decouple stack from application

include/sys/gcc/cc.h

@@ -38,6 +38,12 @@ typedef int32_t  int32;
 #define etohl(x) (x)
 #endif
 
+#ifdef ESC_DEBUG
+#define DPRINT(...) rprintp ("esc_foe: "__VA_ARGS__) /* TODO */
+#else
+#define DPRINT(...)
+#endif  /* DEBUG */
+
 #ifdef __cplusplus
 }
 #endif

soes/esc.h

@@ -29,12 +29,12 @@
  * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
  * property of, and protected by Beckhoff Automation GmbH.
  */
- 
-/** \file 
+
+/** \file
  * \brief
  * Headerfile for esc.h
  */
- 
+
 #ifndef __esc__
 #define __esc__
 
@@ -529,4 +529,15 @@ extern _MBXcontrol MBXcontrol[MBXBUFFERS];
 extern uint8 MBXrun;
 extern uint16 SM2_sml, SM3_sml;
 
+typedef struct
+{
+   uint8 state;
+} _App;
+
+#define APPSTATE_IDLE      0x00
+#define APPSTATE_INPUT     0x01
+#define APPSTATE_OUTPUT    0x02
+
+extern _App App;
+
 #endif

soes/esc_coe.c

@@ -29,18 +29,17 @@
  * property of, and protected by Beckhoff Automation GmbH.
  */
 
- /** \file 
+ /** \file
  * \brief
  * CAN over EtherCAT (CoE) module.
  *
  * SDO read / write and SDO service functions
  */
- 
+
 #include <string.h>
 #include <cc.h>
 #include "esc.h"
 #include "esc_coe.h"
-#include "objectlist.h"
 
 #define BITS2BYTES(b) ((b + 7) >> 3)
 

soes/esc_coe.h

@@ -28,19 +28,90 @@
  * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
  * property of, and protected by Beckhoff Automation GmbH.
  */
- 
- /** \file 
+
+ /** \file
  * \brief
- * Headerfile for esc_coe.c 
+ * Headerfile for esc_coe.c
  */
- 
+
 #ifndef __esc_coe__
 #define __esc_coe__
 
+typedef struct PACKED
+{
+   uint16 subindex;
+   uint16 datatype;
+   uint16 bitlength;
+   uint16 access;
+   const char *name;
+   uint32 value;
+   void *data;
+} _objd;
+
+typedef struct PACKED
+{
+   uint16 index;
+   uint16 objtype;
+   uint8 maxsub;
+   uint8 pad1;
+   const char *name;
+   const _objd *objdesc;
+} _objectlist;
+
+#define OBJH_READ               0
+#define OBJH_WRITE              1
+
+/* #define _ac const char */
+#define nil 0
+
+#define OTYPE_DOMAIN            0x0002
+#define OTYPE_DEFTYPE           0x0005
+#define OTYPE_DEFSTRUCT         0x0006
+#define OTYPE_VAR               0x0007
+#define OTYPE_ARRAY             0x0008
+#define OTYPE_RECORD            0x0009
+
+#define DTYPE_BOOLEAN           0x0001
+#define DTYPE_INTEGER8          0x0002
+#define DTYPE_INTEGER16         0x0003
+#define DTYPE_INTEGER32         0x0004
+#define DTYPE_UNSIGNED8         0x0005
+#define DTYPE_UNSIGNED16        0x0006
+#define DTYPE_UNSIGNED32        0x0007
+#define DTYPE_REAL32            0x0008
+#define DTYPE_VISIBLE_STRING    0x0009
+#define DTYPE_OCTET_STRING      0x000A
+#define DTYPE_UNICODE_STRING    0x000B
+#define DTYPE_INTEGER24         0x0010
+#define DTYPE_UNSIGNED24        0x0016
+#define DTYPE_INTEGER64         0x0015
+#define DTYPE_UNSIGNED64        0x001B
+#define DTYPE_REAL64            0x0011
+#define DTYPE_PDO_MAPPING       0x0021
+#define DTYPE_IDENTITY          0x0023
+#define DTYPE_BIT1              0x0030
+#define DTYPE_BIT2              0x0031
+#define DTYPE_BIT3              0x0032
+#define DTYPE_BIT4              0x0033
+#define DTYPE_BIT5              0x0034
+#define DTYPE_BIT6              0x0035
+#define DTYPE_BIT7              0x0036
+#define DTYPE_BIT8              0x0037
+
+#define ATYPE_R                 0x07
+#define ATYPE_RW                0x3F
+#define ATYPE_RWpre             0x0F
+#define ATYPE_RXPDO             0x40
+#define ATYPE_TXPDO             0x80
+
 void ESC_coeprocess (void);
 uint16 sizeTXPDO (void);
 uint16 sizeRXPDO (void);
 
 extern void ESC_objecthandler (uint16 index, uint8 subindex);
+extern const _objectlist SDOobjects[];
+extern const _objd SDO1C12[];
+extern const _objd SDO1C13[];
+
 
 #endif

soes/esc_foe.c

@@ -31,29 +31,17 @@
  * property of, and protected by Beckhoff Automation GmbH.
  */
 
- /** \file 
+ /** \file
  * \brief
  * File over EtherCAT (FoE) module.
  */
 
 
-#include "osal.h"
 #include <cc.h>
 #include "esc.h"
 #include "esc_foe.h"
 #include <string.h>
 
-
-#undef ESC_DEBUG
-
-#ifdef ESC_DEBUG
-#define DPRINT(...) OSAL_PRINT ("esc_foe: "__VA_ARGS__)
-#define DEBUG_ASSERT(expression)    ASSERT(expression)
-#else
-#define DPRINT(...)
-#define DEBUG_ASSERT(expression)
-#endif  /* DEBUG */
-
  /** \file
  * \brief
  * File over EtherCAT (FoE) module.
@@ -369,7 +357,7 @@ void FOE_read ()
    {
       FOEvar.foepacket = 1;
       /*
-       * Attempt to send the packet 
+       * Attempt to send the packet
        */
       res = FOE_send_data_packet ();
       if (res <= (int)FOE_DATA_SIZE)