Update applications to SOES v3.0
parent
68427b6e1e
commit
5770a66558
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@ -33,3 +33,4 @@
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/build
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soes/version.h
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applications/xmc4300_slavedemo/XMC_Peripheral_Library
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@ -1,7 +1,6 @@
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add_executable (demo
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main.c
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slave.c
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slave_objectlist.c
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)
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target_link_libraries(demo LINK_PUBLIC soes)
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@ -1,35 +0,0 @@
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#ifndef __CONFIG_H__
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#define __CONFIG_H__
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#include <cc.h>
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#define MBXSIZE 128
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#define MBXSIZEBOOT 128
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#define MBXBUFFERS 3
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#define MBX0_sma 0x1000
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#define MBX0_sml MBXSIZE
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#define MBX0_sme MBX0_sma+MBX0_sml-1
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#define MBX0_smc 0x26
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#define MBX1_sma MBX0_sma+MBX0_sml
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#define MBX1_sml MBXSIZE
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#define MBX1_sme MBX1_sma+MBX1_sml-1
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#define MBX1_smc 0x22
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#define MBX0_sma_b 0x1000
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#define MBX0_sml_b MBXSIZEBOOT
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#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
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#define MBX0_smc_b 0x26
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#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
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#define MBX1_sml_b MBXSIZEBOOT
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#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
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#define MBX1_smc_b 0x22
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#define SM2_sma 0x1100
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#define SM2_smc 0x24
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#define SM2_act 1
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#define SM3_sma 0x1180
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#define SM3_smc 0x20
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#define SM3_act 1
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#endif /* __CONFIG_H__ */
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@ -0,0 +1,44 @@
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#ifndef __ECAT_OPTIONS_H__
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#define __ECAT_OPTIONS_H__
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#include "cc.h"
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#define USE_FOE 1
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#define USE_EOE 0
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#define MBXSIZE 128
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#define MBXSIZEBOOT 128
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#define MBXBUFFERS 3
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#define MBX0_sma 0x1000
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#define MBX0_sml MBXSIZE
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#define MBX0_sme MBX0_sma+MBX0_sml-1
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#define MBX0_smc 0x26
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#define MBX1_sma MBX0_sma+MBX0_sml
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#define MBX1_sml MBXSIZE
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#define MBX1_sme MBX1_sma+MBX1_sml-1
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#define MBX1_smc 0x22
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#define MBX0_sma_b 0x1000
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#define MBX0_sml_b MBXSIZEBOOT
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#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
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#define MBX0_smc_b 0x26
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#define MBX1_sma_b MBX0_sma_b+MBX0_sml_b
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#define MBX1_sml_b MBXSIZEBOOT
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#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
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#define MBX1_smc_b 0x22
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#define SM2_sma 0x1100
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#define SM2_smc 0x24
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#define SM2_act 1
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#define SM3_sma 0x1180
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#define SM3_smc 0x20
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#define SM3_act 1
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#define MAX_RXPDO_SIZE 42
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#define MAX_TXPDO_SIZE 42
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#define MAX_MAPPINGS_SM2 2
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#define MAX_MAPPINGS_SM3 1
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#endif /* __ECAT_OPTIONS_H__ */
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@ -1,42 +1,49 @@
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#include <stdio.h>
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#include "slave.h"
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#include "ecat_slv.h"
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#include "utypes.h"
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/**
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* This function reads physical input values and assigns the corresponding members
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* of Rb.Buttons
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*/
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void cb_get_Buttons()
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/* Application variables */
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_Objects Obj;
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void cb_get_inputs (void)
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{
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}
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/**
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* This function writes physical output values from the corresponding members of
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* Wb.LEDs
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*/
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void cb_set_LEDs()
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void cb_set_outputs (void)
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{
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}
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/**
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* This function is called after a SDO write of the object Cb.Parameters.
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*/
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void cb_post_write_Parameters(int subindex)
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int main_run (void * arg)
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{
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static esc_cfg_t config =
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{
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.user_arg = "/dev/lan9252",
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.use_interrupt = 0,
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.watchdog_cnt = 150,
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = NULL,
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.esc_hw_interrupt_disable = NULL,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = NULL,
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};
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printf ("Hello Main\n");
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ecat_slv_init (&config);
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while (1)
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{
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ecat_slv();
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}
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void main_run(void * arg)
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{
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soes_init();
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while(1) {
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soes();
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}
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return 0;
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}
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int main (void)
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@ -45,4 +52,3 @@ int main(void)
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main_run (NULL);
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return 0;
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}
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@ -1,300 +0,0 @@
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#include <stddef.h>
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#include "utypes.h"
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#include "esc.h"
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#include "esc_coe.h"
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#include "esc_foe.h"
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#include "config.h"
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#include "slave.h"
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#define WATCHDOG_RESET_VALUE 150
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#define DEFAULTTXPDOMAP 0x1a00
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#define DEFAULTRXPDOMAP 0x1600
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#define DEFAULTTXPDOITEMS 1
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#define DEFAULTRXPDOITEMS 1
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/* Global variables used by the stack */
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uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
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_MBXcontrol MBXcontrol[MBXBUFFERS];
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_ESCvar ESCvar;
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/* Application variables */
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_Rbuffer Rb;
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_Wbuffer Wb;
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_Cbuffer Cb;
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/* Private variables */
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uint16_t txpdomap = DEFAULTTXPDOMAP;
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uint16_t rxpdomap = DEFAULTRXPDOMAP;
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uint8_t txpdoitems = DEFAULTTXPDOITEMS;
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uint8_t rxpdoitems = DEFAULTTXPDOITEMS;
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static int watchdog = WATCHDOG_RESET_VALUE;
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static void (*application_loop_callback)(void) = NULL;
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/** Function to pre-qualify the incoming SDO download.
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*
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* @param[in] index = index of SDO download request to check
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* @param[in] sub-index = sub-index of SDO download request to check
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* @return 1 if the SDO Download is correct. 0 If not correct.
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*/
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int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
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{
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if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
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{
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SDO_abort (index, subindex, ABORT_READONLY);
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return 0;
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}
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if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
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{
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SDO_abort (index, subindex, ABORT_READONLY);
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return 0;
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}
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return 1;
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}
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/** Mandatory: Hook called from the slave stack SDO Download handler to act on
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* user specified Index and Sub-index.
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*
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* @param[in] index = index of SDO download request to handle
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* @param[in] sub-index = sub-index of SDO download request to handle
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*/
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void ESC_objecthandler (uint16_t index, uint8_t subindex)
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{
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switch (index)
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{
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case 0x1c12:
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{
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if (rxpdoitems > 1)
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{
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rxpdoitems = 1;
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}
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if ((rxpdomap != 0x1600) && (rxpdomap != 0x1601)
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&& (rxpdomap != 0x0000))
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{
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rxpdomap = 0x1600;
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}
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ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
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break;
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}
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case 0x1c13:
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{
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if (txpdoitems > 1)
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{
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txpdoitems = 1;
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}
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if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
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&& (rxpdomap != 0x0000))
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{
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txpdomap = 0x1A00;
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}
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ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
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break;
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}
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/* Handle post-write of parameter values */
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case 0x8000:
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{
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cb_post_write_Parameters(subindex);
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break;
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}
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default:
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break;
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}
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}
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/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
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* forcing us to stop outputs. Here we can set them to a safe state.
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* set
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*/
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void APP_safeoutput (void)
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{
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DPRINT ("APP_safeoutput\n");
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// Set safe values for Wb.LEDs
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Wb.LEDs.LED0 = 0;
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Wb.LEDs.LED1 = 0;
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}
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/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
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*/
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void TXPDO_update (void)
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{
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ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
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}
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/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
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*/
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void RXPDO_update (void)
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{
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ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
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}
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/** Mandatory: Function to update local I/O, call read ethercat outputs, call
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* write ethercat inputs. Implement watch-dog counter to count-out if we have
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* made state change affecting the App.state.
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*/
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void DIG_process (void)
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{
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if (watchdog > 0)
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{
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watchdog--;
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}
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if (ESCvar.App.state & APPSTATE_OUTPUT)
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{
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/* SM2 trigger ? */
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if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
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{
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ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
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RXPDO_update();
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watchdog = WATCHDOG_RESET_VALUE;
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/* Set outputs */
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cb_set_LEDs();
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}
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if (watchdog <= 0)
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{
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DPRINT("DIG_process watchdog expired\n");
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ESC_stopoutput();
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/* watchdog, invalid outputs */
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ESC_ALerror (ALERR_WATCHDOG);
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/* goto safe-op with error bit set */
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ESC_ALstatus (ESCsafeop | ESCerror);
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}
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}
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else
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{
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watchdog = WATCHDOG_RESET_VALUE;
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}
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if (ESCvar.App.state)
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{
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/* Update inputs */
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cb_get_Buttons();
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TXPDO_update();
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}
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}
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/********** TODO: Generic code beyond this point ***************/
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/** Optional: Hook called after state change for application specific
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* actions for specific state changes.
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*/
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void post_state_change_hook (uint8_t * as, uint8_t * an)
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{
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#if 0
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/* Add specific step change hooks here */
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if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
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{
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boot_inithook();
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}
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else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
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{
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init_boothook();
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}
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#endif
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}
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/**
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* Set callback run once every loop in the SOES application loop.
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*/
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void set_application_loop_hook(void (*callback)(void))
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{
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application_loop_callback = callback;
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}
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/**
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* SOES main function. It should be called periodically.
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* Reads the EtherCAT state and status. Responsible for I/O updates.
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*/
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void soes (void)
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{
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/* On init restore PDO mappings to default size */
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if((ESCvar.ALstatus & 0x0f) == ESCinit)
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{
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txpdomap = DEFAULTTXPDOMAP;
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rxpdomap = DEFAULTRXPDOMAP;
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txpdoitems = DEFAULTTXPDOITEMS;
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rxpdoitems = DEFAULTTXPDOITEMS;
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}
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/* Read local time from ESC */
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ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
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ESCvar.Time = etohl (ESCvar.Time);
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/* Check the state machine */
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ESC_state();
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/* Check the SM activation event */
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ESC_sm_act_event();
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/* Check mailboxes */
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if (ESC_mbxprocess())
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{
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ESC_coeprocess();
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ESC_foeprocess();
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ESC_xoeprocess();
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}
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DIG_process();
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if (application_loop_callback != NULL)
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{
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(application_loop_callback)();
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}
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}
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/**
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* Initialize the SOES stack.
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*/
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void soes_init (void)
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{
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DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
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ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
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ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
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/* Setup config hooks */
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static esc_cfg_t config =
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{
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.user_arg = "/dev/lan9252",
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.use_interrupt = 0,
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.watchdog_cnt = 0,
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.mbxsize = MBXSIZE,
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.mbxsizeboot = MBXSIZEBOOT,
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.mbxbuffers = MBXBUFFERS,
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.mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
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.mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
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.mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
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.mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
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.pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
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.pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = NULL,
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.esc_hw_interrupt_disable = NULL,
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.esc_hw_eep_handler = NULL
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};
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ESC_config (&config);
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ESC_init (&config);
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/* wait until ESC is started up */
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while ((ESCvar.DLstatus & 0x0001) == 0)
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{
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ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
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sizeof (ESCvar.DLstatus));
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ESCvar.DLstatus = etohs (ESCvar.DLstatus);
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}
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/* Init FoE */
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FOE_init();
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/* reset ESC to init state */
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ESC_ALstatus (ESCinit);
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ESC_ALerror (ALERR_NONE);
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ESC_stopmbx();
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ESC_stopinput();
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ESC_stopoutput();
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}
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@ -1,5 +1,5 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<Slave id="evb9252_dig" productCode="1234">
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<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>
|
|
@ -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__ */
|
|
@ -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>
|
||||
|
|
|
@ -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[] =
|
||||
|
|
|
@ -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__ */
|
||||
|
|
|
@ -1,35 +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__ */
|
|
@ -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__ */
|
|
@ -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);
|
||||
|
||||
while (1)
|
||||
{
|
||||
ecat_slv();
|
||||
}
|
||||
|
||||
void main_run(void * arg)
|
||||
{
|
||||
soes_init();
|
||||
|
||||
while(1) {
|
||||
soes();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int main (void)
|
||||
{
|
||||
rprintf ("Hello Main\n");
|
||||
task_spawn ("soes", main_run, 8, 2048, NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -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();
|
||||
}
|
|
@ -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__ */
|
|
@ -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[] =
|
||||
|
|
|
@ -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__ */
|
||||
|
|
|
@ -1,6 +1,5 @@
|
|||
|
||||
add_executable (rtl_slavedemo
|
||||
soes.c
|
||||
objectlist.c
|
||||
led_handler.c
|
||||
bootstrap.c
|
||||
|
|
|
@ -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
|
||||
};
|
||||
|
|
|
@ -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__ */
|
|
@ -4,6 +4,126 @@
|
|||
*/
|
||||
|
||||
#include <kern.h>
|
||||
#include "ecat_slv.h"
|
||||
#include "utypes.h"
|
||||
#include "bsp.h"
|
||||
#include "bootstrap.h"
|
||||
|
||||
/* 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)
|
||||
{
|
||||
|
|
|
@ -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);
|
||||
|
||||
}
|
||||
}
|
|
@ -18,7 +18,6 @@
|
|||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t state;
|
||||
uint8_t button;
|
||||
uint32_t encoder;
|
||||
} _Rbuffer;
|
||||
|
|
|
@ -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__ */
|
|
@ -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__ */
|
|
@ -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,
|
||||
|
|
Binary file not shown.
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
@ -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
|
||||
|
|
|
@ -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;
|
||||
/* Dynamic TX PDO:s */
|
||||
|
||||
/* Storage for configurable PDO:s */
|
||||
struct
|
||||
{
|
||||
uint8_t maxsub;
|
||||
uint32_t value[4];
|
||||
} PDO[2];
|
||||
uint32_t value[8];
|
||||
} PDO1A01;
|
||||
|
||||
/* Dynamic RX PDO:s */
|
||||
|
||||
/* Storage for configurable Sync Managers */
|
||||
struct
|
||||
{
|
||||
uint8_t maxsub;
|
||||
uint16_t value[4];
|
||||
} SM[2];
|
||||
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;
|
||||
|
||||
|
|
|
@ -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__ */
|
|
@ -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__ */
|
|
@ -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");
|
||||
|
|
Binary file not shown.
|
@ -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;
|
|
@ -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>
|
||||
</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>
|
||||
<PdoMapping>NONE</PdoMapping>
|
||||
</Member>
|
||||
</Manufacturer>
|
||||
</Slave>
|
|
@ -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>
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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
|
||||
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
|
||||
struct
|
||||
{
|
||||
uint32_t Multiplier;
|
||||
} CC_PACKED Parameters;
|
||||
CC_PACKED_END
|
||||
} Parameters;
|
||||
|
||||
uint32_t variableRW;
|
||||
} CC_PACKED _Cbuffer;
|
||||
CC_PACKED_END
|
||||
|
||||
/* Manufacturer specific data */
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct
|
||||
{
|
||||
CC_PACKED_BEGIN
|
||||
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__ */
|
||||
|
|
Binary file not shown.
|
@ -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>
|
|
@ -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>
|
|
@ -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}
|
||||
};
|
|
@ -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 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__ */
|
|
@ -0,0 +1,85 @@
|
|||
#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;
|
||||
}
|
|
@ -0,0 +1,31 @@
|
|||
#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__ */
|
|
@ -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__ */
|
|
@ -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 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__ */
|
Binary file not shown.
|
@ -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
|
|
@ -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>
|
|
@ -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__ */
|
|
@ -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>
|
||||
|
|
|
@ -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
|
||||
|
|
|
@ -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)
|
||||
|
|
|
@ -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
|
||||
{
|
||||
uint32_t LED;
|
||||
} CC_PACKED _Wbuffer;
|
||||
CC_PACKED_END
|
||||
|
||||
/* Parameters */
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct
|
||||
{
|
||||
} CC_PACKED _Cbuffer;
|
||||
CC_PACKED_END
|
||||
|
||||
/* Manufacturer specific data */
|
||||
CC_PACKED_BEGIN
|
||||
typedef struct
|
||||
{
|
||||
} CC_PACKED _Mbuffer;
|
||||
CC_PACKED_END
|
||||
|
||||
extern _Rbuffer Rb;
|
||||
extern _Wbuffer Wb;
|
||||
extern _Cbuffer Cb;
|
||||
extern _Mbuffer Mb;
|
||||
/* Dynamic TX PDO:s */
|
||||
|
||||
/* Dynamic RX PDO:s */
|
||||
|
||||
/* Sync Managers */
|
||||
|
||||
} _Objects;
|
||||
|
||||
extern _Objects Obj;
|
||||
|
||||
#endif /* __UTYPES_H__ */
|
||||
|
|
|
@ -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 \
|
||||
|
|
|
@ -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__ */
|
|
@ -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
|
||||
|
||||
#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)
|
||||
{
|
||||
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_init();
|
||||
|
||||
while(1) {
|
||||
soes_task();
|
||||
soes (NULL);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -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();
|
||||
}
|
||||
|
|
@ -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
|
||||
|
|
@ -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);
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||||
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);
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue