move globals to ecat_slv

applications/rtl_xmc4_dynpdo/main.c

@@ -10,20 +10,9 @@
 #include "config.h"
 #include "utypes.h"
 
-/* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
-_MBXcontrol MBXcontrol[MBXBUFFERS];
-_ESCvar     ESCvar;
-_SMmap      SMmap2[MAX_MAPPINGS_SM2];
-_SMmap      SMmap3[MAX_MAPPINGS_SM3];
-
 /* Application variables */
 _Objects    Obj;
 
-/* Private variables */
-static uint8_t inputs[MAX_INPUT_SIZE] __attribute__((aligned (8)));
-static uint8_t outputs[MAX_OUTPUT_SIZE] __attribute__((aligned (8)));
-
 void cb_get_inputs (void)
 {
    Obj.IN1 = 1;
@@ -36,7 +25,6 @@ void cb_set_outputs (void)
 {
 }
 
-
 /* Setup of DC */
 uint16_t dc_checker (void)
 {
@@ -57,10 +45,6 @@ int main (void)
       .mbxsize = MBXSIZE,
       .mbxsizeboot = MBXSIZEBOOT,
       .mbxbuffers = MBXBUFFERS,
-      .rxpdos_address = outputs,
-      .rxpdos_mappings = MAX_SM_MAPPINGS,
-      .txpdos_address = inputs,
-      .txpdos_mappings = MAX_SM_MAPPINGS,
       .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},

soes/ecat_slv.c

@@ -1,5 +1,7 @@
-
-#ifndef SOES_V1
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
 #include <stddef.h>
 #include "esc.h"
 #include "esc_coe.h"
@@ -10,12 +12,16 @@
 #define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
 
 /* Global variables used by the stack */
-extern _ESCvar ESCvar;
-extern _SMmap  SMmap2[];
-extern _SMmap  SMmap3[];
+uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
+_MBXcontrol MBXcontrol[MBXBUFFERS];
+_SMmap      SMmap2[MAX_MAPPINGS_SM2];
+_SMmap      SMmap3[MAX_MAPPINGS_SM3];
+_ESCvar     ESCvar;
 
 /* Private variables */
 static volatile int watchdog;
+static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned (8)));
+static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned (8)));
 
 /** Mandatory: Function to pre-qualify the incoming SDO download.
  *
@@ -92,8 +98,8 @@ void TXPDO_update (void)
    }
    else
    {
-      COE_pdoPack (ESCvar.txpdos_address, ESCvar.sm3mappings, SMmap3);
-      ESC_write (ESC_SM3_sma, ESCvar.txpdos_address , ESCvar.ESC_SM3_sml);
+      COE_pdoPack (txpdo, ESCvar.sm3mappings, SMmap3);
+      ESC_write (ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
    }
 }
 
@@ -107,8 +113,8 @@ void RXPDO_update (void)
    }
    else
    {
-      ESC_read (ESC_SM2_sma, ESCvar.rxpdos_address, ESCvar.ESC_SM2_sml);
-      COE_pdoUnpack (ESCvar.rxpdos_address, ESCvar.sm2mappings, SMmap2);
+      ESC_read (ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
+      COE_pdoUnpack (rxpdo, ESCvar.sm2mappings, SMmap2);
    }
 }
 
@@ -305,4 +311,3 @@ void ecat_slv_init (esc_cfg_t * config)
    ESC_stopinput();
    ESC_stopoutput();
 }
-#endif

soes/esc.c

@@ -7,6 +7,7 @@
 #include "esc.h"
 #include "esc_coe.h"
 #include "esc_foe.h"
+#include "options.h"
 
 /** \file
  * \brief
@@ -1037,7 +1038,7 @@ void ESC_state (void)
       case SAFEOP_TO_SAFEOP:
       {
          ESCvar.ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX, &ESCvar.sm2mappings,
-                                         SMmap2, ESCvar.rxpdos_mappings);
+                                         SMmap2, MAX_MAPPINGS_SM2);
          if (ESCvar.sm2mappings < 0)
          {
             an = ESCpreop | ESCerror;
@@ -1046,7 +1047,7 @@ void ESC_state (void)
          }
 
          ESCvar.ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX, &ESCvar.sm3mappings,
-                                         SMmap3, ESCvar.txpdos_mappings);
+                                         SMmap3, MAX_MAPPINGS_SM3);
          if (ESCvar.sm3mappings < 0)
          {
             an = ESCpreop | ESCerror;
@@ -1151,11 +1152,6 @@ void ESC_config (esc_cfg_t * cfg)
    ESCvar.mbxsizeboot = cfg->mbxsizeboot;
    ESCvar.mbxbuffers = cfg->mbxbuffers;
 
-   ESCvar.rxpdos_address = cfg->rxpdos_address;
-   ESCvar.rxpdos_mappings = cfg->rxpdos_mappings;
-   ESCvar.txpdos_address = cfg->txpdos_address;
-   ESCvar.txpdos_mappings = cfg->txpdos_mappings;
-
    ESCvar.mb[0] = cfg->mb[0];
    ESCvar.mb[1] = cfg->mb[1];
    ESCvar.mbboot[0] = cfg->mb_boot[0];

soes/esc.h

@@ -240,10 +240,6 @@ typedef struct esc_cfg
    size_t mbxsize;
    size_t mbxsizeboot;
    int mbxbuffers;
-   void * rxpdos_address;
-   int rxpdos_mappings;
-   void * txpdos_address;
-   int txpdos_mappings;
    sm_cfg_t mb[2];
    sm_cfg_t mb_boot[2];
    sm_cfg_t pdosm[2];
@@ -362,10 +358,6 @@ typedef struct
    size_t mbxsize;
    size_t mbxsizeboot;
    int mbxbuffers;
-   void * rxpdos_address;
-   int rxpdos_mappings;
-   void * txpdos_address;
-   int txpdos_mappings;
    sm_cfg_t  mb[2];
    sm_cfg_t  mbboot[2];
    sm_cfg_t  pdosm[2];

soes/options.h

@@ -119,14 +119,14 @@
 #define SM3_act          1
 #endif
 
-/* Max processdata size (inputs) */
-#ifndef MAX_INPUT_SIZE
-#define MAX_INPUT_SIZE   128
+/* Max processdata size (outputs) */
+#ifndef MAX_RXPDO_SIZE
+#define MAX_RXPDO_SIZE   128
 #endif
 
-/* Max processdata size (outputs) */
-#ifndef MAX_OUTPUT_SIZE
-#define MAX_OUTPUT_SIZE  128
+/* Max processdata size (inputs) */
+#ifndef MAX_TXPDO_SIZE
+#define MAX_TXPDO_SIZE   128
 #endif
 
 /* Max number of mapped objects in SM2 */