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Cleanup of ALevent update stuff in HAL, update ALevent var directly.

pull/14/head
Sascha Ittner 2016-08-26 16:53:32 +02:00
parent 02a53e7472
commit 64abcf0cc5
5 changed files with 45 additions and 62 deletions
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9
applications/rtl_slavedemo/soes.c
View File

@ -152,13 +152,13 @@ void APP_safeoutput (void)
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize, (void *) &ESCvar.ALevent);
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, (void *) &ESCvar.ALevent);
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
@ -252,7 +252,7 @@ void soes (void *arg)
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus), (void *) &ESCvar.ALevent);
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
@ -281,8 +281,7 @@ void soes (void *arg)
rxpdoitems = DEFAULTTXPDOITEMS;
}
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */

13
soes/doc/tutorial.txt
View File

@ -84,7 +84,7 @@ void soes (void *arg)
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus), (void *) &ESCvar.ALevent);
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
@ -109,7 +109,7 @@ void soes (void *arg)
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus), (void *) &ESCvar.ALevent);
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
@ -155,12 +155,9 @@ void soes (void *arg)
txpdoitems = DEFAULTTXPDOITEMS;
rxpdoitems = DEFAULTTXPDOITEMS;
}
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
ESC_ALevent();
ESC_state ();
if (ESC_mbxprocess ())
{
@ -196,7 +193,7 @@ The example code can be split in 2 parts
void RXPDO_update (void)
{
ESC_read (SM2_sma, &Wb.LED, RXPDOsize, (void *) &ESCvar.ALevent);
ESC_read (SM2_sma, &Wb.LED, RXPDOsize);
}
void DIG_process (void)
@ -243,7 +240,7 @@ void DIG_process (void)
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize, (void *) &ESCvar.ALevent);
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
}
void DIG_process (void)

63
soes/esc.c
View File

@ -50,7 +50,7 @@ void ESC_ALerror (uint16_t errornumber)
uint16_t dummy;
ESCvar.ALerror = errornumber;
dummy = htoes (errornumber);
ESC_write (ESCREG_ALERROR, &dummy, sizeof (dummy), (void *) &ESCvar.ALevent);
ESC_write (ESCREG_ALERROR, &dummy, sizeof (dummy));
}
/** Write AL Status to the ESC.
*
@ -62,8 +62,7 @@ void ESC_ALstatus (uint8_t status)
uint16_t dummy;
ESCvar.ALstatus = status;
dummy = htoes ((uint16_t) status);
ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy),
(void *) &ESCvar.ALevent);
ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy));
}
/** Read SM Status register 0x805(+ offset to SyncManager n) to acknowledge a
@ -74,7 +73,7 @@ void ESC_ALstatus (uint8_t status)
void ESC_SMack (uint8_t n)
{
uint16_t dummy;
ESC_read (ESCREG_SM0STATUS + (n << 3), &dummy, 2, (void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM0STATUS + (n << 3), &dummy, 2);
}
/** Read SM Status register 0x805(+ offset to SyncManager n) and save the
@ -87,7 +86,7 @@ void ESC_SMstatus (uint8_t n)
_ESCsm2 *sm;
uint16_t temp;
sm = (_ESCsm2 *) & ESCvar.SM[n];
ESC_read (ESCREG_SM0STATUS + (n << 3), &temp, 2, (void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM0STATUS + (n << 3), &temp, 2);
#if defined(EC_LITTLE_ENDIAN)
sm->ActESC = temp >> 8;
sm->Status = temp;
@ -107,8 +106,7 @@ void ESC_SMwritepdi (uint8_t n)
{
_ESCsm2 *sm;
sm = (_ESCsm2 *) & ESCvar.SM[n];
ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1,
(void *) &ESCvar.ALevent);
ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1);
}
/** Write 0 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to Activate the Sync Manager n.
@ -138,8 +136,7 @@ void ESC_SMdisable (uint8_t n)
*/
void ESC_address (void)
{
ESC_read (ESCREG_ADDRESS, (void *) &ESCvar.address, sizeof (ESCvar.address),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_ADDRESS, (void *) &ESCvar.address, sizeof (ESCvar.address));
ESCvar.address = etohs (ESCvar.address);
}
@ -150,7 +147,7 @@ void ESC_address (void)
uint8_t ESC_WDstatus (void)
{
uint16_t wdstatus;
ESC_read (ESCREG_WDSTATUS, &wdstatus, 2, (void *) &ESCvar.ALevent);
ESC_read (ESCREG_WDSTATUS, &wdstatus, 2);
wdstatus = etohs (wdstatus);
return (uint8_t) wdstatus;
}
@ -167,10 +164,8 @@ uint8_t ESC_WDstatus (void)
uint8_t ESC_checkmbx (uint8_t state)
{
_ESCsm2 *SM;
ESC_read (ESCREG_SM0, (void *) &ESCvar.SM[0], sizeof (ESCvar.SM[0]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM1, (void *) &ESCvar.SM[1], sizeof (ESCvar.SM[1]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM0, (void *) &ESCvar.SM[0], sizeof (ESCvar.SM[0]));
ESC_read (ESCREG_SM1, (void *) &ESCvar.SM[1], sizeof (ESCvar.SM[1]));
SM = (_ESCsm2 *) & ESCvar.SM[0];
if ((etohs (SM->PSA) != MBX0_sma) || (etohs (SM->Length) != MBX0_sml)
|| (SM->Command != MBX0_smc) || (ESCvar.SM[0].ECsm == 0))
@ -230,10 +225,8 @@ uint8_t ESC_startmbx (uint8_t state)
uint8_t ESC_checkmbxboot (uint8_t state)
{
_ESCsm2 *SM;
ESC_read (ESCREG_SM0, (void *) &ESCvar.SM[0], sizeof (ESCvar.SM[0]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM1, (void *) &ESCvar.SM[1], sizeof (ESCvar.SM[1]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM0, (void *) &ESCvar.SM[0], sizeof (ESCvar.SM[0]));
ESC_read (ESCREG_SM1, (void *) &ESCvar.SM[1], sizeof (ESCvar.SM[1]));
SM = (_ESCsm2 *) & ESCvar.SM[0];
if ((etohs (SM->PSA) != MBX0_sma_b) || (etohs (SM->Length) != MBX0_sml_b)
|| (SM->Command != MBX0_smc_b) || (ESCvar.SM[0].ECsm == 0))
@ -319,34 +312,32 @@ void ESC_readmbx (void)
if (ESCvar.ALstatus == ESCboot)
{
ESC_read (MBX0_sma_b, MB, MBXHSIZE, (void *) &ESCvar.ALevent);
ESC_read (MBX0_sma_b, MB, MBXHSIZE);
length = etohs (MB->header.length);
if (length > (MBX0_sml_b - MBXHSIZE))
{
length = MBX0_sml_b - MBXHSIZE;
}
ESC_read (MBX0_sma_b + MBXHSIZE, &(MB->b[0]), length,
(void *) &ESCvar.ALevent);
ESC_read (MBX0_sma_b + MBXHSIZE, &(MB->b[0]), length);
if (length + MBXHSIZE < MBX0_sml_b)
{
ESC_read (MBX0_sme_b, &length, 1, (void *) &ESCvar.ALevent);
ESC_read (MBX0_sme_b, &length, 1);
}
}
else
{
ESC_read (MBX0_sma, MB, MBXHSIZE, (void *) &ESCvar.ALevent);
ESC_read (MBX0_sma, MB, MBXHSIZE);
length = etohs (MB->header.length);
if (length > (MBX0_sml - MBXHSIZE))
{
length = MBX0_sml - MBXHSIZE;
}
ESC_read (MBX0_sma + MBXHSIZE, &(MB->b[0]), length,
(void *) &ESCvar.ALevent);
ESC_read (MBX0_sma + MBXHSIZE, &(MB->b[0]), length);
if (length + MBXHSIZE < MBX0_sml)
{
ESC_read (MBX0_sme, &length, 1, (void *) &ESCvar.ALevent);
ESC_read (MBX0_sme, &length, 1);
}
}
MBXcontrol[0].state = MBXstate_inclaim;
@ -369,10 +360,10 @@ void ESC_writembx (uint8_t n)
{
length = MBX1_sml_b - MBXHSIZE;
}
ESC_write (MBX1_sma_b, MB, MBXHSIZE + length, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sma_b, MB, MBXHSIZE + length);
if (length + MBXHSIZE < MBX1_sml_b)
{
ESC_write (MBX1_sme_b, &dummy, 1, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sme_b, &dummy, 1);
}
}
else
@ -381,10 +372,10 @@ void ESC_writembx (uint8_t n)
{
length = MBX1_sml - MBXHSIZE;
}
ESC_write (MBX1_sma, MB, MBXHSIZE + length, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sma, MB, MBXHSIZE + length);
if (length + MBXHSIZE < MBX1_sml)
{
ESC_write (MBX1_sme, &dummy, 1, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sme, &dummy, 1);
}
}
ESCvar.mbxfree = 0;
@ -397,11 +388,11 @@ void ESC_ackmbxread (void)
uint8_t dummy = 0;
if (ESCvar.ALstatus == ESCboot)
{
ESC_write (MBX1_sma_b, &dummy, 1, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sma_b, &dummy, 1);
}
else
{
ESC_write (MBX1_sma, &dummy, 1, (void *) &ESCvar.ALevent);
ESC_write (MBX1_sma, &dummy, 1);
}
ESCvar.mbxfree = 1;
}
@ -633,10 +624,8 @@ void ESC_xoeprocess (void)
uint8_t ESC_checkSM23 (uint8_t state)
{
_ESCsm2 *SM;
ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]),
(void *) &ESCvar.ALevent);
ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2]));
ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]));
SM = (_ESCsm2 *) & ESCvar.SM[2];
if ((etohs (SM->PSA) != SM2_sma) || (etohs (SM->Length) != SM2_sml)
|| (SM->Command != SM2_smc) || !(SM->ActESC & SM2_act))
@ -737,7 +726,7 @@ void ESC_state (void)
if (ESCvar.ALevent & ESCREG_ALEVENT_CONTROL)
{
ESC_read (ESCREG_ALCONTROL, (void *) &ESCvar.ALcontrol,
sizeof (ESCvar.ALcontrol), (void *) &ESCvar.ALevent);
sizeof (ESCvar.ALcontrol));
ESCvar.ALcontrol = etohs (ESCvar.ALcontrol);
}
/* Have at least on Sync Manager changed */

5
soes/esc.h
View File

@ -479,12 +479,11 @@ uint8_t ESC_startinput (uint8_t state);
void ESC_stopinput (void);
uint8_t ESC_startoutput (uint8_t state);
void ESC_stopoutput (void);
void ESC_ALevent (void);
void ESC_state (void);
/* From hardware file */
uint8_t ESC_read (uint16_t address, void *buf, uint16_t len, void *tALevent);
uint8_t ESC_write (uint16_t address, void *buf, uint16_t len, void *tALevent);
void ESC_read (uint16_t address, void *buf, uint16_t len);
void ESC_write (uint16_t address, void *buf, uint16_t len);
void ESC_init (const void * arg);
void ESC_reset (void);

17
soes/hal/rt-kernel-twrk60/esc_hw.c
View File

@ -58,7 +58,7 @@ static uint8_t read_termination[MAX(sizeof(Wb), 128)] = { 0 };
* when emulating EEPROM
*/
static void esc_address (uint16_t address, uint8_t command, uint16_t * al_event)
static void esc_address (uint16_t address, uint8_t command)
{
/* Device is selected already.
* We use 2 bytes addressing.
@ -71,8 +71,9 @@ static void esc_address (uint16_t address, uint8_t command, uint16_t * al_event)
data[1] = ((address & 0x1F) << 3) | command;
/* Write (and read AL interrupt register) */
spi_bidirectionally_transfer (et1100, (uint8_t *) al_event, data,
sizeof (data));
spi_bidirectionally_transfer (et1100, (uint8_t *) &ESCvar.ALevent,
data, sizeof (data));
ESCvar.ALevent = etohs (ESCvar.ALevent);
}
/** ESC read function used by the Slave stack.
@ -80,10 +81,9 @@ static void esc_address (uint16_t address, uint8_t command, uint16_t * al_event)
* @param[in] address = address of ESC register to read
* @param[out] buf = pointer to buffer to read in
* @param[in] len = number of bytes to read
* @param[out] tALevent = on every read we refresh the AL event register
* @return 0 as default, the stack don't rely on any result
*/
uint8_t ESC_read (uint16_t address, void *buf, uint16_t len, void *tALevent)
uint8_t ESC_read (uint16_t address, void *buf, uint16_t len)
{
ASSERT(len <= sizeof(read_termination));
@ -91,7 +91,7 @@ uint8_t ESC_read (uint16_t address, void *buf, uint16_t len, void *tALevent)
spi_select (et1100);
/* Write address and command to device. */
esc_address (address, ESC_CMD_READ, tALevent);
esc_address (address, ESC_CMD_READ);
/* Here we want to read data and keep MOSI low (0x00) during
* all bytes except the last one where we want to pull it high (0xFF).
@ -111,15 +111,14 @@ uint8_t ESC_read (uint16_t address, void *buf, uint16_t len, void *tALevent)
* @param[in] address = address of ESC register to write
* @param[out] buf = pointer to buffer to write from
* @param[in] len = number of bytes to write
* @param[out] tALevent = on every read we refresh the AL event register
* @return 0 as default, the stack don't rely on any result
*/
uint8_t ESC_write (uint16_t address, void *buf, uint16_t len, void *tALevent)
uint8_t ESC_write (uint16_t address, void *buf, uint16_t len)
{
/* Select device. */
spi_select (et1100);
/* Write address and command to device. */
esc_address (address, ESC_CMD_WRITE, tALevent);
esc_address (address, ESC_CMD_WRITE);
/* Write data. */
write (et1100, buf, len);
/* Un-select device. */