#include <kern.h>
#include "ecat_slv.h"
#include "utypes.h"
#include "bsp.h"
#include "bootstrap.h"
int main(void)
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
void cb_get_inputs (void)
{
Rb.button = gpio_get(GPIO_BUTTON_SW1);
//Rb.button = (flash_drv_get_active_swap() && 0x8);
Cb.reset_counter++;
Rb.encoder = Cb.reset_counter;
}
void cb_set_outputs (void)
{
gpio_set(GPIO_LED_BLUE, Wb.LED & BIT(0));
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
/* Add specific step change hooks here */
if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
{
boot_inithook ();
}
else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
{
init_boothook ();
}
}
void post_object_download_hook (uint16_t index, uint8_t subindex,
uint16_t flags)
{
switch(index)
{
case 0x7100:
{
switch (subindex)
{
case 0x01:
{
encoder_scale_mirror = encoder_scale;
break;
}
}
break;
}
case 0x8001:
{
switch (subindex)
{
case 0x01:
{
Cb.reset_counter = 0;
break;
}
}
break;
}
}
}
void soes (void * arg)
{
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = "/spi0/et1100",
.use_interrupt = 0,
.set_defaults_hook = NULL,
.watchdog_cnt = 1000,
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook,
.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
};
ecat_slv_init (&config);
while (1)
{
ecat_slv();
}
}
uint8_t load1s, load5s, load10s;
void my_cyclic_callback (void * arg)
{
while (1)
{
task_delay(tick_from_ms (20000));
stats_get_load (&load1s, &load5s, &load10s);
DPRINT ("%d:%d:%d (1s:5s:10s)\n",
load1s, load5s, load10s);
DPRINT ("Local bootstate: %d App.state: %d\n", local_boot_state,App.state);
DPRINT ("AlStatus : 0x%x, AlError : 0x%x, Watchdog : %d \n", (ESCvar.ALstatus & 0x001f),ESCvar.ALerror,wd_cnt);
}
}
int main (void)
{
extern void led_run (void *arg);
extern void led_error (void *arg);

351
applications/rtl_slavedemo/soes.c
View File

@ -1,351 +0,0 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* The application.
*
* The application, the main loop that service EtherCAT.
*/
#include <kern.h>
#include <flash_drv.h>
#include <esc.h>
#include <esc_coe.h>
#include <esc_foe.h>
#include "utypes.h"
#include "config.h"
#include "bootstrap.h"
#define WD_RESET 1000
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
/* 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;
/* Private variables */
int wd_cnt = WD_RESET;
volatile uint8_t digoutput;
volatile uint8_t diginput;
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
extern uint32_t local_boot_state;
/** 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)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** 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)
{
case 0x1c12:
{
if (rxpdoitems > 1)
{
rxpdoitems = 1;
}
if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
&& (rxpdomap != 0x0000))
{
rxpdomap = 0x1600;
}
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
{
if (txpdoitems > 1)
{
txpdoitems = 1;
}
if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
&& (rxpdomap != 0x0000))
{
txpdomap = 0x1A00;
}
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
case 0x7100:
{
switch (subindex)
{
case 0x01:
{
encoder_scale_mirror = encoder_scale;
break;
}
}
break;
}
case 0x8001:
{
switch (subindex)
{
case 0x01:
{
Cb.reset_counter = 0;
break;
}
}
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 called\n");
Wb.LED = 0;
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, 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 (void)
{
if (wd_cnt)
{
wd_cnt--;
}
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
RXPDO_update ();
wd_cnt = WD_RESET;
/* dummy output point */
//gpio_set(GPIO_LED, Wb.LED & BIT(0));
}
if (!wd_cnt)
{
DPRINT("DIG_process watchdog tripped\n");
ESC_stopoutput ();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
}
else
{
wd_cnt = WD_RESET;
}
if (ESCvar.App.state)
{
//Rb.button = gpio_get(GPIO_WAKEUP);
Rb.button = (flash_drv_get_active_swap() && 0x8);
Cb.reset_counter++;
Rb.encoder = Cb.reset_counter;
TXPDO_update ();
}
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
/* Add specific step change hooks here */
if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
{
boot_inithook ();
}
else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
{
init_boothook ();
}
}
/** SOES main loop. Start by initializing the stack software followed by
* the application loop for cyclic read the EtherCAT state and staus, update
* of I/O.
*/
void soes (void *arg)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = "/spi0/et1100",
.use_interrupt = 0,
.watchdog_cnt = 0,
.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 = 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_config (&config);
ESC_init (&config);
task_delay (tick_from_ms (200));
/* 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);
}
/* Pre FoE to set up Application information */
bootstrap_foe_init ();
/* Init FoE */
FOE_init();
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx ();
ESC_stopinput ();
ESC_stopoutput ();
DPRINT ("Application_loop GO\n");
/* application run loop */
while (1)
{
/* On init restore PDO mappings to default size */
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* 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 ();
/* If else to two separate execution paths
* If we're running BOOSTRAP
* - MailBox
* - FoE
* Else we're running normal execution
* - MailBox
* - CoE
*/
if(local_boot_state)
{
if (ESC_mbxprocess ())
{
ESC_foeprocess ();
ESC_xoeprocess ();
}
bootstrap_state ();
}
else
{
if (ESC_mbxprocess ())
{
ESC_coeprocess ();
ESC_xoeprocess ();
}
DIG_process ();
}
};
}
uint8_t load1s, load5s, load10s;
void my_cyclic_callback (void * arg)
{
while (1)
{
task_delay(tick_from_ms (20000));
stats_get_load (&load1s, &load5s, &load10s);
DPRINT ("%d:%d:%d (1s:5s:10s)\n",
load1s, load5s, load10s);
DPRINT ("Local bootstate: %d App.state: %d\n", local_boot_state,App.state);
DPRINT ("AlStatus : 0x%x, AlError : 0x%x, Watchdog : %d \n", (ESCvar.ALstatus & 0x001f),ESCvar.ALerror,wd_cnt);
}
}

1
applications/rtl_slavedemo/utypes.h
View File

@ -18,7 +18,6 @@
typedef struct
{
uint8_t state;
uint8_t button;
uint32_t encoder;
} _Rbuffer;

44
applications/rtl_xmc4_dynpdo/config.h
View File

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

42
applications/rtl_xmc4_dynpdo/ecat_options.h 100644
View File

@ -0,0 +1,42 @@
#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#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 0x1400
#define SM2_smc 0x64
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_MAPPINGS_SM2 10
#define MAX_MAPPINGS_SM3 9
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#endif /* __ECAT_OPTIONS_H__ */

33
applications/rtl_xmc4_dynpdo/main.c
View File

@ -7,22 +7,37 @@
#include "esc.h"
#include "esc_hw.h"
#include "ecat_slv.h"
#include "config.h"
#include "options.h"
#include "utypes.h"
#include "bsp.h"
/* Application variables */
_Objects Obj;
void cb_get_inputs (void)
/*
* This function is called to get input values
*/
void cb_get_inputs()
{
Obj.IN1 = 1;
Obj.IN2 = 2;
Obj.IN3 = 3;
Obj.IN4 = 4;
Obj.Buttons.Button1 = gpio_get (GPIO_BUTTON1);
}
void cb_set_outputs (void)
/*
* This function is called to set output values
*/
void cb_set_outputs()
{
gpio_set (GPIO_LED1, Obj.LEDgroup0.LED0);
gpio_set (GPIO_LED2, Obj.LEDgroup1.LED1);
}
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 */
@ -30,7 +45,7 @@ uint16_t dc_checker (void)
{
/* Indicate we run DC */
ESCvar.dcsync = 1;
/* Fetch the sync counter limit SDO10F1*/
/* Fetch the sync counter limit (SDO10F1) */
ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
return 0;
}
@ -44,7 +59,7 @@ int main (void)
.watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.post_state_change_hook = cb_state_change,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,

BIN
applications/rtl_xmc4_dynpdo/sii_eeprom.bin
View File

Binary file not shown.

1106
applications/rtl_xmc4_dynpdo/slave.esx 100644
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File diff suppressed because it is too large Load Diff

1079
applications/rtl_xmc4_dynpdo/slave.xml
View File

File diff suppressed because it is too large Load Diff

296
applications/rtl_xmc4_dynpdo/slave_objectlist.c
View File

@ -1,5 +1,3 @@
#ifndef SOES_V1
#include "esc.h"
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
@ -13,13 +11,9 @@
#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";
@ -28,29 +22,37 @@ static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName10F1[] = "ErrorSettings";
static const char acName10F1_00[] = "Max SubIndex";
static const char acName10F1_01[] = "Dummy_x01";
static const char acName10F1_01[] = "Local Error Reaction";
static const char acName10F1_02[] = "SyncErrorCounterLimit";
static const char acName1600[] = "Outputs";
static const char acName1600[] = "RXPDO 1";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "OUT1";
static const char acName1600_02[] = "OUT2";
static const char acName1600_03[] = "OUT3";
static const char acName1A00[] = "IN1";
static const char acName1600_01[] = "LED0";
static const char acName1601[] = "RXPDO 2";
static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "LED1";
static const char acName1602[] = "RXPDO 3";
static const char acName1602_00[] = "Max SubIndex";
static const char acName1602_01[] = "PDO Entry 1602:01";
static const char acName1602_02[] = "PDO Entry 1602:02";
static const char acName1602_03[] = "PDO Entry 1602:03";
static const char acName1602_04[] = "PDO Entry 1602:04";
static const char acName1602_05[] = "PDO Entry 1602:05";
static const char acName1602_06[] = "PDO Entry 1602:06";
static const char acName1602_07[] = "PDO Entry 1602:07";
static const char acName1602_08[] = "PDO Entry 1602:08";
static const char acName1A00[] = "TXPDO 1";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "IN1";
static const char acName1A00_02[] = "Padding";
static const char acName1A01[] = "IN2";
static const char acName1A00_01[] = "Button1";
static const char acName1A01[] = "TXPDO 2";
static const char acName1A01_00[] = "Max SubIndex";
static const char acName1A01_01[] = "IN2";
static const char acName1A01_02[] = "Padding";
static const char acName1A02[] = "IN3";
static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "IN3";
static const char acName1A02_02[] = "Padding";
static const char acName1A03[] = "IN4";
static const char acName1A03_00[] = "Max SubIndex";
static const char acName1A03_01[] = "IN4";
static const char acName1A03_02[] = "Padding";
static const char acName1A01_01[] = "PDO Entry 1A01:01";
static const char acName1A01_02[] = "PDO Entry 1A01:02";
static const char acName1A01_03[] = "PDO Entry 1A01:03";
static const char acName1A01_04[] = "PDO Entry 1A01:04";
static const char acName1A01_05[] = "PDO Entry 1A01:05";
static const char acName1A01_06[] = "PDO Entry 1A01:06";
static const char acName1A01_07[] = "PDO Entry 1A01:07";
static const char acName1A01_08[] = "PDO Entry 1A01:08";
static const char acName1C00[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0";
@ -61,116 +63,125 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C12_00[] = "Max SubIndex";
static const char acName1C12_01[] = "PDO Mapping";
static const char acName1C12_02[] = "PDO Mapping";
static const char acName1C12_03[] = "PDO Mapping";
static const char acName1C12_04[] = "PDO Mapping";
static const char acName1C12_03[] = "SM Entry 1C12:03";
static const char acName1C12_04[] = "SM Entry 1C12:04";
static const char acName1C12_05[] = "SM Entry 1C12:05";
static const char acName1C12_06[] = "SM Entry 1C12:06";
static const char acName1C12_07[] = "SM Entry 1C12:07";
static const char acName1C12_08[] = "SM Entry 1C12:08";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acName1C13_00[] = "Max SubIndex";
static const char acName1C13_01[] = "PDO Mapping";
static const char acName1C13_02[] = "PDO Mapping";
static const char acName1C13_03[] = "PDO Mapping";
static const char acName1C13_04[] = "PDO Mapping";
static const char acName1C13_02[] = "SM Entry 1C13:02";
static const char acName1C13_03[] = "SM Entry 1C13:03";
static const char acName1C13_04[] = "SM Entry 1C13:04";
static const char acName1C13_05[] = "SM Entry 1C13:05";
static const char acName1C13_06[] = "SM Entry 1C13:06";
static const char acName1C13_07[] = "SM Entry 1C13:07";
static const char acName1C13_08[] = "SM Entry 1C13:08";
static const char acName1C32[] = "SyncMgrParam";
static const char acName1C32_00[] = "Max SubIndex";
static const char acName1C32_01[] = "SyncType";
static const char acName1C32_01[] = "Sync mode";
static const char acName1C32_02[] = "CycleTime";
static const char acName1C32_03[] = "ShiftTime";
static const char acName1C32_04[] = "SyncTypeSupport";
static const char acName1C32_05[] = "MinCycleTime";
static const char acName1C32_06[] = "CalcCopyTime";
static const char acName1C32_07[] = "MinDelayTime";
static const char acName1C32_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[] = "ShiftTimeTooSmallCnt";
static const char acName1C32_0D[] = "Shift too short counter";
static const char acName1C32_0E[] = "RxPDOToggleFailed";
static const char acName1C32_0F[] = "MinCycleDist";
static const char acName1C32_10[] = "MaxCycleDist";
static const char acName1C32_11[] = "MinSMSYNCDist";
static const char acName1C32_12[] = "MaxSMSYNCDist";
static const char acName1C32_14[] = "Dummy_x14";
static const char acName1C32_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[] = "IN1";
static const char acName6000_0[] = "IN1";
static const char acName6001[] = "IN2";
static const char acName6001_0[] = "IN2";
static const char acName6002[] = "IN3";
static const char acName6002_0[] = "IN3";
static const char acName6003[] = "IN4";
static const char acName6003_0[] = "IN4";
static const char acName7000[] = "Outputs";
static const char 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[] = "OUT1";
static const char acName7000_02[] = "OUT2";
static const char acName7000_03[] = "OUT3";
static const char acName8000[] = "PARAM1";
static const char acName8000_0[] = "PARAM1";
static const char acName8001[] = "PARAM2";
static const char acName8001_0[] = "PARAM2";
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_0, 0x00001389, NULL},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 40, ATYPE_RO, acName1008_0, 0, "slave"},
{0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc48relax"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, SW_REV},
{0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x10cc, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x4800, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
};
const _objd SDO10F1[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_01, 0, &Obj.ErrorSettings.Dummy_x01},
{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[] =
{
/* Writeable PDO */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1600_00, 3, &Obj.PDO[0].maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_01, 0x70000108, &Obj.PDO[0].value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_02, 0x70000210, &Obj.PDO[0].value[1]},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1600_03, 0x70000320, &Obj.PDO[0].value[2]},
{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 SDO1602[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1602_00, 8, &Obj.PDO1602.maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_01, 0x00000000, &Obj.PDO1602.value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_02, 0x00000000, &Obj.PDO1602.value[1]},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_03, 0x00000000, &Obj.PDO1602.value[2]},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_04, 0x00000000, &Obj.PDO1602.value[3]},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_05, 0x00000000, &Obj.PDO1602.value[4]},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_06, 0x00000000, &Obj.PDO1602.value[5]},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_07, 0x00000000, &Obj.PDO1602.value[6]},
{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_08, 0x00000000, &Obj.PDO1602.value[7]},
};
const _objd SDO1A00[] =
{
/* Writeable PDO */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A00_00, 2, &Obj.PDO[1].maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A00_01, 0x60000001, &Obj.PDO[1].value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A00_02, 0x00000007, &Obj.PDO[1].value[1]},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
};
const _objd SDO1A01[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010002, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x00000006, NULL},
};
const _objd SDO1A02[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020003, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_02, 0x00000005, NULL},
};
const _objd SDO1A03[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030004, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_02, 0x00000004, NULL},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A01_00, 8, &Obj.PDO1A01.maxsub},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_01, 0x00000000, &Obj.PDO1A01.value[0]},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_02, 0x00000000, &Obj.PDO1A01.value[1]},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_03, 0x00000000, &Obj.PDO1A01.value[2]},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_04, 0x00000000, &Obj.PDO1A01.value[3]},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_05, 0x00000000, &Obj.PDO1A01.value[4]},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_06, 0x00000000, &Obj.PDO1A01.value[5]},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_07, 0x00000000, &Obj.PDO1A01.value[6]},
{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_08, 0x00000000, &Obj.PDO1A01.value[7]},
};
const _objd SDO1C00[] =
{
@ -182,76 +193,74 @@ const _objd SDO1C00[] =
};
const _objd SDO1C12[] =
{
/* Writeable SM */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C12_00, 1, &Obj.SM[0].maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM[0].value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0, &Obj.SM[0].value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0, &Obj.SM[0].value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0, &Obj.SM[0].value[3]},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C12_00, 8, &Obj.SM1C12.maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM1C12.value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0x1601, &Obj.SM1C12.value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0x0000, &Obj.SM1C12.value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0x0000, &Obj.SM1C12.value[3]},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_05, 0x0000, &Obj.SM1C12.value[4]},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_06, 0x0000, &Obj.SM1C12.value[5]},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_07, 0x0000, &Obj.SM1C12.value[6]},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_08, 0x0000, &Obj.SM1C12.value[7]},
};
const _objd SDO1C13[] =
{
/* Writeable SM */
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 4, &Obj.SM[1].maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM[1].value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x1A01, &Obj.SM[1].value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x1A02, &Obj.SM[1].value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x1A03, &Obj.SM[1].value[3]},
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 8, &Obj.SM1C13.maxsub},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM1C13.value[0]},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x0000, &Obj.SM1C13.value[1]},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x0000, &Obj.SM1C13.value[2]},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x0000, &Obj.SM1C13.value[3]},
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_05, 0x0000, &Obj.SM1C13.value[4]},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_06, 0x0000, &Obj.SM1C13.value[5]},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_07, 0x0000, &Obj.SM1C13.value[6]},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_08, 0x0000, &Obj.SM1C13.value[7]},
};
const _objd SDO1C32[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_01, 1, &Obj.SyncMgrParam.SyncType},
{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, 0x6, &Obj.SyncMgrParam.SyncTypeSupport},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.MinCycleTime},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.CalcCopyTime},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.MinDelayTime},
{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.ShiftTimeTooSmallCnt},
{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.MinCycleDist},
{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.MaxCycleDist},
{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.MinSMSYNCDist},
{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.MaxSMSYNCDist},
{0x14, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_14, 0, &Obj.SyncMgrParam.Dummy_x14},
{0x20, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError},
{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[] =
{
{0x0, DTYPE_BIT1, 1, ATYPE_TXPDO | ATYPE_RO, acName6000_0, 0, &Obj.IN1},
};
const _objd SDO6001[] =
{
{0x0, DTYPE_BIT2, 2, ATYPE_TXPDO | ATYPE_RO, acName6001_0, 0, &Obj.IN2},
};
const _objd SDO6002[] =
{
{0x0, DTYPE_BIT3, 3, ATYPE_TXPDO | ATYPE_RO, acName6002_0, 0, &Obj.IN3},
};
const _objd SDO6003[] =
{
{0x0, DTYPE_BIT4, 4, ATYPE_TXPDO | ATYPE_RO, acName6003_0, 0, &Obj.IN4},
{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, 3, NULL},
{0x01, DTYPE_INTEGER8, 8, ATYPE_RXPDO | ATYPE_RO, acName7000_01, 0, &Obj.Outputs.OUT1},
{0x02, DTYPE_INTEGER16, 16, ATYPE_RXPDO | ATYPE_RO, acName7000_02, 0, &Obj.Outputs.OUT2},
{0x03, DTYPE_INTEGER32, 32, ATYPE_RXPDO | ATYPE_RO, acName7000_03, 0, &Obj.Outputs.OUT3},
{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[] =
{
{0x0, DTYPE_INTEGER32, 32, ATYPE_RW, acName8000_0, 0x42, &Obj.PARAM1},
{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_INTEGER32, 32, ATYPE_RW, acName8001_0, 99, &Obj.PARAM2},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW},
};
const _objectlist SDOobjects[] =
@ -262,22 +271,19 @@ const _objectlist SDOobjects[] =
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
{0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
{0x1600, OTYPE_RECORD, 3, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 2, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 2, 0, acName1A01, SDO1A01},
{0x1A02, OTYPE_RECORD, 2, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 2, 0, acName1A03, SDO1A03},
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 8, 0, acName1602, SDO1602},
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
{0x1A01, OTYPE_RECORD, 8, 0, acName1A01, SDO1A01},
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 4, 0, acName1C13, SDO1C13},
{0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x7000, OTYPE_RECORD, 3, 0, acName7000, SDO7000},
{0x8000, OTYPE_VAR, 0, 0, acName8000, SDO8000},
{0x1C12, OTYPE_ARRAY, 8, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 8, 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}
};
#endif

103
applications/rtl_xmc4_dynpdo/utypes.h
View File

@ -1,75 +1,96 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "config.h"
#include "cc.h"
/* NOTE: Not packed, does not use bitfields */
/* Object dictionary storage */
typedef struct
{
/* Inputs */
uint8_t IN1; /* (BIT1) */
uint8_t IN2; /* (BIT2) */
uint8_t IN3; /* (BIT3) */
uint8_t IN4; /* (BIT4) */
struct
{
uint8_t Button1;
} Buttons;
/* Outputs */
struct
{
int8_t OUT1;
int16_t OUT2;
int32_t OUT3;
} Outputs;
uint8_t LED0;
} LEDgroup0;
struct
{
uint8_t LED1;
} LEDgroup1;
/* Parameters */
int32_t PARAM1;
int32_t PARAM2;
/* Manufacturer specific data */
struct
{
uint16_t SyncType;
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 SyncTypeSupport;
uint32_t MinCycleTime;
uint32_t CalcCopyTime;
uint32_t MinDelayTime;
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 ShiftTimeTooSmallCnt;
uint16_t Shift_too_short_counter;
uint16_t RxPDOToggleFailed;
uint32_t MinCycleDist;
uint32_t MaxCycleDist;
uint32_t MinSMSYNCDist;
uint32_t MaxSMSYNCDist;
uint8_t Dummy_x14;
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;
struct
{
uint8_t Dummy_x01;
uint16_t SyncErrorCounterLimit;
} ErrorSettings;
/* Storage for configurable PDO:s */
struct
{
uint8_t maxsub;
uint32_t value[4];
} PDO[2];
/* Storage for configurable Sync Managers */
/* Dynamic TX PDO:s */
struct
{
uint8_t maxsub;
uint16_t value[4];
} SM[2];
uint32_t value[8];
} PDO1A01;
/* Dynamic RX PDO:s */
struct
{
uint8_t maxsub;
uint32_t value[8];
} PDO1602;
/* Dynamic Sync Managers */
struct
{
uint8_t maxsub;
uint32_t value[8];
} SM1C12;
struct
{
uint8_t maxsub;
uint32_t value[8];
} SM1C13;
} _Objects;

35
applications/rtl_xmc4_irq/config.h
View File

@ -1,35 +0,0 @@
#ifndef __CONFIG_H__
#define __CONFIG_H__
#include <cc.h>
#define MBXSIZE 128
#define MBXSIZEBOOT 256
#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
#endif /* __CONFIG_H__ */

44
applications/rtl_xmc4_irq/ecat_options.h 100644
View File

@ -0,0 +1,44 @@
#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__ */

56
applications/rtl_xmc4_irq/main.c
View File

@ -1,3 +1,7 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include <cc.h>
#include <kern.h>
@ -9,12 +13,15 @@
#include "config.h"
#include "utypes.h"
/* Application variables */
_Objects Obj;
/**
* This function is called when to get input values
*/
void cb_get_inputs()
{
Rb.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
Obj.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
}
/**
@ -22,20 +29,8 @@ void cb_get_inputs()
*/
void cb_set_outputs()
{
gpio_set(GPIO_LED1, Wb.LEDgroup0.LED0);
gpio_set(GPIO_LED2, Wb.LEDgroup1.LED1);
}
/** Optional: Hook called after state change for application specific
* actions for specific state changes.
*/
void post_state_change_hook (uint8_t * as, uint8_t * an)
{
/* Add specific step change hooks here */
if ((*as == SAFEOP_TO_OP))
{
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
}
gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0);
gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1);
}
void safe_out(void)
@ -44,13 +39,22 @@ void safe_out(void)
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 = Mb.ErrorSettings.SyncErrorCounterLimit;
ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
return 0;
}
@ -60,26 +64,16 @@ uint16_t dc_checker(void)
*/
int main(void)
{
esc_cfg_t config =
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 1,
.watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
.mbxsize = MBXSIZE,
.mbxsizeboot = MBXSIZEBOOT,
.mbxbuffers = MBXBUFFERS,
.rxpdosaddress = &Wb,
.txpdosaddress = &Rb,
.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},
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = post_state_change_hook,
.post_state_change_hook = cb_state_change,
.application_hook = NULL,
.safeoutput_override = safe_out,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
@ -87,7 +81,7 @@ int main(void)
.esc_hw_interrupt_enable = ESC_interrupt_enable,
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = ESC_eep_handler,
.esc_check_dc_handler = dc_checker
.esc_check_dc_handler = NULL
};
rprintf("Hello Main\n");

BIN
applications/rtl_xmc4_irq/slave.bin
View File

Binary file not shown.

15
applications/rtl_xmc4_irq/slave.c
View File

@ -1,15 +0,0 @@
#include <stddef.h>
#include "utypes.h"
#include "config.h"
#include "esc.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;

403
applications/rtl_xmc4_irq/slave.esx
View File

@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<Slave fileVersion="1" id="xmc43_slave" productCode="0x4300">
<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="xmc43relax" productCode="0x4300">
<Name>xmc43relax</Name>
<Vendor>
<Id>0x1337</Id>
@ -16,724 +16,763 @@
<Sm ControlByte="0x22" DefaultSize="128" StartAddress="0x1080">MBoxIn</Sm>
<Sm ControlByte="0x64" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
<Mailbox CoE="true" FoE="true">
<Bootstrap Length="256" Start="0x1000"/>
<Mailbox CoE="true">
<Bootstrap Length="128" Start="0x1000"/>
<Standard Length="128" Start="0x1000"/>
</Mailbox>
<Eeprom>
<ConfigData>8006810600000000</ConfigData>
<BootStrap>0010000100110001</BootStrap>
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
<Dictionary>
<Item>
<Name>Device Type</Name>
<Item Managed="true">
<Index>0x1000</Index>
<Name>Device Type</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00001389</DefaultValue>
</Item>
<Item Managed="true">
<Name>Device Name</Name>
<Index>0x1008</Index>
<Name>Device Name</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>xmc43_slave</DefaultValue>
<DefaultValue>xmc43relax</DefaultValue>
<Length>10</Length>
</Item>
<Item>
<Name>Hardware Version</Name>
<Index>0x1009</Index>
<Name>Hardware Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>4</Length>
</Item>
<Item>
<Name>Software Version</Name>
<Index>0x100A</Index>
<Name>Software Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>4</Length>
</Item>
<Item Managed="true">
<Name>Identity Object</Name>
<Index>0x1018</Index>
<Name>Identity Object</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Index>0x01</Index>
<Name>Vendor ID</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Index>0x02</Index>
<Name>Product Code</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x4300</DefaultValue>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Index>0x03</Index>
<Name>Revision Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Index>0x04</Index>
<Name>Serial Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>ErrorSettings</Name>
<Index>0x10F1</Index>
<Name>ErrorSettings</Name>
<DataType>RECORD</DataType>
<Variable>ErrorSettings</Variable>
<VariableType>Manufacturer</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Dummy_x01</Name>
<Index>0x01</Index>
<DataType>UNSIGNED8</DataType>
<Access>RW</Access>
<Name>Local Error Reaction</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Dummy_x01</Variable>
<Variable>Local_Error_Reaction</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncErrorCounterLimit</Name>
<Index>0x02</Index>
<Access>RW</Access>
<Name>SyncErrorCounterLimit</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>2</DefaultValue>
<Access>RW</Access>
<Variable>SyncErrorCounterLimit</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup0</Name>
<Index>0x1600</Index>
<Name>LEDgroup0</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>LED0</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70050108</DefaultValue>
<DefaultValue>0x70000108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>LEDgroup1</Name>
<Index>0x1601</Index>
<Name>LEDgroup1</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>LED1</Name>
<Index>0x01</Index>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70060108</DefaultValue>
<DefaultValue>0x70010108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Buttons</Name>
<Index>0x1A00</Index>
<Name>Buttons</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Index>0x01</Index>
<Name>Button1</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60050108</DefaultValue>
<DefaultValue>0x60000108</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager Communication Type</Name>
<Index>0x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Index>0x01</Index>
<Name>Communications Type SM0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Index>0x02</Index>
<Name>Communications Type SM1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Index>0x03</Index>
<Name>Communications Type SM2</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Index>0x04</Index>
<Name>Communications Type SM3</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 2 PDO Assignment</Name>
<Index>0x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x02</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1601</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 3 PDO Assignment</Name>
<Index>0x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>SyncMgrParam</Name>
<Index>0x1C32</Index>
<Name>SyncMgrParam</Name>
<DataType>RECORD</DataType>
<Variable>SyncMgrParam</Variable>
<VariableType>Manufacturer</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>32</DefaultValue>
</SubItem>
<SubItem>
<Name>SyncType</Name>
<Index>0x01</Index>
<Access>RW</Access>
<Name>Sync mode</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>1</DefaultValue>
<Access>RO</Access>
<Variable>SyncType</Variable>
<DefaultValue>0</DefaultValue>
<Variable>Sync_mode</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CycleTime</Name>
<Index>0x02</Index>
<Access>RO</Access>
<Name>CycleTime</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>ShiftTime</Name>
<Index>0x03</Index>
<Access>RO</Access>
<Name>ShiftTime</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>ShiftTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncTypeSupport</Name>
<Index>0x04</Index>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x6</DefaultValue>
<Access>RO</Access>
<Variable>SyncTypeSupport</Variable>
<Name>Sync modes supported</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Variable>Sync_modes_supported</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinCycleTime</Name>
<Index>0x05</Index>
<Access>RO</Access>
<Name>Minimum Cycle Time</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>125000</DefaultValue>
<Access>RO</Access>
<Variable>MinCycleTime</Variable>
<Variable>Minimum_Cycle_Time</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CalcCopyTime</Name>
<Index>0x06</Index>
<Access>RO</Access>
<Name>Calc and Copy Time</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CalcCopyTime</Variable>
<Variable>Calc_and_Copy_Time</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinDelayTime</Name>
<Index>0x07</Index>
<Access>RO</Access>
<Name>Minimum Delay Time</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinDelayTime</Variable>
<Variable>Minimum_Delay_Time</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>GetCycleTime</Name>
<Index>0x08</Index>
<Access>RO</Access>
<Name>GetCycleTime</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>GetCycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>DelayTime</Name>
<Index>0x09</Index>
<Access>RO</Access>
<Name>DelayTime</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>DelayTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>Sync0CycleTime</Name>
<Index>0x0A</Index>
<Access>RO</Access>
<Name>Sync0CycleTime</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Sync0CycleTime</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SMEventMissedCnt</Name>
<Index>0x0B</Index>
<Access>RO</Access>
<Name>SMEventMissedCnt</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>SMEventMissedCnt</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>CycleTimeTooSmallCnt</Name>
<Index>0x0C</Index>
<Access>RO</Access>
<Name>CycleTimeTooSmallCnt</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>CycleTimeTooSmallCnt</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>ShiftTimeTooSmallCnt</Name>
<Index>0x0D</Index>
<Access>RO</Access>
<Name>Shift too short counter</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>ShiftTimeTooSmallCnt</Variable>
<Variable>Shift_too_short_counter</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>RxPDOToggleFailed</Name>
<Index>0x0E</Index>
<Access>RO</Access>
<Name>RxPDOToggleFailed</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>RxPDOToggleFailed</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinCycleDist</Name>
<Index>0x0F</Index>
<Access>RO</Access>
<Name>Minimum Cycle Distance</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinCycleDist</Variable>
<Variable>Minimum_Cycle_Distance</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MaxCycleDist</Name>
<Index>0x10</Index>
<Access>RO</Access>
<Name>Maximum Cycle Distance</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MaxCycleDist</Variable>
<Variable>Maximum_Cycle_Distance</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MinSMSYNCDist</Name>
<Index>0x11</Index>
<Access>RO</Access>
<Name>Minimum SM Sync Distance</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MinSMSYNCDist</Variable>
<Variable>Minimum_SM_Sync_Distance</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>MaxSMSYNCDist</Name>
<Index>0x12</Index>
<Access>RO</Access>
<Name>Maximum SM Sync Distance</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>MaxSMSYNCDist</Variable>
<Variable>Maximum_SM_Sync_Distance</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>Dummy_x14</Name>
<Index>0x14</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Variable>Dummy_x14</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
<SubItem>
<Name>SyncError</Name>
<Index>0x20</Index>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<Name>SyncError</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<Variable>SyncError</Variable>
<VariableType>Manufacturer</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x6000</Index>
<Name>Buttons</Name>
<Index>0x6005</Index>
<DataType>RECORD</DataType>
<Variable>Buttons</Variable>
<VariableType>Input</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Index>0x01</Index>
<Access>RO</Access>
<Name>Button1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<PdoMapping>TX</PdoMapping>
<Variable>Button1</Variable>
<VariableType>Input</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x7000</Index>
<Name>LEDgroup0</Name>
<Index>0x7005</Index>
<DataType>RECORD</DataType>
<Variable>LEDgroup0</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED0</Name>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<PdoMapping>RX</PdoMapping>
<Variable>LED0</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x7001</Index>
<Name>LEDgroup1</Name>
<Index>0x7006</Index>
<DataType>RECORD</DataType>
<Variable>LEDgroup1</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED1</Name>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<PdoMapping>RX</PdoMapping>
<Variable>LED1</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>Parameters</Name>
<Index>0x8000</Index>
<Name>Parameters</Name>
<DataType>RECORD</DataType>
<Variable>Parameters</Variable>
<VariableType>Parameter</VariableType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Multiplier</Name>
<Index>0x01</Index>
<Access>RO</Access>
<Name>Multiplier</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RW</Access>
<Variable>Multiplier</Variable>
<VariableType>Parameter</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Name>variableRW</Name>
<Index>0x8001</Index>
<Access>RW</Access>
<Name>variableRW</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RW</Access>
<Variable>variableRW</Variable>
<VariableType>Parameter</VariableType>
</Item>
</Dictionary>
<SmAssignment>
<Index>0x1C12</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1600</AssignedPdo>
</Entry>
<Entry>
<Index>0x02</Index>
<AssignedPdo>0x1601</AssignedPdo>
</Entry>
</SmAssignment>
<SmAssignment>
<Index>0x1C13</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1A00</AssignedPdo>
</Entry>
</SmAssignment>
<RxPdo>
<Index>0x1600</Index>
<Container>LEDgroup0</Container>
<Name>LEDgroup0</Name>
<Entry>
<Index>0x7005</Index>
<SubIndex>1</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>LED0</Variable>
</Entry>
</RxPdo>
<RxPdo>
<Index>0x1601</Index>
<Container>LEDgroup1</Container>
<Name>LEDgroup1</Name>
<Entry>
<Index>0x7006</Index>
<SubIndex>1</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x7001</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>LED1</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Container>Buttons</Container>
<Name>Buttons</Name>
<Entry>
<Index>0x6005</Index>
<SubIndex>1</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x6000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>Button1</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6005</Index>
<Index>0x6000</Index>
<Name>Buttons</Name>
<PdoMapping>TX</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Button1</Name>
<Type>UNSIGNED8</Type>
<PdoMapping>TX</PdoMapping>
</Member>
</Input>
<Output>
<Index>0x7005</Index>
<Index>0x7000</Index>
<Name>LEDgroup0</Name>
<PdoMapping>RX</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>LED0</Name>
<Type>UNSIGNED8</Type>
<PdoMapping>RX</PdoMapping>
</Member>
</Output>
<Output>
<Index>0x7006</Index>
<Index>0x7001</Index>
<Name>LEDgroup1</Name>
<PdoMapping>RX</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>LED1</Name>
<Type>UNSIGNED8</Type>
<PdoMapping>RX</PdoMapping>
</Member>
</Output>
<Parameter>
<Index>0x8000</Index>
<Name>Parameters</Name>
<PdoMapping>NONE</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Multiplier</Name>
<Type>UNSIGNED32</Type>
<Access>RW</Access>
<PdoMapping>NONE</PdoMapping>
</Member>
</Parameter>
<Parameter>
<Index>0x8001</Index>
<Access>RW</Access>
<Name>variableRW</Name>
<Type>UNSIGNED32</Type>
<Access>RW</Access>
<PdoMapping>NONE</PdoMapping>
<ObjectType>VAR</ObjectType>
</Parameter>
<Manufacturer>
<Index>0x1C32</Index>
<Name>SyncMgrParam</Name>
<Index>0x10F1</Index>
<Name>ErrorSettings</Name>
<PdoMapping>NONE</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>SyncType</Name>
<Access>RW</Access>
<Name>Local Error Reaction</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x02</Index>
<Access>RW</Access>
<Name>SyncErrorCounterLimit</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
<PdoMapping>NONE</PdoMapping>
</Member>
</Manufacturer>
<Manufacturer>
<Index>0x1C32</Index>
<Name>SyncMgrParam</Name>
<PdoMapping>NONE</PdoMapping>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RW</Access>
<Name>Sync mode</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x02</Index>
<Name>CycleTime</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x03</Index>
<Name>ShiftTime</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x04</Index>
<Name>SyncTypeSupport</Name>
<Name>Sync modes supported</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>0x6</DefaultValue>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x05</Index>
<Name>MinCycleTime</Name>
<Name>Minimum Cycle Time</Name>
<Type>UNSIGNED32</Type>
<DefaultValue>125000</DefaultValue>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x06</Index>
<Name>CalcCopyTime</Name>
<Name>Calc and Copy Time</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x07</Index>
<Name>MinDelayTime</Name>
<Name>Minimum Delay Time</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x08</Index>
<Name>GetCycleTime</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x09</Index>
<Name>DelayTime</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0A</Index>
<Name>Sync0CycleTime</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0B</Index>
<Name>SMEventMissedCnt</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0C</Index>
<Name>CycleTimeTooSmallCnt</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0D</Index>
<Name>ShiftTimeTooSmallCnt</Name>
<Name>Shift too short counter</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0E</Index>
<Name>RxPDOToggleFailed</Name>
<Type>UNSIGNED16</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x0F</Index>
<Name>MinCycleDist</Name>
<Name>Minimum Cycle Distance</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x10</Index>
<Name>MaxCycleDist</Name>
<Name>Maximum Cycle Distance</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x11</Index>
<Name>MinSMSYNCDist</Name>
<Name>Minimum SM Sync Distance</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x12</Index>
<Name>MaxSMSYNCDist</Name>
<Name>Maximum SM Sync Distance</Name>
<Type>UNSIGNED32</Type>
</Member>
<Member>
<Index>0x14</Index>
<Name>Dummy_x14</Name>
<Type>UNSIGNED8</Type>
<PdoMapping>NONE</PdoMapping>
</Member>
<Member>
<Index>0x20</Index>
<Name>SyncError</Name>
<Type>UNSIGNED8</Type>
<Access>RO</Access>
<PdoMapping>NONE</PdoMapping>
</Member>
</Manufacturer>
<Manufacturer>
<Index>0x10F1</Index>
<Name>ErrorSettings</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Name>Dummy_x01</Name>
<Type>UNSIGNED8</Type>
</Member>
<Member>
<Index>0x02</Index>
<Name>SyncErrorCounterLimit</Name>
<Type>UNSIGNED16</Type>
<DefaultValue>2</DefaultValue>
<Access>RW</Access>
</Member>
</Manufacturer>
</Slave>
</Slave>

180
applications/rtl_xmc4_irq/slave.xml
View File

@ -13,7 +13,7 @@
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x4300" RevisionNo="0">xmc43_slave</Type>
<Type ProductCode="#x4300" RevisionNo="0">xmc43relax</Type>
<Name LcId="1033">xmc43relax</Name>
<GroupType>xmc4</GroupType>
<Profile>
@ -77,7 +77,7 @@
</DataType>
<DataType>
<Name>DT10F1</Name>
<BitSize>40</BitSize>
<BitSize>64</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@ -90,12 +90,12 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Dummy_x01</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Name>Local Error Reaction</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Access>rw</Access>
</Flags>
</SubItem>
<SubItem>
@ -103,7 +103,7 @@
<Name>SyncErrorCounterLimit</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>24</BitOffs>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
</Flags>
@ -279,7 +279,7 @@
</DataType>
<DataType>
<Name>DT1C32</Name>
<BitSize>496</BitSize>
<BitSize>488</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@ -292,12 +292,12 @@
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>SyncType</Name>
<Name>Sync mode</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Access>rw</Access>
</Flags>
</SubItem>
<SubItem>
@ -322,7 +322,7 @@
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>SyncTypeSupport</Name>
<Name>Sync modes supported</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
@ -332,7 +332,7 @@
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>MinCycleTime</Name>
<Name>Minimum Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
@ -342,7 +342,7 @@
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>CalcCopyTime</Name>
<Name>Calc and Copy Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
@ -352,7 +352,7 @@
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>MinDelayTime</Name>
<Name>Minimum Delay Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
@ -412,7 +412,7 @@
</SubItem>
<SubItem>
<SubIdx>13</SubIdx>
<Name>ShiftTimeTooSmallCnt</Name>
<Name>Shift too short counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>320</BitOffs>
@ -432,7 +432,7 @@
</SubItem>
<SubItem>
<SubIdx>15</SubIdx>
<Name>MinCycleDist</Name>
<Name>Minimum Cycle Distance</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>352</BitOffs>
@ -442,7 +442,7 @@
</SubItem>
<SubItem>
<SubIdx>16</SubIdx>
<Name>MaxCycleDist</Name>
<Name>Maximum Cycle Distance</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>384</BitOffs>
@ -452,7 +452,7 @@
</SubItem>
<SubItem>
<SubIdx>17</SubIdx>
<Name>MinSMSYNCDist</Name>
<Name>Minimum SM Sync Distance</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>416</BitOffs>
@ -462,7 +462,7 @@
</SubItem>
<SubItem>
<SubIdx>18</SubIdx>
<Name>MaxSMSYNCDist</Name>
<Name>Maximum SM Sync Distance</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>448</BitOffs>
@ -470,29 +470,19 @@
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>20</SubIdx>
<Name>Dummy_x14</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>480</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>32</SubIdx>
<Name>SyncError</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>488</BitOffs>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>480</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6005</Name>
<Name>DT6000</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
@ -512,11 +502,12 @@
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7005</Name>
<Name>DT7000</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
@ -536,11 +527,12 @@
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7006</Name>
<Name>DT7001</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
@ -560,6 +552,7 @@
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
@ -583,17 +576,21 @@
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>STRING(3)</Name>
<BitSize>24</BitSize>
<Name>STRING(4)</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>STRING(11)</Name>
<BitSize>88</BitSize>
<Name>STRING(10)</Name>
<BitSize>80</BitSize>
</DataType>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
<DataType>
<Name>UDINT</Name>
@ -625,10 +622,10 @@
<Object>
<Index>#x1008</Index>
<Name>Device Name</Name>
<Type>STRING(11)</Type>
<BitSize>88</BitSize>
<Type>STRING(10)</Type>
<BitSize>80</BitSize>
<Info>
<DefaultString>xmc43_slave</DefaultString>
<DefaultString>xmc43relax</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
@ -637,8 +634,8 @@
<Object>
<Index>#x1009</Index>
<Name>Hardware Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Type>STRING(4)</Type>
<BitSize>32</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
@ -650,8 +647,8 @@
<Object>
<Index>#x100A</Index>
<Name>Software Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Type>STRING(4)</Type>
<BitSize>32</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
@ -704,7 +701,7 @@
<Index>#x10F1</Index>
<Name>ErrorSettings</Name>
<Type>DT10F1</Type>
<BitSize>40</BitSize>
<BitSize>64</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
@ -713,7 +710,7 @@
</Info>
</SubItem>
<SubItem>
<Name>Dummy_x01</Name>
<Name>Local Error Reaction</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
@ -744,7 +741,7 @@
<SubItem>
<Name>LED0</Name>
<Info>
<DefaultValue>#x70050108</DefaultValue>
<DefaultValue>#x70000108</DefaultValue>
</Info>
</SubItem>
</Info>
@ -767,7 +764,7 @@
<SubItem>
<Name>LED1</Name>
<Info>
<DefaultValue>#x70060108</DefaultValue>
<DefaultValue>#x70010108</DefaultValue>
</Info>
</SubItem>
</Info>
@ -790,7 +787,7 @@
<SubItem>
<Name>Button1</Name>
<Info>
<DefaultValue>#x60050108</DefaultValue>
<DefaultValue>#x60000108</DefaultValue>
</Info>
</SubItem>
</Info>
@ -895,7 +892,7 @@
<Index>#x1C32</Index>
<Name>SyncMgrParam</Name>
<Type>DT1C32</Type>
<BitSize>496</BitSize>
<BitSize>488</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
@ -904,9 +901,9 @@
</Info>
</SubItem>
<SubItem>
<Name>SyncType</Name>
<Name>Sync mode</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
@ -922,25 +919,25 @@
</Info>
</SubItem>
<SubItem>
<Name>SyncTypeSupport</Name>
<Info>
<DefaultValue>#x6</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>MinCycleTime</Name>
<Info>
<DefaultValue>125000</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CalcCopyTime</Name>
<Name>Sync modes supported</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>MinDelayTime</Name>
<Name>Minimum Cycle Time</Name>
<Info>
<DefaultValue>125000</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Calc and Copy Time</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Minimum Delay Time</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
@ -976,7 +973,7 @@
</Info>
</SubItem>
<SubItem>
<Name>ShiftTimeTooSmallCnt</Name>
<Name>Shift too short counter</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
@ -988,31 +985,25 @@
</Info>
</SubItem>
<SubItem>
<Name>MinCycleDist</Name>
<Name>Minimum Cycle Distance</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>MaxCycleDist</Name>
<Name>Maximum Cycle Distance</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>MinSMSYNCDist</Name>
<Name>Minimum SM Sync Distance</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>MaxSMSYNCDist</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Dummy_x14</Name>
<Name>Maximum SM Sync Distance</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
@ -1029,9 +1020,9 @@
</Flags>
</Object>
<Object>
<Index>#x6005</Index>
<Index>#x6000</Index>
<Name>Buttons</Name>
<Type>DT6005</Type>
<Type>DT6000</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
@ -1052,9 +1043,9 @@
</Flags>
</Object>
<Object>
<Index>#x7005</Index>
<Index>#x7000</Index>
<Name>LEDgroup0</Name>
<Type>DT7005</Type>
<Type>DT7000</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
@ -1075,9 +1066,9 @@
</Flags>
</Object>
<Object>
<Index>#x7006</Index>
<Index>#x7001</Index>
<Name>LEDgroup1</Name>
<Type>DT7006</Type>
<Type>DT7001</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
@ -1146,8 +1137,8 @@
<Index>#x1600</Index>
<Name>LEDgroup0</Name>
<Entry>
<Index>#x7005</Index>
<SubIndex>1</SubIndex>
<Index>#x7000</Index>
<SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>LED0</Name>
<DataType>USINT</DataType>
@ -1157,8 +1148,8 @@
<Index>#x1601</Index>
<Name>LEDgroup1</Name>
<Entry>
<Index>#x7006</Index>
<SubIndex>1</SubIndex>
<Index>#x7001</Index>
<SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>LED1</Name>
<DataType>USINT</DataType>
@ -1168,21 +1159,20 @@
<Index>#x1A00</Index>
<Name>Buttons</Name>
<Entry>
<Index>#x6005</Index>
<SubIndex>1</SubIndex>
<Index>#x6000</Index>
<SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>Button1</Name>
<DataType>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
<FoE/>
<CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
</Mailbox>
<Eeprom>
<ByteSize>256</ByteSize>
<ConfigData>8006810600000000</ConfigData>
<BootStrap>0010000100110001</BootStrap>
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
</Device>
</Devices>

135
applications/rtl_xmc4_irq/slave_objectlist.c
View File

@ -1,4 +1,3 @@
#ifndef SOES_V1
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
@ -12,13 +11,9 @@
#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";
@ -27,7 +22,7 @@ static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial Number";
static const char acName10F1[] = "ErrorSettings";
static const char acName10F1_00[] = "Max SubIndex";
static const char acName10F1_01[] = "Dummy_x01";
static const char acName10F1_01[] = "Local Error Reaction";
static const char acName10F1_02[] = "SyncErrorCounterLimit";
static const char acName1600[] = "LEDgroup0";
static const char acName1600_00[] = "Max SubIndex";
@ -53,56 +48,54 @@ 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[] = "SyncType";
static const char acName1C32_01[] = "Sync mode";
static const char acName1C32_02[] = "CycleTime";
static const char acName1C32_03[] = "ShiftTime";
static const char acName1C32_04[] = "SyncTypeSupport";
static const char acName1C32_05[] = "MinCycleTime";
static const char acName1C32_06[] = "CalcCopyTime";
static const char acName1C32_07[] = "MinDelayTime";
static const char acName1C32_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[] = "ShiftTimeTooSmallCnt";
static const char acName1C32_0D[] = "Shift too short counter";
static const char acName1C32_0E[] = "RxPDOToggleFailed";
static const char acName1C32_0F[] = "MinCycleDist";
static const char acName1C32_10[] = "MaxCycleDist";
static const char acName1C32_11[] = "MinSMSYNCDist";
static const char acName1C32_12[] = "MaxSMSYNCDist";
static const char acName1C32_14[] = "Dummy_x14";
static const char acName1C32_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 acName6005[] = "Buttons";
static const char acName6005_00[] = "Max SubIndex";
static const char acName6005_01[] = "Button1";
static const char acName7005[] = "LEDgroup0";
static const char acName7005_00[] = "Max SubIndex";
static const char acName7005_01[] = "LED0";
static const char acName7006[] = "LEDgroup1";
static const char acName7006_00[] = "Max SubIndex";
static const char acName7006_01[] = "LED1";
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";
static const char acName8001_0[] = "variableRW";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "xmc43_slave"},
{0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc43relax"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
{0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, SW_REV},
{0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName100A, 0, SW_REV},
};
const _objd SDO1018[] =
{
@ -115,23 +108,23 @@ const _objd SDO1018[] =
const _objd SDO10F1[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_01, 0, &Mb.ErrorSettings.Dummy_x01},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Mb.ErrorSettings.SyncErrorCounterLimit},
{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, 0x70050108, 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, 0x70060108, 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, 0x60050108, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
};
const _objd SDO1C00[] =
{
@ -155,50 +148,49 @@ const _objd SDO1C13[] =
const _objd SDO1C32[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_01, 1, &Mb.SyncMgrParam.SyncType},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Mb.SyncMgrParam.CycleTime},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Mb.SyncMgrParam.ShiftTime},
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0x6, &Mb.SyncMgrParam.SyncTypeSupport},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Mb.SyncMgrParam.MinCycleTime},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Mb.SyncMgrParam.CalcCopyTime},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Mb.SyncMgrParam.MinDelayTime},
{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Mb.SyncMgrParam.GetCycleTime},
{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Mb.SyncMgrParam.DelayTime},
{0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Mb.SyncMgrParam.Sync0CycleTime},
{0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Mb.SyncMgrParam.SMEventMissedCnt},
{0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Mb.SyncMgrParam.CycleTimeTooSmallCnt},
{0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Mb.SyncMgrParam.ShiftTimeTooSmallCnt},
{0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Mb.SyncMgrParam.RxPDOToggleFailed},
{0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Mb.SyncMgrParam.MinCycleDist},
{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Mb.SyncMgrParam.MaxCycleDist},
{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Mb.SyncMgrParam.MinSMSYNCDist},
{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Mb.SyncMgrParam.MaxSMSYNCDist},
{0x14, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_14, 0, &Mb.SyncMgrParam.Dummy_x14},
{0x20, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_20, 0, &Mb.SyncMgrParam.SyncError},
{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 SDO6005[] =
const _objd SDO6000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_01, 0, &Rb.Buttons.Button1},
{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 SDO7005[] =
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_01, 0, &Wb.LEDgroup0.LED0},
{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 SDO7006[] =
const _objd SDO7001[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_00, 1, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_01, 0, &Wb.LEDgroup1.LED1},
{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_RW, acName8000_01, 0, &Cb.Parameters.Multiplier},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8000_01, 0, &Obj.Parameters.Multiplier},
};
const _objd SDO8001[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001_0, 0, &Cb.variableRW},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW},
};
const _objectlist SDOobjects[] =
@ -215,12 +207,11 @@ const _objectlist SDOobjects[] =
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
{0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
{0x7005, OTYPE_RECORD, 1, 0, acName7005, SDO7005},
{0x7006, OTYPE_RECORD, 1, 0, acName7006, SDO7006},
{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}
};
#endif

105
applications/rtl_xmc4_irq/utypes.h
View File

@ -1,96 +1,79 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "cc.h"
/* Object dictionary storage */
/* Inputs */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Inputs */
struct
{
uint8_t Button1;
} CC_PACKED Buttons;
CC_PACKED_END
} CC_PACKED _Rbuffer;
CC_PACKED_END
} Buttons;
/* Outputs */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Outputs */
struct
{
uint8_t LED0;
} CC_PACKED LEDgroup0;
CC_PACKED_END
CC_PACKED_BEGIN
} LEDgroup0;
struct
{
uint8_t LED1;
} CC_PACKED LEDgroup1;
CC_PACKED_END
} CC_PACKED _Wbuffer;
CC_PACKED_END
} LEDgroup1;
/* Parameters */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
/* Parameters */
struct
{
uint32_t Multiplier;
} CC_PACKED Parameters;
CC_PACKED_END
uint32_t variableRW;
} CC_PACKED _Cbuffer;
CC_PACKED_END
} Parameters;
/* Manufacturer specific data */
CC_PACKED_BEGIN
typedef struct
{
CC_PACKED_BEGIN
uint32_t variableRW;
/* Manufacturer specific data */
struct
{
uint16_t SyncType;
uint32_t Local_Error_Reaction;
uint16_t SyncErrorCounterLimit;
} ErrorSettings;
struct
{
uint16_t Sync_mode;
uint32_t CycleTime;
uint32_t ShiftTime;
uint16_t SyncTypeSupport;
uint32_t MinCycleTime;
uint32_t CalcCopyTime;
uint32_t MinDelayTime;
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 ShiftTimeTooSmallCnt;
uint16_t Shift_too_short_counter;
uint16_t RxPDOToggleFailed;
uint32_t MinCycleDist;
uint32_t MaxCycleDist;
uint32_t MinSMSYNCDist;
uint32_t MaxSMSYNCDist;
uint8_t Dummy_x14;
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;
} CC_PACKED SyncMgrParam;
CC_PACKED_END
CC_PACKED_BEGIN
struct
{
uint8_t Dummy_x01;
uint16_t SyncErrorCounterLimit;
} CC_PACKED ErrorSettings;
CC_PACKED_END
} CC_PACKED _Mbuffer;
CC_PACKED_END
} SyncMgrParam;
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern _Mbuffer Mb;
/* Dynamic TX PDO:s */
/* Dynamic RX PDO:s */
/* Sync Managers */
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

BIN
applications/tiesc_am335x/am335xice.bin 100644
View File

Binary file not shown.

263
applications/tiesc_am335x/am335xice.esx 100644
View File

@ -0,0 +1,263 @@
<?xml version="1.0" encoding="UTF-8"?>
<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="am335xice" productCode="0x9876">
<Name>slave</Name>
<Vendor>
<Id>0x1337</Id>
<Name>rt-labs</Name>
</Vendor>
<Group>
<Type>am335xice_t</Type>
<Name>am335xice_n</Name>
</Group>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm ControlByte="0x26" DefaultSize="512" StartAddress="0x1000">MBoxOut</Sm>
<Sm ControlByte="0x22" DefaultSize="512" StartAddress="0x1200">MBoxIn</Sm>
<Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1400">Outputs</Sm>
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1A00">Inputs</Sm>
<Mailbox CoE="true">
<Bootstrap Length="512" Start="0x1000"/>
<Standard Length="512" Start="0x1000"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>8006E08800000000</ConfigData>
<BootStrap>0010000200120002</BootStrap>
</Eeprom>
<Dictionary>
<Item Managed="true">
<Index>0x1000</Index>
<Name>Device Type</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00001389</DefaultValue>
</Item>
<Item Managed="true">
<Index>0x1008</Index>
<Name>Device Name</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>am335xice</DefaultValue>
<Length>9</Length>
</Item>
<Item>
<Index>0x1009</Index>
<Name>Hardware Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>3</Length>
</Item>
<Item>
<Index>0x100A</Index>
<Name>Software Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>3</Length>
</Item>
<Item Managed="true">
<Index>0x1018</Index>
<Name>Identity Object</Name>
<DataType>RECORD</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>Vendor ID</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Name>Product Code</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x9876</DefaultValue>
</SubItem>
<SubItem>
<Index>0x03</Index>
<Name>Revision Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Name>Serial Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1600</Index>
<Name>LED</Name>
<DataType>RECORD</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>LED</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1A00</Index>
<Name>BUTTON</Name>
<DataType>RECORD</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>BUTTON</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>Communications Type SM0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Name>Communications Type SM1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Index>0x03</Index>
<Name>Communications Type SM2</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Name>Communications Type SM3</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x6000</Index>
<Access>RO</Access>
<Name>BUTTON</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>TX</PdoMapping>
<Variable>BUTTON</Variable>
<VariableType>Input</VariableType>
</Item>
<Item Managed="true">
<Index>0x7000</Index>
<Access>RO</Access>
<Name>LED</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>LED</Variable>
<VariableType>Output</VariableType>
</Item>
</Dictionary>
<SmAssignment>
<Index>0x1C12</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1600</AssignedPdo>
</Entry>
</SmAssignment>
<SmAssignment>
<Index>0x1C13</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1A00</AssignedPdo>
</Entry>
</SmAssignment>
<RxPdo>
<Index>0x1600</Index>
<Name>LED</Name>
<Entry>
<Index>0x1</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x00</MappedSubIndex>
<Variable>LED</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Name>BUTTON</Name>
<Entry>
<Index>0x1</Index>
<MappedIndex>0x6000</MappedIndex>
<MappedSubIndex>0x00</MappedSubIndex>
<Variable>BUTTON</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6000</Index>
<Name>BUTTON</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>TX</PdoMapping>
<ObjectType>VAR</ObjectType>
</Input>
<Output>
<Index>0x7000</Index>
<Name>LED</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>RX</PdoMapping>
<ObjectType>VAR</ObjectType>
</Output>
</Slave>

537
applications/tiesc_am335x/am335xice.xml 100644
View File

@ -0,0 +1,537 @@
<?xml version="1.0" encoding="UTF-8"?>
<EtherCATInfo>
<Vendor>
<Id>#x1337</Id>
<Name LcId="1033">rt-labs</Name>
</Vendor>
<Descriptions>
<Groups>
<Group>
<Type>am335xice_t</Type>
<Name LcId="1033">am335xice_n</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x9876" RevisionNo="0">am335xice</Type>
<Name LcId="1033">slave</Name>
<GroupType>am335xice_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(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>
<DataType>
<Name>STRING(9)</Name>
<BitSize>72</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(9)</Type>
<BitSize>72</BitSize>
<Info>
<DefaultString>am335xice</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>#x9876</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>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>LED</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm ControlByte="#x26" DefaultSize="512" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
<Sm ControlByte="#x22" DefaultSize="512" Enable="1" StartAddress="#x1200">MBoxIn</Sm>
<Sm ControlByte="#x24" Enable="1" StartAddress="#x1400">Outputs</Sm>
<Sm ControlByte="#x20" Enable="1" StartAddress="#x1A00">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index>
<Name>LED</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x0</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>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>BUTTON</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>8006E08800000000</ConfigData>
<BootStrap>0010000200120002</BootStrap>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>

120
applications/tiesc_am335x/am335xice_objectlist.c 100644
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@ -0,0 +1,120 @@
#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 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[] = "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 acName7000[] = "LED";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 72, ATYPE_RO, acName1008, 0, "am335xice"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x9876, 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 | ATYPE_TXPDO, acName6000, 0, &Obj.BUTTON},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.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}
};

44
applications/tiesc_am335x/ecat_options.h 100644
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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#include "cc.h"
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#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 0x1400
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM3 1
#endif /* __ECAT_OPTIONS_H__ */

85
applications/tiesc_am335x/main.c 100644
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#include "esc_hw.h"
#include "ecat_slv.h"
#include "options.h"
#include "utypes.h"
#include <string.h>
#include "tiescutils.h"
#include <examples/board/include/board_i2cLed.h>
#include <examples/board/include/board_rotary_switch.h>
#if 1
/* Application variables */
_Objects Obj;
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_inputs()
{
volatile uint8_t io_input;
Board_readRotarySwitch((uint8_t *)&io_input);
Obj.BUTTON = io_input;
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
*/
void cb_set_outputs()
{
volatile uint8_t io_output;
io_output = Obj.LED;
Board_setDigOutput(io_output);
}
#endif
/* Called from stack when stopping outputs */
void user_safeoutput (void)
{
memset(&Obj.LED, 0, (sizeof(Obj.LED)));
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 = 9998,
.set_defaults_hook = NULL,
.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,
.esc_check_dc_handler = NULL
};
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;
}

31
applications/tiesc_am335x/utypes.h 100644
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#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Inputs */
uint32_t BUTTON;
/* Outputs */
uint32_t LED;
/* Parameters */
/* Manufacturer specific data */
/* Dynamic TX PDO:s */
/* Dynamic RX PDO:s */
/* Sync Managers */
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

35
applications/tiesc_k2gice/config.h
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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__ */

44
applications/tiesc_k2gice/ecat_options.h 100644
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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_H__
#include "cc.h"
#define USE_FOE 0
#define USE_EOE 0
#define MBXSIZE 512
#define MBXSIZEBOOT 512
#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 0x1400
#define SM2_smc 0x24
#define SM2_act 1
#define SM3_sma 0x1A00
#define SM3_smc 0x20
#define SM3_act 1
#define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512
#define MAX_MAPPINGS_SM2 1
#define MAX_MAPPINGS_SM3 1
#endif /* __ECAT_OPTIONS_H__ */

BIN
applications/tiesc_k2gice/k2gice.bin
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326
applications/tiesc_k2gice/k2gice.c
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@ -1,326 +0,0 @@
#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
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@ -1,229 +1,248 @@
<?xml version="1.0" encoding="UTF-8"?>
<Slave fileVersion="1" id="k2gice" productCode="0x1234">
<Name>k2gice</Name>
<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="k2gice" productCode="0x4291ce">
<Name>k2gice_n</Name>
<Vendor>
<Id>0x1337</Id>
<Name>rt-labs</Name>
</Vendor>
<Group>
<Type>k2gice_t</Type>
<Name>k2gice_n</Name>
<Name>am335xice_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>
<Sm ControlByte="0x26" DefaultSize="512" StartAddress="0x1000">MBoxOut</Sm>
<Sm ControlByte="0x22" DefaultSize="512" StartAddress="0x1200">MBoxIn</Sm>
<Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1400">Outputs</Sm>
<Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1A00">Inputs</Sm>
<Mailbox CoE="true">
<Bootstrap Length="128" Start="0x1000"/>
<Standard Length="128" Start="0x1000"/>
<Bootstrap Length="512" Start="0x1000"/>
<Standard Length="512" Start="0x1000"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800CE08800000000</ConfigData>
<BootStrap>0010800080108000</BootStrap>
<BootStrap>0010000200120002</BootStrap>
</Eeprom>
<Dictionary>
<Item>
<Name>Device Type</Name>
<Item Managed="true">
<Index>0x1000</Index>
<Name>Device Type</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00001389</DefaultValue>
</Item>
<Item Managed="true">
<Name>Device Name</Name>
<Index>0x1008</Index>
<Name>Device Name</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>k2gice</DefaultValue>
<Length>6</Length>
</Item>
<Item>
<Name>Hardware Version</Name>
<Index>0x1009</Index>
<Name>Hardware Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>3</Length>
</Item>
<Item>
<Name>Software Version</Name>
<Index>0x100A</Index>
<Name>Software Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
<Length>3</Length>
</Item>
<Item Managed="true">
<Name>Identity Object</Name>
<Index>0x1018</Index>
<Name>Identity Object</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Index>0x01</Index>
<Name>Vendor ID</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1337</DefaultValue>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Index>0x02</Index>
<Name>Product Code</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x1234</DefaultValue>
<DefaultValue>0x4291ce</DefaultValue>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Index>0x03</Index>
<Name>Revision Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Index>0x04</Index>
<Name>Serial Number</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000000</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>LED</Name>
<Index>0x1600</Index>
<Name>LED</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>LED</Name>
<Index>0x01</Index>
<Name>LED</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>BUTTON</Name>
<Index>0x1A00</Index>
<Name>BUTTON</Name>
<DataType>RECORD</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>BUTTON</Name>
<Index>0x01</Index>
<Name>BUTTON</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x60000020</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager Communication Type</Name>
<Index>0x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Index>0x01</Index>
<Name>Communications Type SM0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Index>0x02</Index>
<Name>Communications Type SM1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>2</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Index>0x03</Index>
<Name>Communications Type SM2</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>3</DefaultValue>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Index>0x04</Index>
<Name>Communications Type SM3</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>4</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 2 PDO Assignment</Name>
<Index>0x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1600</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>Sync Manager 3 PDO Assignment</Name>
<Index>0x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<DataType>ARRAY</DataType>
<SubItem>
<Name>Max SubIndex</Name>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>1</DefaultValue>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Index>0x01</Index>
<Name>PDO Mapping</Name>
<DataType>UNSIGNED16</DataType>
<DefaultValue>0x1A00</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Name>BUTTON</Name>
<Index>0x6000</Index>
<Access>RO</Access>
<Name>BUTTON</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<PdoMapping>TX</PdoMapping>
<Variable>BUTTON</Variable>
<VariableType>Input</VariableType>
</Item>
<Item Managed="true">
<Name>LED</Name>
<Index>0x7000</Index>
<Access>RO</Access>
<Name>LED</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0</DefaultValue>
<Access>RO</Access>
<PdoMapping>RX</PdoMapping>
<Variable>LED</Variable>
<VariableType>Output</VariableType>
</Item>
</Dictionary>
<SmAssignment>
<Index>0x1C12</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1600</AssignedPdo>
</Entry>
</SmAssignment>
<SmAssignment>
<Index>0x1C13</Index>
<Entry>
<Index>0x01</Index>
<AssignedPdo>0x1A00</AssignedPdo>
</Entry>
</SmAssignment>
<RxPdo>
<Index>0x1600</Index>
<Container>LED</Container>
<Name>LED</Name>
<Entry>
<Index>0x7000</Index>
<SubIndex>0</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x00</MappedSubIndex>
<Variable>LED</Variable>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Container>BUTTON</Container>
<Name>BUTTON</Name>
<Entry>
<Index>0x6000</Index>
<SubIndex>0</SubIndex>
<Index>0x1</Index>
<MappedIndex>0x6000</MappedIndex>
<MappedSubIndex>0x00</MappedSubIndex>
<Variable>BUTTON</Variable>
</Entry>
</TxPdo>
@ -231,12 +250,14 @@
<Index>0x6000</Index>
<Name>BUTTON</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>TX</PdoMapping>
<ObjectType>VAR</ObjectType>
</Input>
<Output>
<Index>0x7000</Index>
<Name>LED</Name>
<Type>UNSIGNED32</Type>
<PdoMapping>RX</PdoMapping>
<ObjectType>VAR</ObjectType>
</Output>
</Slave>
</Slave>

64
applications/tiesc_k2gice/k2gice.h
View File

@ -1,64 +0,0 @@
#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__ */

28
applications/tiesc_k2gice/k2gice.xml
View File

@ -8,13 +8,13 @@
<Groups>
<Group>
<Type>k2gice_t</Type>
<Name LcId="1033">k2gice_n</Name>
<Name LcId="1033">am335xice_n</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x1234" RevisionNo="0">k2gice</Type>
<Name LcId="1033">k2gice</Name>
<Type ProductCode="#x4291ce" RevisionNo="0">k2gice</Type>
<Name LcId="1033">k2gice_n</Name>
<GroupType>k2gice_t</GroupType>
<Profile>
<ProfileNo>5001</ProfileNo>
@ -312,7 +312,7 @@
<SubItem>
<Name>Product Code</Name>
<Info>
<DefaultValue>#x1234</DefaultValue>
<DefaultValue>#x4291ce</DefaultValue>
</Info>
</SubItem>
<SubItem>
@ -475,6 +475,7 @@
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
@ -487,6 +488,7 @@
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
@ -495,16 +497,16 @@
<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>
<Sm ControlByte="#x26" DefaultSize="512" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
<Sm ControlByte="#x22" DefaultSize="512" Enable="1" StartAddress="#x1200">MBoxIn</Sm>
<Sm ControlByte="#x24" Enable="1" StartAddress="#x1400">Outputs</Sm>
<Sm ControlByte="#x20" Enable="1" StartAddress="#x1A00">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index>
<Name>LED</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>0</SubIndex>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>LED</Name>
<DataType>UDINT</DataType>
@ -515,19 +517,19 @@
<Name>BUTTON</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>0</SubIndex>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>BUTTON</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
<CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800CE08800000000</ConfigData>
<BootStrap>0010800080108000</BootStrap>
<ConfigData>800EE08800000000</ConfigData>
<BootStrap>0010000200120002</BootStrap>
</Eeprom>
</Device>
</Devices>

22
applications/tiesc_k2gice/k2gice_objectlist.c
View File

@ -1,4 +1,3 @@
#ifndef SOES_V1
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
@ -12,13 +11,9 @@
#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";
@ -44,31 +39,29 @@ 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},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008_0, 0, "k2gice"},
{0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008, 0, "k2gice"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, SW_REV},
{0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x1234, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x4291ce, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
};
@ -102,11 +95,11 @@ const _objd SDO1C13[] =
};
const _objd SDO6000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName6000_0, 0, &Rb.BUTTON},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.BUTTON},
};
const _objd SDO7000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName7000_0, 0, &Wb.LED},
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.LED},
};
const _objectlist SDOobjects[] =
@ -125,4 +118,3 @@ const _objectlist SDOobjects[] =
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};
#endif

40
applications/tiesc_k2gice/main.c
View File

@ -1,38 +1,39 @@
#include "k2gice.h"
#include "esc_hw.h"
#include "config.h"
#include "ecat_slv.h"
#include "options.h"
#include "utypes.h"
#include <string.h>
#include "tiescutils.h"
#include <examples/board/include/board_i2cLed.h>
#include <examples/board/include/board_rotary_switch.h>
/* Application variables */
_Objects Obj;
/**
* This function reads physical input values and assigns the corresponding members
* of Rb.Buttons
*/
void cb_get_BUTTON()
void cb_get_inputs()
{
volatile uint8_t io_input;
Board_readRotarySwitch(&io_input);
Rb.BUTTON = io_input;
Board_readRotarySwitch((uint8_t *)&io_input);
Obj.BUTTON = io_input;
}
/**
* This function writes physical output values from the corresponding members of
* Wb.LEDs
* This function writes physical output values from the corresponding members
*/
void cb_set_LED()
void cb_set_outputs()
{
volatile uint8_t io_output;
io_output = Wb.LED;
io_output = Obj.LED;
Board_setDigOutput(io_output);
}
/* Called from stack when stopping outputs */
void user_safeoutput (void)
{
memset(&Wb, 0, (sizeof(Wb)));
memset(&Obj.LED, 0, (sizeof(Obj.LED)));
Board_setDigOutput(0);
}
@ -44,16 +45,8 @@ 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},
.watchdog_cnt = 9998,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
@ -64,7 +57,8 @@ static esc_cfg_t config =
.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_hw_eep_handler = ESC_eep_handler,
.esc_check_dc_handler = NULL
};
int MainInit(void)

44
applications/tiesc_k2gice/utypes.h
View File

@ -1,41 +1,31 @@
#ifndef __UTYPES_H__
#define __UTYPES_H__
#include <cc.h>
#include "cc.h"
/* Object dictionary storage */
/* Inputs */
CC_PACKED_BEGIN
typedef struct
{
/* Inputs */
uint32_t BUTTON;
} CC_PACKED _Rbuffer;
CC_PACKED_END
/* Outputs */
CC_PACKED_BEGIN
typedef struct
{
/* Outputs */
uint32_t LED;
} CC_PACKED _Wbuffer;
CC_PACKED_END
/* Parameters */
CC_PACKED_BEGIN
typedef struct
{
} CC_PACKED _Cbuffer;
CC_PACKED_END
/* Parameters */
/* Manufacturer specific data */
CC_PACKED_BEGIN
typedef struct
{
} CC_PACKED _Mbuffer;
CC_PACKED_END
/* Manufacturer specific data */
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern _Mbuffer Mb;
/* Dynamic TX PDO:s */
/* Dynamic RX PDO:s */
/* Sync Managers */
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

2
applications/xmc4300_slavedemo/Makefile
View File

@ -13,7 +13,7 @@ SOES_DIR = ../../soes
SRC = \
main.c \
objectlist.c \
soes.c \
$(SOES_DIR)/ecat_slv.c \
$(SOES_DIR)/esc.c \
$(SOES_DIR)/esc_coe.c \
$(SOES_DIR)/esc_eep.c \

44
applications/xmc4300_slavedemo/ecat_options.h 100644
View File

@ -0,0 +1,44 @@
#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 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 1
#define MAX_MAPPINGS_SM3 2
#endif /* __ECAT_OPTIONS_H__ */

134
applications/xmc4300_slavedemo/main.c
View File

@ -1,15 +1,133 @@
#include <string.h>
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include "ecat_slv.h"
#include "utypes.h"
#include "xmc_gpio.h"
#include "soes.h"
#ifdef XMC4800_F144x2048
#define P_LED P5_8
#define P_BTN P15_12
#endif
int main(void)
#ifdef XMC4300_F100x256
#define P_LED P4_1
#define P_BTN P3_4
#endif
extern void ESC_eep_handler(void);
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
static const XMC_GPIO_CONFIG_t gpio_config_btn = {
.mode = XMC_GPIO_MODE_INPUT_INVERTED_PULL_UP,
.output_level = 0,
.output_strength = 0
};
static const XMC_GPIO_CONFIG_t gpio_config_led = {
.mode = XMC_GPIO_MODE_OUTPUT_PUSH_PULL,
.output_level = XMC_GPIO_OUTPUT_LEVEL_LOW,
.output_strength = XMC_GPIO_OUTPUT_STRENGTH_STRONG_SOFT_EDGE
};
void cb_get_inputs (void)
{
soes_init();
while(1) {
soes_task();
}
Rb.button = XMC_GPIO_GetInput(P_BTN);
Cb.reset_counter++;
Rb.encoder = ESCvar.Time;
}
void cb_set_outputs (void)
{
if (Wb.LED)
{
XMC_GPIO_SetOutputHigh(P_LED);
}
else
{
XMC_GPIO_SetOutputLow(P_LED);
}
}
void post_object_download_hook (uint16_t index, uint8_t subindex,
uint16_t flags)
{
switch(index)
{
case 0x7100:
{
switch (subindex)
{
case 0x01:
{
encoder_scale_mirror = encoder_scale;
break;
}
}
break;
}
case 0x8001:
{
switch (subindex)
{
case 0x01:
{
Cb.reset_counter = 0;
break;
}
}
break;
}
}
}
void soes (void * arg)
{
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 0,
.watchdog_cnt = 5000,
.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 = post_object_download_hook,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = ESC_eep_handler
};
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
// configure I/O
XMC_GPIO_Init(P_BTN, &gpio_config_btn);
XMC_GPIO_Init(P_LED, &gpio_config_led);
ecat_slv_init (&config);
while (1)
{
ecat_slv();
}
}
int main (void)
{
soes (NULL);
return 0;
}

316
applications/xmc4300_slavedemo/soes.c
View File

@ -1,316 +0,0 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* The application.
*
* The application, the main loop that service EtherCAT.
*/
#include <stddef.h>
#include "esc.h"
#include "esc_coe.h"
#include "esc_eep.h"
#include "esc_hw_eep.h"
#include "utypes.h"
#include "soes.h"
#define WD_RESET 1000
#define DEFAULTTXPDOMAP 0x1a00
#define DEFAULTRXPDOMAP 0x1600
#define DEFAULTTXPDOITEMS 1
#define DEFAULTRXPDOITEMS 1
static const XMC_GPIO_CONFIG_t gpio_config_btn = {
.mode = XMC_GPIO_MODE_INPUT_INVERTED_PULL_UP,
.output_level = 0,
.output_strength = 0
};
static const XMC_GPIO_CONFIG_t gpio_config_led = {
.mode = XMC_GPIO_MODE_OUTPUT_PUSH_PULL,
.output_level = XMC_GPIO_OUTPUT_LEVEL_LOW,
.output_strength = XMC_GPIO_OUTPUT_STRENGTH_STRONG_SOFT_EDGE
};
uint32_t encoder_scale;
uint32_t encoder_scale_mirror;
/* 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;
/* Private variables */
volatile uint8_t digoutput;
volatile uint8_t diginput;
uint16_t txpdomap = DEFAULTTXPDOMAP;
uint16_t rxpdomap = DEFAULTRXPDOMAP;
uint8_t txpdoitems = DEFAULTTXPDOITEMS;
uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
/** 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)
{
if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
{
SDO_abort (index, subindex, ABORT_READONLY);
return 0;
}
return 1;
}
/** 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)
{
case 0x1c12:
{
if (rxpdoitems > 1)
{
rxpdoitems = 1;
}
if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
&& (rxpdomap != 0x0000))
{
rxpdomap = 0x1600;
}
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
break;
}
case 0x1c13:
{
if (txpdoitems > 1)
{
txpdoitems = 1;
}
if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
&& (rxpdomap != 0x0000))
{
txpdomap = 0x1A00;
}
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
break;
}
case 0x7100:
{
switch (subindex)
{
case 0x01:
{
encoder_scale_mirror = encoder_scale;
break;
}
}
break;
}
case 0x8001:
{
switch (subindex)
{
case 0x01:
{
Cb.reset_counter = 0;
break;
}
}
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 called\n");
Wb.LED = 0;
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, ESCvar.TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, 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 (void)
{
if (wd_cnt)
{
wd_cnt--;
}
if (ESCvar.App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
RXPDO_update ();
wd_cnt = WD_RESET;
/* dummy output point */
if (Wb.LED) {
XMC_GPIO_SetOutputHigh(P_LED);
} else {
XMC_GPIO_SetOutputLow(P_LED);
}
}
if (!wd_cnt)
{
DPRINT("DIG_process watchdog tripped\n");
ESC_stopoutput ();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
}
else
{
wd_cnt = WD_RESET;
}
if (ESCvar.App.state)
{
Rb.button = XMC_GPIO_GetInput(P_BTN);
Cb.reset_counter++;
Rb.encoder = ESCvar.Time;
TXPDO_update ();
}
}
/** SOES main loop. Start by initializing the stack software followed by
* the application loop for cyclic read the EtherCAT state and staus, update
* of I/O.
*/
void soes_init (void)
{
DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
// configure I/O
XMC_GPIO_Init(P_BTN, &gpio_config_btn);
XMC_GPIO_Init(P_LED, &gpio_config_led);
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Setup config hooks */
static esc_cfg_t config =
{
.user_arg = NULL,
.use_interrupt = 0,
.watchdog_cnt = 0,
.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 = 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_config (&config);
ESC_init (NULL);
/* wait until ESC is started up */
do {
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
} while ((ESCvar.DLstatus & 0x0001) == 0);
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx ();
ESC_stopinput ();
ESC_stopoutput ();
}
void soes_task (void)
{
/* On init restore PDO mappings to default size */
if((ESCvar.ALstatus & 0x0f) == ESCinit)
{
txpdomap = DEFAULTTXPDOMAP;
rxpdomap = DEFAULTRXPDOMAP;
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* 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();
/* If else to two separate execution paths
* If we're running BOOSTRAP
* - MailBox
* - FoE
* Else we're running normal execution
* - MailBox
* - CoE
*/
if (ESC_mbxprocess ())
{
ESC_coeprocess ();
ESC_xoeprocess ();
}
DIG_process ();
EEP_process ();
EEP_hw_process();
}

14
applications/xmc4300_slavedemo/soes.h
View File

@ -1,14 +0,0 @@
#ifndef _SOES_H_
#define _SOES_H_
#include <xmc_gpio.h>
#include <xmc_scu.h>
#define P_LED P4_1
#define P_BTN P3_4
extern void soes_init (void);
extern void soes_task (void);
#endif

12
soes/hal/tiesc/esc_hw.c
View File

@ -14,10 +14,10 @@
#include "cc.h"
#include "esc_hw.h"
#include "esc_eep.h"
#include "k2gice.h"
#include "options.h"
#include "ecat_slv.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;
@ -303,7 +303,9 @@ void PDI_Isr(void)
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
DIG_process(DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG |
DIG_PROCESS_INPUTS_FLAG);
}
}
@ -317,8 +319,8 @@ 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_set_sm_properties(escHwPruIcssHandle, 2, SM2_sma, MAX_RXPDO_SIZE * 3);
bsp_set_sm_properties(escHwPruIcssHandle, 3, SM3_sma, MAX_TXPDO_SIZE * 3);
bsp_write_dword(escHwPruIcssHandle, 0 , ESCREG_ALEVENTMASK);
}