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added xmc4300 demo project

pull/13/head
Sascha Ittner 2016-08-26 17:58:42 +02:00
parent 31f390bca0
commit 5c3184cbd6
9 changed files with 776 additions and 0 deletions
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170
applications/xmc4300_slavedemo/Makefile 100644
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TARGET = xmc4300-ecat-slave
DEVICE = XMC4300
VARIANT = F100x256
EC_SII = sii_eeprom.bin
SRC = \
main.c \
objectlist.c \
soes.c \
../../soes/esc.c \
../../soes/esc_coe.c \
../../soes/esc_eep.c \
../../soes/hal/xmc4/esc_hw.c \
../../soes/hal/xmc4/esc_hw_eep.c \
Libraries/XMCLib/src/xmc_gpio.c \
Libraries/XMCLib/src/xmc4_gpio.c \
Libraries/XMCLib/src/xmc4_scu.c \
Libraries/XMCLib/src/xmc_ecat.c \
Libraries/XMCLib/src/xmc4_flash.c \
Libraries/XMCLib/src/xmc_fce.c \
Libraries/Newlib/syscalls.c \
Startup/system_$(DEVICE).c \
ASRC = \
Startup/startup_$(DEVICE).S \
BINS = \
$(EC_SII)\
LINKER_SCRIPT = ./linker_script.ld
# JLink options
JLINK_SPEED = 1000
JLINK_IFACE = swd
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) $(BINS:.bin=.o)
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
# Define all dependency files.
DEP = $(ASRC:.S=.d) $(SRC:.c=.d)
CPPFLAGS = -D$(DEVICE)_$(VARIANT)
CPPFLAGS += -MMD -MP -MF $(@:.o=.d) -MT $(@)
CPPFLAGS += -I./Libraries/XMCLib/inc
CPPFLAGS += -I./Libraries/CMSIS/Include
CPPFLAGS += -I./Libraries/CMSIS/Infineon/$(DEVICE)_series/Include
CPPFLAGS += -I.
CPPFLAGS += -I./Libraries
CPPFLAGS += -I../../soes
CPPFLAGS += -I../../soes/hal/xmc4
CPPFLAGS += -I../../soes/include/sys/gcc
ARCHFLAGS = -mfloat-abi=softfp -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mthumb
OBJFLAGS = -Wall -fmessage-length=0 -Wa,-adhlns=$(@:.o=.lst) $(ARCHFLAGS)
CFLAGS = $(CPPFLAGS) $(OBJFLAGS) -Os -ffunction-sections -fdata-sections -std=gnu99 -pipe
ASFLAGS = -x assembler-with-cpp $(CPPFLAGS) $(OBJFLAGS)
LDFLAGS = -T$(LINKER_SCRIPT) -nostartfiles -Xlinker --gc-sections
LDFLAGS += -specs=nano.specs -specs=nosys.specs
LDFLAGS += -Wl,-Map,$(TARGET).map
LDFLAGS += $(ARCHFLAGS)
# Define programs and commands.
SHELL = sh
REMOVE = rm -f
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
OBJDUMP = arm-none-eabi-objdump
SIZE = arm-none-eabi-size
JLINK = JLinkExe
# Define Messages
# English
MSG_SIZE = Size:
MSG_FLASH_FILE = Creating load file for Flash:
MSG_FLASH = Programming target flash memory:
MSG_FLASH_ERASE = Erasing target flash memory:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_OBJCOPY = ObjCopy:
MSG_CLEANING = Cleaning project:
# Default target.
all: $(TARGET).hex size
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(CFLAGS) -o $@ $<
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ASFLAGS) -o $@ $<
# ObjCopy: create object files from binary files.
%.o : %.bin
@echo
@echo $(MSG_OBJCOPY) $<
$(OBJCOPY) -I binary -O elf32-littlearm -B arm $< $@
# Link: create ELF output file from object files.
$(TARGET).elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(LDFLAGS) -o $@ $(OBJ)
# Create final output file from ELF output file.
$(TARGET).hex: $(TARGET).elf
@echo
@echo $(MSG_FLASH_FILE) $@
$(OBJCOPY) -O ihex $< $@
# Create extended listing file from ELF output file.
$(TARGET).lss: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $(TARGET).elf > $(TARGET).lss
# Display size of file.
size: $(TARGET).elf
@echo
@echo $(MSG_SIZE)
$(SIZE) --format=berkeley $(TARGET).elf
@echo
# Flash the target device.
flash: $(TARGET).hex
@echo
@echo $(MSG_FLASH)
echo -e "device $(DEVICE)-$(VARIANT)\nspeed $(JLINK_SPEED)\nsi $(JLINK_IFACE)\nloadfile $(TARGET).hex\ng\nqc\n" | $(JLINK)
# Erase the target flash
erase:
@echo
@echo $(MSG_FLASH_ERASE)
echo -e "device $(DEVICE)-$(VARIANT)\nspeed $(JLINK_SPEED)\nsi $(JLINK_IFACE)\nerase\nqc\n" | $(JLINK)
# Target: clean project.
clean:
@echo
@echo $(MSG_CLEANING)
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(DEP)
# Include the dependency files.
-include $(DEP)
# Listing of phony targets.
.PHONY: all clean size flash erase

42
applications/xmc4300_slavedemo/esi.xml 100644
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<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
<Vendor>
<Id>#x1337</Id>
<Name>rt-labs AB</Name>
</Vendor>
<Descriptions>
<Groups>
<Group>
<Type>ATENSLAVE</Type>
<Name>ATO</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x12783456" RevisionNo="#x00000001">ATO sample application</Type>
<Name><![CDATA[ATEN-ATO output slave]]></Name>
<GroupType>ATENSLAVE</GroupType>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Sm DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
<Sm DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
<Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
<Sm StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
<Mailbox DataLinkLayer="1">
<CoE SdoInfo="1" CompleteAccess="0" PdoUpload="1"/>
</Mailbox>
<Dc>
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>
<Eeprom>
<ByteSize>3968</ByteSize>
<ConfigData>050E0306102700</ConfigData>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>

15
applications/xmc4300_slavedemo/main.c 100644
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#include <string.h>
#include "xmc_gpio.h"
#include "soes.h"
int main(void)
{
soes_init();
while(1) {
soes_task();
}
}

170
applications/xmc4300_slavedemo/objectlist.c 100644
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/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2007-2013 Arthur Ketels
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* CoE Object Dictionary.
*
* Part of application, describe the slave and its process data.
*/
#include "esc_coe.h"
#include "utypes.h"
#include <stddef.h>
extern _Rbuffer Rb;
extern _Wbuffer Wb;
extern _Cbuffer Cb;
extern uint32_t encoder_scale;
extern uint32_t encoder_scale_mirror;
static const char acName1000[] = "Device Type";
static const char acName1008[] = "Manufacturer Device Name";
static const char acName1009[] = "Manufacturer Hardware Version";
static const char acName100A[] = "Manufacturer Software Version";
static const char acName1018[] = "Identity Object";
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 acNameMO[] = "Mapped object";
static const char acName1600[] = "Receive PDO mapping";
static const char acName1A00[] = "Transmit PDO mapping";
static const char acName1C00[] = "Sync Manager Communication type";
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 acName1C10[] = "Sync Manager 0 PDO Assignment";
static const char acName1C11[] = "Sync Manager 1 PDO Assignment";
static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
static const char acNameNOE[] = "Number of entries";
static const char acName6000[] = "Digital Inputs";
static const char acName6000_01[] = "Button";
static const char acName6000_02[] = "Encoder";
static const char acName7000[] = "Digital outputs";
static const char acName7000_01[] = "LED";
static const char acName7100[] = "Parameters";
static const char acName7100_01[] = "Encoder scale";
static const char acName7100_02[] = "Encoder scale mirror";
static const char acName8001[] = "Slave commands";
static const char acName8001_01[] = "Reset counter";
static char ac1008_00[] = "SOES test application";
static char ac1009_00[] = "0.0.2";
static char ac100A_00[] = "0.9.3";
const _objd SDO1000[] =
{ {0x00, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1000[0], 0x00000000, NULL} };
const _objd SDO1008[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1008_00) << 3, ATYPE_RO, &acName1008[0], 0, &ac1008_00[0]}
};
const _objd SDO1009[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac1009_00) << 3, ATYPE_RO, &acName1009[0], 0, &ac1009_00[0]}
};
const _objd SDO100A[] =
{ {0x00, DTYPE_VISIBLE_STRING, sizeof (ac100A_00) << 3, ATYPE_RO, &acName100A[0], 0, &ac100A_00[0]}
};
const _objd SDO1018[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x04, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_01[0], 0x00001337, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_02[0], 0x12783456, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_03[0], 0x00000001, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName1018_04[0], 0x00000000, NULL}
};
const _objd SDO1600[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x70000108, NULL}
};
const _objd SDO1A00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x60000108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acNameMO[0], 0x60000220, NULL}
};
const _objd SDO1C00[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x04, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_01[0], 0x01, NULL},
{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_02[0], 0x02, NULL},
{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_03[0], 0x03, NULL},
{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C00_04[0], 0x04, NULL}
};
const _objd SDO1C10[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C10[0], 0x00, NULL}
};
const _objd SDO1C11[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName1C11[0], 0x00, NULL}
};
const _objd SDO1C12[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, &acNameMO[0], 0x1600, NULL}
};
const _objd SDO1C13[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, &acNameMO[0], 0x1A00, NULL}
};
const _objd SDO6000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acName6000_01[0], 0, &(Rb.button)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName6000_02[0], 0, &(Rb.encoder)}
};
const _objd SDO7000[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RW, &acName7000_01[0], 0, &(Wb.LED)}
};
const _objd SDO7100[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x02, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName7100_01[0], 0, &(encoder_scale)},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, &acName7100_02[0], 0, &(encoder_scale_mirror)}
};
const _objd SDO8001[] =
{ {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, &acNameNOE[0], 0x01, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, &acName8001_01[0], 0, &(Cb.reset_counter)},
};
const _objectlist SDOobjects[] =
{ {0x1000, OTYPE_VAR, 0, 0, &acName1000[0], &SDO1000[0]},
{0x1008, OTYPE_VAR, 0, 0, &acName1008[0], &SDO1008[0]},
{0x1009, OTYPE_VAR, 0, 0, &acName1009[0], &SDO1009[0]},
{0x100A, OTYPE_VAR, 0, 0, &acName100A[0], &SDO100A[0]},
{0x1018, OTYPE_RECORD, 4, 0, &acName1018[0], &SDO1018[0]},
{0x1600, OTYPE_RECORD, 0x01, 0, &acName1600[0], &SDO1600[0]},
{0x1A00, OTYPE_RECORD, 0x02, 0, &acName1A00[0], &SDO1A00[0]},
{0x1C00, OTYPE_ARRAY, 4, 0, &acName1C00[0], &SDO1C00[0]},
{0x1C10, OTYPE_ARRAY, 0, 0, &acName1C10[0], &SDO1C10[0]},
{0x1C11, OTYPE_ARRAY, 0, 0, &acName1C11[0], &SDO1C11[0]},
{0x1C12, OTYPE_ARRAY, 1, 0, &acName1C12[0], &SDO1C12[0]},
{0x1C13, OTYPE_ARRAY, 1, 0, &acName1C13[0], &SDO1C13[0]},
{0x6000, OTYPE_ARRAY, 0x02, 0, &acName6000[0], &SDO6000[0]},
{0x7000, OTYPE_ARRAY, 0x01, 0, &acName7000[0], &SDO7000[0]},
{0x7100, OTYPE_ARRAY, 0x02, 0, &acName7100[0], &SDO7100[0]},
{0x8001, OTYPE_ARRAY, 0x01, 0, &acName8001[0], &SDO8001[0]},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

BIN
applications/xmc4300_slavedemo/sii_eeprom.bin 100644
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Binary file not shown.

10
applications/xmc4300_slavedemo/sii_eeprom.h 100644
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#ifndef _sii_eeprom_h_
#define _sii_eeprom_h_
extern const uint8_t _binary_sii_eeprom_bin_start;
extern const uint8_t _binary_sii_eeprom_bin_end;
#define SII_EE_DEFLT (&_binary_sii_eeprom_bin_start)
#define SII_EE_DEFLT_SIZE (&_binary_sii_eeprom_bin_end - &_binary_sii_eeprom_bin_start)
#endif

296
applications/xmc4300_slavedemo/soes.c 100644
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/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2007-2013 Arthur Ketels
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \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;
volatile _ESCvar ESCvar;
_MBX MBX[MBXBUFFERS];
_MBXcontrol MBXcontrol[MBXBUFFERS];
uint8_t MBXrun=0;
uint16_t SM2_sml,SM3_sml;
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_App App;
uint16_t TXPDOsize,RXPDOsize;
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;
/** 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;
}
RXPDOsize = SM2_sml = sizeRXPDO ();
break;
}
case 0x1c13:
{
if (txpdoitems > 1)
{
txpdoitems = 1;
}
if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
&& (rxpdomap != 0x0000))
{
txpdomap = 0x1A00;
}
TXPDOsize = SM3_sml = sizeTXPDO ();
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, TXPDOsize);
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, 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 (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 (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");
ESC_reset();
// configure I/O
XMC_GPIO_Init(P_BTN, &gpio_config_btn);
XMC_GPIO_Init(P_LED, &gpio_config_led);
TXPDOsize = SM3_sml = sizeTXPDO ();
RXPDOsize = SM2_sml = sizeRXPDO ();
/* Setup post config hooks */
static esc_cfg_t config =
{
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL
};
ESC_config ((esc_cfg_t *)&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 ();
/* If else to two separate execution paths
* If we're running BOOSTRAP
* - MailBox
* - FoE
* Else we're running normal execution
* - MailBox
* - CoE
*/
if (ESC_mbxprocess ())
{
ESC_coeprocess ();
ESC_xoeprocess ();
}
DIG_process ();
EEP_process ();
EEP_hw_process();
}

14
applications/xmc4300_slavedemo/soes.h 100644
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#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

59
applications/xmc4300_slavedemo/utypes.h 100644
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/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2007-2013 Arthur Ketels
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* Header file for Application types.
*
* Part of the application, host declarations of application types mapped against
* ServiceData Objects and ProcessData Objects.
*/
#ifndef __utypes_h__
#define __utypes_h__
#include <cc.h>
typedef struct
{
uint8_t state;
uint8_t button;
uint32_t encoder;
} _Rbuffer;
typedef struct
{
uint8_t LED;
} _Wbuffer;
typedef struct
{
uint32_t reset_counter;
} _Cbuffer;
#endif