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Add simple demo for Raspberry Pi 

Add a demo application for Raspberry Pi with a LAN9252-based EtherCat hat,
such as with the SG Electronics Systems EtherBerry.
pull/103/head
MechaMagpie 2021-08-30 13:46:36 +02:00 committed by MechaMagpie
parent b3e2a0a2c1
commit 98a90d61ea
10 changed files with 2070 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
applications/raspberry_lan9252demo/CMakeLists.txt 100644
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add_executable (soes-demo
main.c
slave_objectlist.c
)
target_link_libraries(soes-demo LINK_PUBLIC soes bcm2835)
install (TARGETS soes-demo DESTINATION sbin)
install (PROGRAMS S60soes DESTINATION /etc/init.d)

40
applications/raspberry_lan9252demo/S60soes 100755
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#!/bin/sh
#
# soes Starts soes.
#
start() {
printf "Starting soes: "
/usr/sbin/soes-demo &
touch /var/lock/soes-demo
echo "OK"
}
stop() {
printf "Stopping soes: "
killall soes-demo
rm -f /var/lock/soes-demo
echo "OK"
}
restart() {
stop
start
}
case "$1" in
start)
start
;;
stop)
stop
;;
restart|reload)
restart
;;
*)
echo "Usage: $0 {start|stop|restart}"
exit 1
esac
exit $?

42
applications/raspberry_lan9252demo/ecat_options.h 100644
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#ifndef __ECAT_OPTIONS_H__
#define __ECAT_OPTIONS_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_MAPPINGS_SM2 7
#define MAX_MAPPINGS_SM3 7
#define MAX_RXPDO_SIZE 42
#define MAX_TXPDO_SIZE 42
#endif /* __ECAT_OPTIONS_H__ */

108
applications/raspberry_lan9252demo/main.c 100644
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#include <stdio.h>
#include "ecat_slv.h"
#include "utypes.h"
#include <bcm2835.h>
/* Application variables */
_Objects Obj;
#define GPIO21 RPI_BPLUS_GPIO_J8_40
#define GPIO20 RPI_BPLUS_GPIO_J8_38
#define GPIO16 RPI_BPLUS_GPIO_J8_36
#define GPIO12 RPI_BPLUS_GPIO_J8_32
#define GPIO24 RPI_BPLUS_GPIO_J8_18
#define GPIO23 RPI_BPLUS_GPIO_J8_16
#define GPIO26 RPI_BPLUS_GPIO_J8_37
#define GPIO19 RPI_BPLUS_GPIO_J8_35
#define GPIO13 RPI_BPLUS_GPIO_J8_33
#define GPIO06 RPI_BPLUS_GPIO_J8_31
#define GPIO05 RPI_BPLUS_GPIO_J8_29
#define GPIO22 RPI_BPLUS_GPIO_J8_15
void cb_get_inputs (void)
{
// Assume LEDs connected to 3.3v
bcm2835_gpio_write(GPIO21, (Obj.LEDs.LED0 ? LOW : HIGH));
bcm2835_gpio_write(GPIO20, (Obj.LEDs.LED1 ? LOW : HIGH));
bcm2835_gpio_write(GPIO16, (Obj.LEDs.LED2 ? LOW : HIGH));
bcm2835_gpio_write(GPIO12, (Obj.LEDs.LED3 ? LOW : HIGH));
bcm2835_gpio_write(GPIO24, (Obj.LEDs.LED4 ? LOW : HIGH));
bcm2835_gpio_write(GPIO23, (Obj.LEDs.LED5 ? LOW : HIGH));
}
void cb_set_outputs (void)
{
// Assume Buttons connected to 3.3v
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO26);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO19);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO13);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO06);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO05);
Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO22);
}
void GPIO_init (void)
{
bcm2835_init();
// Assume LEDs connected to 3.3v side of header
bcm2835_gpio_fsel(GPIO21, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO20, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO16, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO12, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO24, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_fsel(GPIO23, BCM2835_GPIO_FSEL_OUTP);
// Assume buttons connected to 5v side of header
// Do not bridge to 5v, the ports might burn
bcm2835_gpio_fsel(GPIO26, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO19, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO13, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO06, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO05, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_fsel(GPIO22, BCM2835_GPIO_FSEL_INPT);
bcm2835_gpio_set_pud(GPIO26, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO19, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO13, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO06, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO05, BCM2835_GPIO_PUD_DOWN);
bcm2835_gpio_set_pud(GPIO22, BCM2835_GPIO_PUD_DOWN);
}
int main_run (void * arg)
{
static esc_cfg_t config =
{
.user_arg = "rpi3,cs0",
.use_interrupt = 0,
.watchdog_cnt = 150,
.set_defaults_hook = NULL,
.pre_state_change_hook = NULL,
.post_state_change_hook = NULL,
.application_hook = NULL,
.safeoutput_override = NULL,
.pre_object_download_hook = NULL,
.post_object_download_hook = NULL,
.rxpdo_override = NULL,
.txpdo_override = NULL,
.esc_hw_interrupt_enable = NULL,
.esc_hw_interrupt_disable = NULL,
.esc_hw_eep_handler = NULL,
.esc_check_dc_handler = NULL,
};
printf ("Hello Main\n");
GPIO_init();
ecat_slv_init (&config);
while (1)
{
ecat_slv();
}
return 0;
}
int main (void)
{
printf ("Hello Main\n");
main_run (NULL);
return 0;
}

BIN
applications/raspberry_lan9252demo/slave.bin 100644
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532
applications/raspberry_lan9252demo/slave.esx 100644
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<?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="evb9252_dig" productCode="1234" additionalInfo="0x0190">
<Name>lan9252</Name>
<Vendor>
<Id>0x1337</Id>
<Name>rt-labs AB</Name>
</Vendor>
<Group>
<Type>lan9252_spi</Type>
<Name>lan9252</Name>
</Group>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</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>
<Mailbox CoE="true" FoE="true">
<Bootstrap Length="128" Start="0x1000"/>
<Standard Length="128" Start="0x1000"/>
</Mailbox>
<Eeprom Lan9252="true">
<ConfigData>8002000000000000</ConfigData>
<BootStrap>0010800080108000</BootStrap>
</Eeprom>
<Dictionary>
<Item Managed="true">
<Index>0x1000</Index>
<Name>Device Type</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x01901389</DefaultValue>
</Item>
<Item Managed="true">
<Index>0x1008</Index>
<Name>Device Name</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>evb9252_dig</DefaultValue>
<Length>11</Length>
</Item>
<Item Managed="false">
<Index>0x1009</Index>
<Name>Hardware Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</Item>
<Item Managed="false">
<Index>0x100A</Index>
<Name>Software Version</Name>
<DataType>VISIBLE_STRING</DataType>
<DefaultValue>1.0</DefaultValue>
</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>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">
<Index>0x1600</Index>
<Name>LEDs</Name>
<DataType>RECORD</DataType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>9</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>
<SubItem>
<Index>0x03</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000301</DefaultValue>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000401</DefaultValue>
</SubItem>
<SubItem>
<Index>0x05</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000501</DefaultValue>
</SubItem>
<SubItem>
<Index>0x06</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000601</DefaultValue>
</SubItem>
<SubItem>
<Index>0x07</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000701</DefaultValue>
</SubItem>
<SubItem>
<Index>0x08</Index>
<Name>New Member</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x70000801</DefaultValue>
</SubItem>
<SubItem>
<Index>0x09</Index>
<Name>Padding 9</Name>
<DataType>UNSIGNED32</DataType>
<DefaultValue>0x00000002</DefaultValue>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x1A00</Index>
<Name>Buttons</Name>
<DataType>RECORD</DataType>
<SubItem>
<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">
<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>
<Name>Buttons</Name>
<DataType>RECORD</DataType>
<Variable>Buttons</Variable>
<VariableType>Input</VariableType>
<SubItem>
<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>
<Variable>Button1</Variable>
<VariableType>Input</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x7000</Index>
<Name>LEDs</Name>
<DataType>RECORD</DataType>
<Variable>LEDs</Variable>
<VariableType>Output</VariableType>
<SubItem>
<Index>0x00</Index>
<Name>Max SubIndex</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>8</DefaultValue>
</SubItem>
<SubItem>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED0</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Variable>LED0</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x02</Index>
<Access>RO</Access>
<Name>LED1</Name>
<DataType>UNSIGNED8</DataType>
<DefaultValue>0</DefaultValue>
<Variable>LED1</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x03</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x04</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x05</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x06</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x07</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
<SubItem>
<Index>0x08</Index>
<Access>RO</Access>
<Name>New Member</Name>
<DataType>BOOLEAN</DataType>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
<Variable>New_Member</Variable>
<VariableType>Output</VariableType>
</SubItem>
</Item>
<Item Managed="true">
<Index>0x8000</Index>
<Name>Parameters</Name>
<DataType>RECORD</DataType>
<Variable>Parameters</Variable>
<VariableType>Parameter</VariableType>
<SubItem>
<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>
<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>
<Name>LEDs</Name>
<Entry>
<Index>0x1</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>LED0</Variable>
</Entry>
<Entry>
<Index>0x2</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x02</MappedSubIndex>
<Variable>LED1</Variable>
</Entry>
<Entry>
<Index>0x3</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x03</MappedSubIndex>
<Variable>LED2</Variable>
</Entry>
<Entry>
<Index>0x4</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x04</MappedSubIndex>
<Variable>LED3</Variable>
</Entry>
<Entry>
<Index>0x5</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x05</MappedSubIndex>
<Variable>LED4</Variable>
</Entry>
<Entry>
<Index>0x6</Index>
<MappedIndex>0x7000</MappedIndex>
<MappedSubIndex>0x06</MappedSubIndex>
<Variable>LED5</Variable>
</Entry>
<Entry padBits="2">
<Index>0x09</Index>
</Entry>
</RxPdo>
<TxPdo>
<Index>0x1A00</Index>
<Name>Buttons</Name>
<Entry>
<Index>0x1</Index>
<MappedIndex>0x6000</MappedIndex>
<MappedSubIndex>0x01</MappedSubIndex>
<Variable>Button0</Variable>
</Entry>
</TxPdo>
<Input>
<Index>0x6000</Index>
<Name>Buttons</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RO</Access>
<Name>Button0</Name>
<Type>BOOLEAN</Type>
<DefaultValue>0</DefaultValue>
<PdoMapping>TX</PdoMapping>
</Member>
<Member>
<Index>0x02</Index>
<Name>Button1</Name>
<PdoMapping>TX</PdoMapping>
</Member>
<Member>
<Index>0x03</Index>
<Name>Button2</Name>
<PdoMapping>TX</PdoMapping>
</Member>
<Member>
<Index>0x04</Index>
<Name>Button3</Name>
<PdoMapping>TX</PdoMapping>
</Member>
<Member>
<Index>0x05</Index>
<Name>Button4</Name>
<PdoMapping>TX</PdoMapping>
</Member>
<Member>
<Index>0x06</Index>
<Name>Button5</Name>
<PdoMapping>TX</PdoMapping>
</Member>
</Input>
<Output>
<Index>0x7000</Index>
<Name>LEDs</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RO</Access>
<Name>LED0</Name>
<Type>BOOLEAN</Type>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
</Member>
<Member>
<Index>0x02</Index>
<Access>RO</Access>
<Name>LED1</Name>
<Type>BOOLEAN</Type>
<DefaultValue>0</DefaultValue>
<PdoMapping>RX</PdoMapping>
</Member>
<Member>
<Index>0x03</Index>
<Name>LED2</Name>
<PdoMapping>RX</PdoMapping>
</Member>
<Member>
<Index>0x04</Index>
<Name>LED3</Name>
<PdoMapping>RX</PdoMapping>
</Member>
<Member>
<Index>0x05</Index>
<Name>LED4</Name>
<PdoMapping>RX</PdoMapping>
</Member>
<Member>
<Index>0x06</Index>
<Name>LED5</Name>
<PdoMapping>RX</PdoMapping>
</Member>
</Output>
<Parameter>
<Index>0x8000</Index>
<Name>Parameters</Name>
<ObjectType>RECORD</ObjectType>
<Member>
<Index>0x01</Index>
<Access>RW</Access>
<Name>Multiplier</Name>
<Type>UNSIGNED32</Type>
<DefaultValue>0</DefaultValue>
</Member>
</Parameter>
</Slave>

1100
applications/raspberry_lan9252demo/slave.xml 100644
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179
applications/raspberry_lan9252demo/slave_objectlist.c 100644
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#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[] = "LEDs";
static const char acName1600_00[] = "Max SubIndex";
static const char acName1600_01[] = "LED0";
static const char acName1600_02[] = "LED1";
static const char acName1600_03[] = "LED2";
static const char acName1600_04[] = "LED3";
static const char acName1600_05[] = "LED4";
static const char acName1600_06[] = "LED5";
static const char acName1600_07[] = "Padding 7";
static const char acName1A00[] = "Buttons";
static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "Button0";
static const char acName1A00_02[] = "Button1";
static const char acName1A00_03[] = "Button2";
static const char acName1A00_04[] = "Button3";
static const char acName1A00_05[] = "Button4";
static const char acName1A00_06[] = "Button5";
static const char acName1A00_07[] = "Padding 7";
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[] = "Buttons";
static const char acName6000_00[] = "Max SubIndex";
static const char acName6000_01[] = "Button0";
static const char acName6000_02[] = "Button1";
static const char acName6000_03[] = "Button2";
static const char acName6000_04[] = "Button3";
static const char acName6000_05[] = "Button4";
static const char acName6000_06[] = "Button5";
static const char acName7000[] = "LEDs";
static const char acName7000_00[] = "Max SubIndex";
static const char acName7000_01[] = "LED0";
static const char acName7000_02[] = "LED1";
static const char acName7000_03[] = "LED2";
static const char acName7000_04[] = "LED3";
static const char acName7000_05[] = "LED4";
static const char acName7000_06[] = "LED5";
static const char acName8000[] = "Parameters";
static const char acName8000_00[] = "Max SubIndex";
static const char acName8000_01[] = "Multiplier";
const _objd SDO1000[] =
{
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x01901389, NULL},
};
const _objd SDO1008[] =
{
{0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"},
};
const _objd SDO1009[] =
{
{0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV},
};
const _objd SDO100A[] =
{
{0x0, DTYPE_VISIBLE_STRING, 0, 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, 1234, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, &Obj.serial},
};
const _objd SDO1600[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 7, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000101, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000201, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_03, 0x70000301, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_04, 0x70000401, NULL},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_05, 0x70000501, NULL},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_06, 0x70000601, NULL},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_07, 0x00000002, NULL},
};
const _objd SDO1A00[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 7, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000101, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_02, 0x60000201, NULL},
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_03, 0x60000301, NULL},
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_04, 0x60000401, NULL},
{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_05, 0x60000501, NULL},
{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_06, 0x60000601, NULL},
{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_07, 0x00000002, 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[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 6, NULL},
{0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button0},
{0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_02, 0, &Obj.Buttons.Button1},
{0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_03, 0, &Obj.Buttons.Button2},
{0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_04, 0, &Obj.Buttons.Button3},
{0x05, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_05, 0, &Obj.Buttons.Button4},
{0x06, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_TXPDO, acName6000_06, 0, &Obj.Buttons.Button5},
};
const _objd SDO7000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 6, NULL},
{0x01, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDs.LED0},
{0x02, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_02, 0, &Obj.LEDs.LED1},
{0x03, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_03, 0, &Obj.LEDs.LED2},
{0x04, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_04, 0, &Obj.LEDs.LED3},
{0x05, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_05, 0, &Obj.LEDs.LED4},
{0x06, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7000_06, 0, &Obj.LEDs.LED5},
};
const _objd SDO8000[] =
{
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier},
};
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, 7, 0, acName1600, SDO1600},
{0x1A00, OTYPE_RECORD, 7, 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_RECORD, 6, 0, acName6000, SDO6000},
{0x7000, OTYPE_RECORD, 6, 0, acName7000, SDO7000},
{0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
};

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applications/raspberry_lan9252demo/utypes.h 100644
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#ifndef __UTYPES_H__
#define __UTYPES_H__
#include "cc.h"
/* Object dictionary storage */
typedef struct
{
/* Identity */
uint32_t serial;
/* Inputs */
struct
{
uint8_t Button0;
uint8_t Button1;
uint8_t Button2;
uint8_t Button3;
uint8_t Button4;
uint8_t Button5;
} Buttons;
/* Outputs */
struct
{
uint8_t LED0;
uint8_t LED1;
uint8_t LED2;
uint8_t LED3;
uint8_t LED4;
uint8_t LED5;
} LEDs;
/* Parameters */
struct
{
uint32_t Multiplier;
} Parameters;
} _Objects;
extern _Objects Obj;
#endif /* __UTYPES_H__ */

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cmake/Linux.cmake
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set(SOES_DEMO applications/linux_lan9252demo)
if(RPI_VARIANT)
set (SOES_DEMO applications/raspberry_lan9252demo)
set(HAL_SOURCES
${SOES_SOURCE_DIR}/soes/hal/raspberrypi-lan9252/esc_hw.c
${SOES_SOURCE_DIR}/soes/hal/raspberrypi-lan9252/esc_hw.h
)
else()
set(SOES_DEMO applications/linux_lan9252demo)
set(HAL_SOURCES
${SOES_SOURCE_DIR}/soes/hal/linux-lan9252/esc_hw.c
)
endif()
include_directories(
${SOES_SOURCE_DIR}/soes/include/sys/gcc
${SOES_SOURCE_DIR}/${SOES_DEMO}
)
set(HAL_SOURCES
${SOES_SOURCE_DIR}/soes/hal/linux-lan9252/esc_hw.c
)
# Common compile flags
add_compile_options(-Wall -Wextra -Wno-unused-parameter -Werror)