Merge pull request #180 from OpenEtherCATsociety/feature/improve_eeprom_reload_handling_al2

Improve emulated EEPROM reload handling

.github/workflows/build.yml

@@ -0,0 +1,23 @@
+name: build
+on: [push, pull_request]
+env:
+  BUILD_TYPE: Release
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: true
+
+      - name: Configure
+        shell: bash
+        run: |
+          cmake -E make_directory $GITHUB_WORKSPACE/build
+          cmake -B $GITHUB_WORKSPACE/build -S $GITHUB_WORKSPACE \
+             -DCMAKE_BUILD_TYPE=$BUILD_TYPE
+
+      - name: Build
+        shell: bash
+        run: |
+          cmake --build $GITHUB_WORKSPACE/build -j4

.gitignore

@@ -33,3 +33,4 @@
 
 /build
 soes/version.h
+applications/xmc4300_slavedemo/XMC_Peripheral_Library

.travis.yml

@@ -1,8 +0,0 @@
-language: c
-
-script:
-  - mkdir build
-  - pushd build
-  - cmake .. -DCMAKE_BUILD_TYPE=Release
-  - make
-  - popd

CMakeLists.txt

@@ -1,12 +1,12 @@
 # CMakeLists files in this project can
 # refer to the root source directory of the project as ${SOES_SOURCE_DIR} and
 # to the root binary directory of the project as ${SOES_BINARY_DIR}.
-cmake_minimum_required (VERSION 2.8.4)
+cmake_minimum_required (VERSION 2.8.12)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 project (SOES)
 
-set (SOES_VERSION_MAJOR 2)
-set (SOES_VERSION_MINOR 1)
+set (SOES_VERSION_MAJOR 3)
+set (SOES_VERSION_MINOR 0)
 set (SOES_VERSION_PATCH 0)
 
 # Generate version numbers

README.md

@@ -1,6 +1,6 @@
 Simple Open Source EtherCAT Slave
 ====
-[![Build Status](https://travis-ci.org/OpenEtherCATsociety/SOES.svg?branch=master)](https://travis-ci.org/OpenEtherCATsociety/SOES)
+[![Build Status](https://github.com/OpenEtherCATsociety/SOES/workflows/build/badge.svg?branch=master)](https://github.com/OpenEtherCATsociety/SOES/actions?workflow=build)
 
 SOES (Simple OpenSource EtherCAT Slave Stack) is an opensource slave
 stack that is very easy to use and provides a small footprint. It is a
@@ -12,7 +12,7 @@ SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
 to use. All users are invited to study the source to get an understanding
 how an EtherCAT slave functions.
 
-Features as of 2.1.0:
+Feature list:
  - Address offset based HAL for easy ESC read/write access via any
    interface
  - Mailbox with data link layer
@@ -20,14 +20,16 @@ Features as of 2.1.0:
  - Object dictionary
  - SDO read and write for all sizes including segmented transfers
  - Easy portable C-code suited for embedded applications
- - Fixed PDO mapping
+ - Fixed and/or dynamic PDO mapping
  - FoE with bootstrap template
  - Support for Little and Big endian targets
  - Run polling, mixed polling/interrupt or interrupt
  - Support for SM Synchronization 
  - Support DC sync0 and DC Synchronization
- - Add stack configuration via new configuration paramater to/or from 
+ - Add stack configuration via new configuration parameter to/or from 
    "stack"_init
+ - EoE
 
 TODO
  - Update documentation
+ - Add EoE sample application

applications/linux_lan9252demo/CMakeLists.txt

@@ -1,7 +1,6 @@
 
 add_executable (demo
   main.c
-  slave.c
   slave_objectlist.c
   )
 target_link_libraries(demo LINK_PUBLIC soes)

applications/linux_lan9252demo/config.h

@@ -1,35 +0,0 @@
-#ifndef __CONFIG_H__
-#define __CONFIG_H__
-
-#include <cc.h>
-
-#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
-
-#endif /* __CONFIG_H__ */

applications/linux_lan9252demo/ecat_options.h

@@ -0,0 +1,44 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#include "cc.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_RXPDO_SIZE   42
+#define MAX_TXPDO_SIZE   42
+
+#define MAX_MAPPINGS_SM2 2
+#define MAX_MAPPINGS_SM3 1
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/linux_lan9252demo/main.c

@@ -1,48 +1,54 @@
 #include <stdio.h>
-#include "slave.h"
+#include "ecat_slv.h"
+#include "utypes.h"
 
-/**
- * This function reads physical input values and assigns the corresponding members
- * of Rb.Buttons
- */
-void cb_get_Buttons()
+/* Application variables */
+_Objects    Obj;
+
+void cb_get_inputs (void)
 {
-
 }
 
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-
-
-void cb_set_LEDs()
+void cb_set_outputs (void)
 {
-
 }
 
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex)
+int main_run (void * arg)
 {
+   static esc_cfg_t config =
+   {
+      .user_arg = "/dev/lan9252",
+      .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");
+   ecat_slv_init (&config);
 
-void main_run(void * arg)
-{
-  soes_init();
+   while (1)
+   {
+      ecat_slv();
+   }
 
-  while(1) {
-    soes();
-  }
-}
-
-int main(void)
-{
-   printf("Hello Main\n");
-   main_run(NULL);
    return 0;
 }
 
+int main (void)
+{
+   printf ("Hello Main\n");
+   main_run (NULL);
+   return 0;
+}

applications/linux_lan9252demo/slave.c

@@ -1,300 +0,0 @@
-#include <stddef.h>
-#include "utypes.h"
-#include "esc.h"
-#include "esc_coe.h"
-#include "esc_foe.h"
-#include "config.h"
-#include "slave.h"
-
-#define WATCHDOG_RESET_VALUE 150
-#define DEFAULTTXPDOMAP    0x1a00
-#define DEFAULTRXPDOMAP    0x1600
-#define DEFAULTTXPDOITEMS  1
-#define DEFAULTRXPDOITEMS  1
-
-/* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
-_MBXcontrol MBXcontrol[MBXBUFFERS];
-_ESCvar     ESCvar;
-
-/* Application variables */
-_Rbuffer    Rb;
-_Wbuffer    Wb;
-_Cbuffer    Cb;
-
-/* Private variables */
-uint16_t          txpdomap = DEFAULTTXPDOMAP;
-uint16_t          rxpdomap = DEFAULTRXPDOMAP;
-uint8_t           txpdoitems = DEFAULTTXPDOITEMS;
-uint8_t           rxpdoitems = DEFAULTTXPDOITEMS;
-
-static int watchdog = WATCHDOG_RESET_VALUE;
-static void (*application_loop_callback)(void) = NULL;
-
-/** Function to pre-qualify the incoming SDO download.
- *
- * @param[in] index      = index of SDO download request to check
- * @param[in] sub-index  = sub-index of SDO download request to check
- * @return 1 if the SDO Download is correct. 0 If not correct.
- */
-int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
-{
-   if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   return 1;
-}
-
-/** 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;
-      }
-      ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-      break;
-   }
-   case 0x1c13:
-   {
-      if (txpdoitems > 1)
-      {
-         txpdoitems = 1;
-      }
-      if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
-          && (rxpdomap != 0x0000))
-      {
-         txpdomap = 0x1A00;
-      }
-      ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-      break;
-   }
-   /* Handle post-write of parameter values */
-   case 0x8000:
-   {
-      cb_post_write_Parameters(subindex);
-      break;
-   }
-   default:
-      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\n");
-
-   // Set safe values for Wb.LEDs
-   Wb.LEDs.LED0 = 0;
-   Wb.LEDs.LED1 = 0;
-
-}
-
-/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
- */
-void TXPDO_update (void)
-{
-   ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
-}
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   ESC_read (SM2_sma, &Wb, ESCvar.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 (watchdog > 0)
-   {
-      watchdog--;
-   }
-   if (ESCvar.App.state & APPSTATE_OUTPUT)
-   {
-      /* SM2 trigger ? */
-      if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
-      {
-         ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
-         RXPDO_update();
-         watchdog = WATCHDOG_RESET_VALUE;
-
-         /* Set outputs */
-         cb_set_LEDs();
-      }
-      if (watchdog <= 0)
-      {
-         DPRINT("DIG_process watchdog expired\n");
-         ESC_stopoutput();
-         /* watchdog, invalid outputs */
-         ESC_ALerror (ALERR_WATCHDOG);
-         /* goto safe-op with error bit set */
-         ESC_ALstatus (ESCsafeop | ESCerror);
-      }
-   }
-   else
-   {
-      watchdog = WATCHDOG_RESET_VALUE;
-   }
-   if (ESCvar.App.state)
-   {
-      /* Update inputs */
-      cb_get_Buttons();
-      TXPDO_update();
-   }
-}
-
-/********** TODO: Generic code beyond this point ***************/
-
-/** Optional: Hook called after state change for application specific
- * actions for specific state changes.
- */
-void post_state_change_hook (uint8_t * as, uint8_t * an)
-{
-#if 0
-   /* Add specific step change hooks here */
-   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
-   {
-      boot_inithook();
-   }
-   else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
-   {
-      init_boothook();
-   }
-#endif
-}
-
-/**
- * Set callback run once every loop in the SOES application loop.
- */
-void set_application_loop_hook(void (*callback)(void))
-{
-   application_loop_callback = callback;
-}
-
-/**
- * SOES main function. It should be called periodically.
- * Reads the EtherCAT state and status. Responsible for I/O updates.
- */
-void soes (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();
-   /* Check the SM activation event */
-   ESC_sm_act_event();
-
-   /* Check mailboxes */
-   if (ESC_mbxprocess())
-   {
-      ESC_coeprocess();
-      ESC_foeprocess();
-      ESC_xoeprocess();
-   }
-   DIG_process();
-
-   if (application_loop_callback != NULL)
-   {
-      (application_loop_callback)();
-   }
-}
-
-/**
- * Initialize the SOES stack.
- */
-void soes_init (void)
-{
-   DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
-
-   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-
-   /* Setup config hooks */
-   static esc_cfg_t config =
-   {
-      .user_arg = "/dev/lan9252",
-      .use_interrupt = 0,
-      .watchdog_cnt = 0,
-      .mbxsize = MBXSIZE,
-      .mbxsizeboot = MBXSIZEBOOT,
-      .mbxbuffers = MBXBUFFERS,
-      .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},
-      .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
-      .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
-      .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},      
-      .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_config (&config);
-   ESC_init (&config);
-
-   /*  wait until ESC is started up */
-   while ((ESCvar.DLstatus & 0x0001) == 0)
-   {
-      ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
-                sizeof (ESCvar.DLstatus));
-      ESCvar.DLstatus = etohs (ESCvar.DLstatus);
-   }
-
-   /* Init FoE */
-   FOE_init();
-
-   /* reset ESC to init state */
-   ESC_ALstatus (ESCinit);
-   ESC_ALerror (ALERR_NONE);
-   ESC_stopmbx();
-   ESC_stopinput();
-   ESC_stopoutput();
-}

applications/linux_lan9252demo/slave.esx

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Slave id="evb9252_dig" productCode="1234">
+<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>
@@ -24,275 +24,332 @@
     <BootStrap>0010800080108000</BootStrap>
   </Eeprom>
   <Dictionary>
-    <Item>
-      <Name>Device Type</Name>
+    <Item Managed="true">
       <Index>0x1000</Index>
+      <Name>Device Type</Name>
       <DataType>UNSIGNED32</DataType>
       <DefaultValue>0x01901389</DefaultValue>
     </Item>
     <Item Managed="true">
-      <Name>Device Name</Name>
       <Index>0x1008</Index>
+      <Name>Device Name</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>evb9252_dig</DefaultValue>
+      <Length>11</Length>
     </Item>
-    <Item>
-      <Name>Hardware Version</Name>
+    <Item Managed="false">
       <Index>0x1009</Index>
+      <Name>Hardware Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
     </Item>
-    <Item>
-      <Name>Software Version</Name>
+    <Item Managed="false">
       <Index>0x100A</Index>
+      <Name>Software Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
     </Item>
     <Item Managed="true">
-      <Name>Identity Object</Name>
       <Index>0x1018</Index>
+      <Name>Identity Object</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>LEDs</Name>
       <Index>0x1600</Index>
+      <Name>LEDs</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>2</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>
     </Item>
     <Item Managed="true">
-      <Name>Buttons</Name>
       <Index>0x1A00</Index>
+      <Name>Buttons</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Sync Manager Communication Type</Name>
       <Index>0x1C00</Index>
+      <Name>Sync Manager Communication Type</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Sync Manager 2 PDO Assignment</Name>
       <Index>0x1C12</Index>
+      <Name>Sync Manager 2 PDO Assignment</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Sync Manager 3 PDO Assignment</Name>
       <Index>0x1C13</Index>
+      <Name>Sync Manager 3 PDO Assignment</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Buttons</Name>
       <Index>0x6000</Index>
+      <Name>Buttons</Name>
       <DataType>RECORD</DataType>
       <Variable>Buttons</Variable>
       <VariableType>Input</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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>
-        <Access>RO</Access>
         <Variable>Button1</Variable>
         <VariableType>Input</VariableType>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>LEDs</Name>
       <Index>0x7000</Index>
+      <Name>LEDs</Name>
       <DataType>RECORD</DataType>
       <Variable>LEDs</Variable>
       <VariableType>Output</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>2</DefaultValue>
       </SubItem>
       <SubItem>
+        <Index>0x01</Index>
+        <Access>RO</Access>
         <Name>LED0</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>0</DefaultValue>
-        <Access>RO</Access>
         <Variable>LED0</Variable>
         <VariableType>Output</VariableType>
       </SubItem>
       <SubItem>
+        <Index>0x02</Index>
+        <Access>RO</Access>
         <Name>LED1</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>0</DefaultValue>
-        <Access>RO</Access>
         <Variable>LED1</Variable>
         <VariableType>Output</VariableType>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>Parameters</Name>
       <Index>0x8000</Index>
+      <Name>Parameters</Name>
       <DataType>RECORD</DataType>
       <Variable>Parameters</Variable>
       <VariableType>Parameter</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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>
-        <Access>RW</Access>
         <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>
-    <Container>LEDs</Container>
     <Name>LEDs</Name>
     <Entry>
-      <Index>0x7000</Index>
-      <SubIndex>1</SubIndex>
+      <Index>0x1</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x01</MappedSubIndex>
       <Variable>LED0</Variable>
     </Entry>
     <Entry>
-      <Index>0x7000</Index>
-      <SubIndex>2</SubIndex>
+      <Index>0x2</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x02</MappedSubIndex>
       <Variable>LED1</Variable>
     </Entry>
   </RxPdo>
   <TxPdo>
     <Index>0x1A00</Index>
-    <Container>Buttons</Container>
     <Name>Buttons</Name>
     <Entry>
-      <Index>0x6000</Index>
-      <SubIndex>1</SubIndex>
+      <Index>0x1</Index>
+      <MappedIndex>0x6000</MappedIndex>
+      <MappedSubIndex>0x01</MappedSubIndex>
       <Variable>Button1</Variable>
     </Entry>
   </TxPdo>
   <Input>
+    <Index>0x6000</Index>
     <Name>Buttons</Name>
-    <Type>RECORD</Type>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
+      <Access>RO</Access>
       <Name>Button1</Name>
       <Type>UNSIGNED8</Type>
+      <DefaultValue>0</DefaultValue>
     </Member>
   </Input>
   <Output>
+    <Index>0x7000</Index>
     <Name>LEDs</Name>
-    <Type>RECORD</Type>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
+      <Access>RO</Access>
       <Name>LED0</Name>
       <Type>UNSIGNED8</Type>
+      <DefaultValue>0</DefaultValue>
     </Member>
     <Member>
+      <Index>0x02</Index>
+      <Access>RO</Access>
       <Name>LED1</Name>
       <Type>UNSIGNED8</Type>
+      <DefaultValue>0</DefaultValue>
     </Member>
   </Output>
   <Parameter>
+    <Index>0x8000</Index>
     <Name>Parameters</Name>
-    <Type>RECORD</Type>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
+      <Access>RW</Access>
       <Name>Multiplier</Name>
       <Type>UNSIGNED32</Type>
+      <DefaultValue>0</DefaultValue>
     </Member>
   </Parameter>
-</Slave>
+</Slave>

applications/linux_lan9252demo/slave.h

@@ -1,38 +0,0 @@
-#ifndef __SLAVE_H__
-#define __SLAVE_H__
-
-#include "utypes.h"
-
-/**
- * This function reads physical input values and assigns the corresponding members
- * of Rb.Buttons
- */
-void cb_get_Buttons();
-
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-void cb_set_LEDs();
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex);
-
-/**
- * This function sets an application loop callback function.
- */
-void set_application_loop_hook(void (*callback)(void));
-
-/**
- * Main function for SOES application
- */
-void soes (void);
-
-/**
- * Initialize the SOES stack
- */
-void soes_init (void);
-
-#endif /* __SLAVE_H__ */

applications/linux_lan9252demo/slave.xml

@@ -26,7 +26,7 @@
                 <BitSize>144</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -80,7 +80,7 @@
                 <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -114,7 +114,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -147,7 +147,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -179,7 +179,7 @@
                 <BitSize>32</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -211,7 +211,7 @@
                 <BitSize>32</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -234,7 +234,7 @@
                 <BitSize>24</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -258,7 +258,7 @@
                 <BitSize>32</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -292,7 +292,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -311,10 +311,6 @@
                   </Flags>
                 </SubItem>
               </DataType>
-              <DataType>
-                <Name>STRING(3)</Name>
-                <BitSize>24</BitSize>
-              </DataType>
               <DataType>
                 <Name>STRING(11)</Name>
                 <BitSize>88</BitSize>
@@ -327,6 +323,10 @@
                 <Name>UINT</Name>
                 <BitSize>16</BitSize>
               </DataType>
+              <DataType>
+                <Name>STRING(0)</Name>
+                <BitSize>0</BitSize>
+              </DataType>
               <DataType>
                 <Name>USINT</Name>
                 <BitSize>8</BitSize>
@@ -361,8 +361,8 @@
               <Object>
                 <Index>#x1009</Index>
                 <Name>Hardware Version</Name>
-                <Type>STRING(3)</Type>
-                <BitSize>24</BitSize>
+                <Type>STRING(0)</Type>
+                <BitSize>0</BitSize>
                 <Info>
                   <DefaultString>1.0</DefaultString>
                 </Info>
@@ -374,8 +374,8 @@
               <Object>
                 <Index>#x100A</Index>
                 <Name>Software Version</Name>
-                <Type>STRING(3)</Type>
-                <BitSize>24</BitSize>
+                <Type>STRING(0)</Type>
+                <BitSize>0</BitSize>
                 <Info>
                   <DefaultString>1.0</DefaultString>
                 </Info>
@@ -390,7 +390,7 @@
                 <BitSize>144</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>4</DefaultValue>
                     </Info>
@@ -431,7 +431,7 @@
                 <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>2</DefaultValue>
                     </Info>
@@ -460,7 +460,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -483,7 +483,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>4</DefaultValue>
                     </Info>
@@ -524,7 +524,7 @@
                 <BitSize>32</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -547,7 +547,7 @@
                 <BitSize>32</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -570,7 +570,7 @@
                 <BitSize>24</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -593,7 +593,7 @@
                 <BitSize>32</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>2</DefaultValue>
                     </Info>
@@ -622,7 +622,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -652,14 +652,14 @@
           <Name>LEDs</Name>
           <Entry>
             <Index>#x7000</Index>
-            <SubIndex>1</SubIndex>
+            <SubIndex>#x1</SubIndex>
             <BitLen>8</BitLen>
             <Name>LED0</Name>
             <DataType>USINT</DataType>
           </Entry>
           <Entry>
             <Index>#x7000</Index>
-            <SubIndex>2</SubIndex>
+            <SubIndex>#x2</SubIndex>
             <BitLen>8</BitLen>
             <Name>LED1</Name>
             <DataType>USINT</DataType>
@@ -670,14 +670,14 @@
           <Name>Buttons</Name>
           <Entry>
             <Index>#x6000</Index>
-            <SubIndex>1</SubIndex>
+            <SubIndex>#x1</SubIndex>
             <BitLen>8</BitLen>
             <Name>Button1</Name>
             <DataType>USINT</DataType>
           </Entry>
         </TxPdo>
         <Mailbox DataLinkLayer="true">
-          <CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
+          <CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
           <FoE/>
         </Mailbox>
         <Eeprom>

applications/linux_lan9252demo/slave_objectlist.c

@@ -1,66 +1,70 @@
-#include "soes/esc_coe.h"
+#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 acName1000_0[] = "Device Type";
 static const char acName1008[] = "Device Name";
-static const char acName1008_0[] = "Device Name";
 static const char acName1009[] = "Hardware Version";
-static const char acName1009_0[] = "Hardware Version";
 static const char acName100A[] = "Software Version";
-static const char acName100A_0[] = "Software Version";
 static const char acName1018[] = "Identity Object";
-static const char acName1018_00[] = "Number of Elements";
+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[] = "Number of Elements";
+static const char acName1600_00[] = "Max SubIndex";
 static const char acName1600_01[] = "LED0";
 static const char acName1600_02[] = "LED1";
 static const char acName1A00[] = "Buttons";
-static const char acName1A00_00[] = "Number of Elements";
+static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "Button1";
 static const char acName1C00[] = "Sync Manager Communication Type";
-static const char acName1C00_00[] = "Number of Elements";
+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[] = "Number of Elements";
+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[] = "Number of Elements";
+static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
 static const char acName6000[] = "Buttons";
-static const char acName6000_00[] = "Number of Elements";
+static const char acName6000_00[] = "Max SubIndex";
 static const char acName6000_01[] = "Button1";
 static const char acName7000[] = "LEDs";
-static const char acName7000_00[] = "Number of Elements";
+static const char acName7000_00[] = "Max SubIndex";
 static const char acName7000_01[] = "LED0";
 static const char acName7000_02[] = "LED1";
 static const char acName8000[] = "Parameters";
-static const char acName8000_00[] = "Number of Elements";
+static const char acName8000_00[] = "Max SubIndex";
 static const char acName8000_01[] = "Multiplier";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x01901389, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x01901389, NULL},
 };
 const _objd SDO1008[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "evb9252_dig"},
+  {0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008, 0, "evb9252_dig"},
 };
 const _objd SDO1009[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
+  {0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName1009, 0, HW_REV},
 };
 const _objd SDO100A[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
+  {0x0, DTYPE_VISIBLE_STRING, 0, ATYPE_RO, acName100A, 0, SW_REV},
 };
 const _objd SDO1018[] =
 {
@@ -102,18 +106,18 @@ const _objd SDO1C13[] =
 const _objd SDO6000[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Rb.Buttons.Button1},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Obj.Buttons.Button1},
 };
 const _objd SDO7000[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Wb.LEDs.LED0},
-  {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Wb.LEDs.LED1},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.LEDs.LED0},
+  {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Obj.LEDs.LED1},
 };
 const _objd SDO8000[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Cb.Parameters.Multiplier},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Obj.Parameters.Multiplier},
 };
 
 const _objectlist SDOobjects[] =

applications/linux_lan9252demo/utypes.h

@@ -1,47 +1,45 @@
 #ifndef __UTYPES_H__
 #define __UTYPES_H__
 
-#include <cc.h>
+#include "cc.h"
+
+
+/* Object dictionary storage */
 
-CC_PACKED_BEGIN
 typedef struct
 {
-   CC_PACKED_BEGIN   
+   /* Inputs */
    struct
    {
       uint8_t Button1;
-   } CC_PACKED Buttons;
-   CC_PACKED_END
-} CC_PACKED _Rbuffer;
-CC_PACKED_END
+   } Buttons;
 
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
+
+   /* Outputs */
    struct
    {
       uint8_t LED0;
       uint8_t LED1;
-   } CC_PACKED LEDs;
-   CC_PACKED_END
-} CC_PACKED _Wbuffer;
-CC_PACKED_END
+   } LEDs;
 
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
+
+   /* Parameters */
    struct
    {
       uint32_t Multiplier;
-   } CC_PACKED Parameters;
-   CC_PACKED_END
-} CC_PACKED _Cbuffer;
-CC_PACKED_END
+   } Parameters;
 
-extern _Rbuffer Rb;
-extern _Wbuffer Wb;
-extern _Cbuffer Cb;
+
+   /* Manufacturer specific data */
+
+   /* Dynamic TX PDO:s */
+
+   /* Dynamic RX PDO:s */
+
+   /* Sync Managers */
+
+} _Objects;
+
+extern _Objects Obj;
 
 #endif /* __UTYPES_H__ */

applications/raspberry_lan9252demo/CMakeLists.txt

@@ -0,0 +1,8 @@
+
+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)

applications/raspberry_lan9252demo/S60soes

@@ -0,0 +1,40 @@
+#!/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 $?
+
+

applications/raspberry_lan9252demo/ecat_options.h

@@ -0,0 +1,42 @@
+#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__ */

applications/raspberry_lan9252demo/main.c

@@ -0,0 +1,108 @@
+#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;
+}

applications/raspberry_lan9252demo/slave.esx

@@ -0,0 +1,532 @@
+<?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>

applications/raspberry_lan9252demo/slave_objectlist.c

@@ -0,0 +1,179 @@
+#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}
+};

applications/raspberry_lan9252demo/utypes.h

@@ -0,0 +1,49 @@
+#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__ */

applications/rtl_lan9252demo/main.c

@@ -1,49 +0,0 @@
-#include <kern.h>
-#include "slave.h"
-
-/**
- * This function reads physical input values and assigns the corresponding members
- * of Rb.Buttons
- */
-void cb_get_Buttons()
-{
-
-}
-
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-
-
-void cb_set_LEDs()
-{
-
-}
-
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex)
-{
-
-}
-
-void main_run(void * arg)
-{
-  soes_init();
-
-  while(1) {
-    soes();
-  }
-}
-
-int main(void)
-{
-   rprintf("Hello Main\n");
-   task_spawn ("soes", main_run, 8, 2048, NULL);
-
-   return 0;
-}
-

applications/rtl_lan9252demo/slave.c

@@ -1,298 +0,0 @@
-#include <stddef.h>
-#include "utypes.h"
-#include "esc.h"
-#include "esc_coe.h"
-#include "esc_foe.h"
-#include "config.h"
-#include "slave.h"
-
-#define WATCHDOG_RESET_VALUE 150
-#define DEFAULTTXPDOMAP    0x1a00
-#define DEFAULTRXPDOMAP    0x1600
-#define DEFAULTTXPDOITEMS  1
-#define DEFAULTRXPDOITEMS  1
-
-/* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
-_MBXcontrol MBXcontrol[MBXBUFFERS];
-_ESCvar     ESCvar;
-
-/* Application variables */
-_Rbuffer    Rb;
-_Wbuffer    Wb;
-_Cbuffer    Cb;
-
-/* Private variables */
-uint16_t          txpdomap = DEFAULTTXPDOMAP;
-uint16_t          rxpdomap = DEFAULTRXPDOMAP;
-uint8_t           txpdoitems = DEFAULTTXPDOITEMS;
-uint8_t           rxpdoitems = DEFAULTTXPDOITEMS;
-
-static int watchdog = WATCHDOG_RESET_VALUE;
-static void (*application_loop_callback)(void) = NULL;
-
-/** Function to pre-qualify the incoming SDO download.
- *
- * @param[in] index      = index of SDO download request to check
- * @param[in] sub-index  = sub-index of SDO download request to check
- * @return 1 if the SDO Download is correct. 0 If not correct.
- */
-int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
-{
-   if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   return 1;
-}
-
-/** 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;
-      }
-      ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-      break;
-   }
-   case 0x1c13:
-   {
-      if (txpdoitems > 1)
-      {
-         txpdoitems = 1;
-      }
-      if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
-          && (rxpdomap != 0x0000))
-      {
-         txpdomap = 0x1A00;
-      }
-      ESCvar.TXPDOsize = ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-      break;
-   }
-   /* Handle post-write of parameter values */
-   case 0x8000:
-   {
-      cb_post_write_Parameters(subindex);
-      break;
-   }
-   default:
-      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\n");
-
-   // Set safe values for Wb.LEDs
-   Wb.LEDs.LED0 = 0;
-   Wb.LEDs.LED1 = 0;
-
-}
-
-/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
- */
-void TXPDO_update (void)
-{
-   ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
-}
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   ESC_read (SM2_sma, &Wb, ESCvar.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 (watchdog > 0)
-   {
-      watchdog--;
-   }
-   if (ESCvar.App.state & APPSTATE_OUTPUT)
-   {
-      /* SM2 trigger ? */
-      if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
-      {
-         ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
-         RXPDO_update();
-         watchdog = WATCHDOG_RESET_VALUE;
-
-         /* Set outputs */
-         cb_set_LEDs();
-      }
-      if (watchdog <= 0)
-      {
-         DPRINT("DIG_process watchdog expired\n");
-         ESC_stopoutput();
-         /* watchdog, invalid outputs */
-         ESC_ALerror (ALERR_WATCHDOG);
-         /* goto safe-op with error bit set */
-         ESC_ALstatus (ESCsafeop | ESCerror);
-      }
-   }
-   else
-   {
-      watchdog = WATCHDOG_RESET_VALUE;
-   }
-   if (ESCvar.App.state)
-   {
-      /* Update inputs */
-      cb_get_Buttons();
-      TXPDO_update();
-   }
-}
-
-/********** TODO: Generic code beyond this point ***************/
-
-/** Optional: Hook called after state change for application specific
- * actions for specific state changes.
- */
-void post_state_change_hook (uint8_t * as, uint8_t * an)
-{
-#if 0
-   /* Add specific step change hooks here */
-   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
-   {
-      boot_inithook();
-   }
-   else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
-   {
-      init_boothook();
-   }
-#endif
-}
-
-/**
- * Set callback run once every loop in the SOES application loop.
- */
-void set_application_loop_hook(void (*callback)(void))
-{
-   application_loop_callback = callback;
-}
-
-/**
- * SOES main function. It should be called periodically.
- * Reads the EtherCAT state and status. Responsible for I/O updates.
- */
-void soes (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();
-
-   /* Check mailboxes */
-   if (ESC_mbxprocess())
-   {
-      ESC_coeprocess();
-      ESC_foeprocess();
-      ESC_xoeprocess();
-   }
-   DIG_process();
-
-   if (application_loop_callback != NULL)
-   {
-      (application_loop_callback)();
-   }
-}
-
-/**
- * Initialize the SOES stack.
- */
-void soes_init (void)
-{
-   DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
-
-   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-
-   /* Setup config hooks */
-   static esc_cfg_t config =
-   {
-      .user_arg = "/spi1/lan9252",
-      .use_interrupt = 0,
-      .watchdog_cnt = 0,
-      .mbxsize = MBXSIZE,
-      .mbxsizeboot = MBXSIZEBOOT,
-      .mbxbuffers = MBXBUFFERS,
-      .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},
-      .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
-      .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
-      .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},      
-      .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_config (&config);
-   ESC_init (&config);
-
-   /*  wait until ESC is started up */
-   while ((ESCvar.DLstatus & 0x0001) == 0)
-   {
-      ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
-                sizeof (ESCvar.DLstatus));
-      ESCvar.DLstatus = etohs (ESCvar.DLstatus);
-   }
-
-   /* Init FoE */
-   FOE_init();
-
-   /* reset ESC to init state */
-   ESC_ALstatus (ESCinit);
-   ESC_ALerror (ALERR_NONE);
-   ESC_stopmbx();
-   ESC_stopinput();
-   ESC_stopoutput();
-}

applications/rtl_lan9252demo/slave.h

@@ -1,38 +0,0 @@
-#ifndef __SLAVE_H__
-#define __SLAVE_H__
-
-#include "utypes.h"
-
-/**
- * This function reads physical input values and assigns the corresponding members
- * of Rb.Buttons
- */
-void cb_get_Buttons();
-
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-void cb_set_LEDs();
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex);
-
-/**
- * This function sets an application loop callback function.
- */
-void set_application_loop_hook(void (*callback)(void));
-
-/**
- * Main function for SOES application
- */
-void soes (void);
-
-/**
- * Initialize the SOES stack
- */
-void soes_init (void);
-
-#endif /* __SLAVE_H__ */

applications/rtl_lan9252demo/utypes.h

@@ -1,47 +0,0 @@
-#ifndef __UTYPES_H__
-#define __UTYPES_H__
-
-#include <cc.h>
-
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN   
-   struct
-   {
-      uint8_t Button1;
-   } CC_PACKED Buttons;
-   CC_PACKED_END
-} CC_PACKED _Rbuffer;
-CC_PACKED_END
-
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED0;
-      uint8_t LED1;
-   } CC_PACKED LEDs;
-   CC_PACKED_END
-} CC_PACKED _Wbuffer;
-CC_PACKED_END
-
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint32_t Multiplier;
-   } CC_PACKED Parameters;
-   CC_PACKED_END
-} CC_PACKED _Cbuffer;
-CC_PACKED_END
-
-extern _Rbuffer Rb;
-extern _Wbuffer Wb;
-extern _Cbuffer Cb;
-
-#endif /* __UTYPES_H__ */

applications/rtl_lwip_eoe/ecat_options.h

@@ -1,7 +1,13 @@
-#ifndef __CONFIG_H__
-#define __CONFIG_H__
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
 
-#include <cc.h>
+#include "cc.h"
+
+#define USE_FOE     0
+#define USE_EOE     1
+
+#define MAX_INPUT_SIZE   128
+#define MAX_OUTPUT_SIZE  128
 
 #define MBXSIZE     128
 #define MBXSIZEBOOT 128
@@ -26,10 +32,13 @@
 #define MBX1_smc_b  0x22
 
 #define SM2_sma     0x1100
-#define SM2_smc     0x24
+#define SM2_smc     0x64
 #define SM2_act     1
 #define SM3_sma     0x1180
 #define SM3_smc     0x20
 #define SM3_act     1
 
-#endif /* __CONFIG_H__ */
+#define MAX_MAPPINGS_SM2 2
+#define MAX_MAPPINGS_SM3 1
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/rtl_lwip_eoe/main.c

@@ -0,0 +1,361 @@
+
+#include <kern.h>
+#include <xmc4.h>
+#include <bsp.h>
+#include "esc.h"
+#include "esc_eoe.h"
+#include "esc_hw.h"
+#include "ecat_slv.h"
+#include "options.h"
+#include "utypes.h"
+#include <lwip/sys.h>
+#include <lwip/netifapi.h>
+#include <netif/etharp.h>
+#include <string.h>
+
+#define CFG_HOSTNAME "xmc48relax"
+
+static struct netif * found_if;
+static mbox_t * pbuf_mbox;
+static uint8_t mac_address[6] = {0x1E, 0x30, 0x6C, 0xA2, 0x45, 0x5E};
+
+static void appl_get_buffer (eoe_pbuf_t * ebuf);
+static void appl_free_buffer (eoe_pbuf_t * ebuf);
+static int appl_load_eth_settings (void);
+static int appl_store_ethernet_settings (void);
+static void appl_handle_recv_buffer (uint8_t port, eoe_pbuf_t * ebuf);
+static int appl_fetch_send_buffer (uint8_t port, eoe_pbuf_t * ebuf);
+
+/* Application variables */
+_Objects    Obj;
+
+extern sem_t * ecat_isr_sem;
+
+struct netif * net_add_interface (err_t (*netif_fn) (struct netif * netif))
+{
+   struct netif * netif;
+   ip_addr_t ipaddr;
+   ip_addr_t netmask;
+   ip_addr_t gateway;
+   err_enum_t error;
+
+   netif = malloc (sizeof(struct netif));
+   UASSERT (netif != NULL, EMEM);
+
+   /* Set default (zero) values */
+   ip_addr_set_zero (&ipaddr);
+   ip_addr_set_zero (&netmask);
+   ip_addr_set_zero (&gateway);
+
+   /* Let lwIP TCP/IP thread initialise and add the interface. The interface
+    * will be down until net_configure() is called.
+    */
+   error = netifapi_netif_add (
+         netif, &ipaddr, &netmask, &gateway, NULL, netif_fn, tcpip_input);
+   UASSERT (error == ERR_OK, EARG);
+
+   return netif;
+}
+
+void cb_get_inputs (void)
+{
+   static int count;
+   Obj.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
+   if(Obj.Buttons.Button1 == 0)
+   {
+      count++;
+      if(count > 1000)
+      {
+         ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
+      }
+   }
+   else
+   {
+      count = 0;
+   }
+}
+
+void cb_set_outputs (void)
+{
+   gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0);
+   gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1);
+}
+
+void cb_state_change (uint8_t * as, uint8_t * an)
+{
+   if (*as == SAFEOP_TO_OP)
+   {
+      /* Enable watchdog interrupt */
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
+   }
+
+   /* Clean up data if we have been in INIT state */
+   if ((*as == INIT_TO_PREOP) && (*an == ESCinit))
+   {
+      struct pbuf *p;
+      int i = 0;
+      while(mbox_fetch_tmo(pbuf_mbox, (void **)&p, 0) == 0)
+      {
+         pbuf_free(p);
+         i++;
+      }
+      if(i)
+      {
+         rprintf("Cleaned eoe pbuf: %d\n",i);
+      }
+      EOE_init();
+   }
+}
+
+/* Callback to allocate a buffer */
+static void appl_get_buffer (eoe_pbuf_t * ebuf)
+{
+   struct pbuf * p = pbuf_alloc(PBUF_RAW, PBUF_POOL_BUFSIZE, PBUF_POOL);
+
+   if(p != NULL)
+   {
+      ebuf->payload = p->payload;
+      ebuf->pbuf = p;
+      ebuf->len = p->len;
+   }
+   else
+   {
+      ebuf->payload = NULL;
+      ebuf->pbuf = NULL;
+      ebuf->len = p->len;
+   }
+}
+
+/* Callback to free a buffer */
+ static void appl_free_buffer (eoe_pbuf_t * ebuf)
+{
+   if(ebuf->pbuf != NULL)
+   {
+      pbuf_free(ebuf->pbuf);
+   }
+}
+
+/* Callback to act on a received get IP request.
+ * From here we can retrieve locla IP and DNS information
+ *
+ */
+static int appl_load_eth_settings (void)
+{
+   /*
+    * ip_addr_t ip;
+    * IP4_ADDR (&ip, 192, 168, 9, 200)
+    * ip.addr = ntohl(ip.addr);
+    * EOE_ecat_set_ip();
+    */
+   return 0;
+}
+
+/* Callback to act on a received set IP request.
+ * Avalaible IP and DNS data depends on what the master provide.
+ * We only fetch what is needed to init lwIP
+ */
+static int appl_store_ethernet_settings (void)
+{
+   int ret = 0;
+   ip_addr_t ip;
+   ip_addr_t netmask;
+   ip_addr_t gateway;
+
+   /* Fetch received IP information, IP returned in host uint32_t format */
+   if(EOE_ecat_get_ip (0, &ip.addr) == -1)
+   {
+      ret = -1;
+   }
+   else if(EOE_ecat_get_subnet (0, &netmask.addr) == -1)
+   {
+      ret = -1;
+   }
+   else if(EOE_ecat_get_gateway (0, &gateway.addr) == -1)
+   {
+      ret = -1;
+   }
+   else
+   {
+      ip.addr = htonl(ip.addr);
+      netmask.addr = htonl(netmask.addr);
+      gateway.addr = htonl(gateway.addr);
+      /* Configure TCP/IP network stack. DNS server and host name are not set. */
+      net_configure (found_if, &ip, &netmask, &gateway, NULL, CFG_HOSTNAME);
+      net_link_up (found_if);
+      if (netif_is_up (found_if))
+      {
+         rprintf ("netif up (%d.%d.%d.%d)\n",
+                  ip4_addr1 (&found_if->ip_addr),
+                  ip4_addr2 (&found_if->ip_addr),
+                  ip4_addr3 (&found_if->ip_addr),
+                  ip4_addr4 (&found_if->ip_addr));
+      }
+      else
+      {
+         rprintf ("netif down\n");
+      }
+   }
+   return ret;
+}
+
+/* Callback from the stack to handled a completed Ethernet frame. */
+static void appl_handle_recv_buffer (uint8_t port, eoe_pbuf_t * ebuf)
+{
+   struct pbuf * p = ebuf->pbuf;
+   p->len = p->tot_len = ebuf->len;
+   if(ebuf->pbuf != NULL)
+   {
+      /* Dummy code for bounce back a L2 frame of type 0x88A4U back to
+       * the EtherCAT master.
+       */
+      struct eth_hdr *ethhdr;
+      uint16_t type;
+      ethhdr = p->payload;
+      type = htons(ethhdr->type);
+      if (type == 0x88A4U)
+      {
+         if(mbox_post_tmo(pbuf_mbox, p, 0))
+         {
+            pbuf_free (p);
+            rprintf("transmit_frame timeout full?\n");
+         }
+         else
+         {
+            sem_signal(ecat_isr_sem);
+         }
+      }
+      /* Normal procedure to pass the Ethernet frame to lwIP to handle */
+      else if (found_if->input (p, found_if) != 0)
+      {
+         pbuf_free (p);
+      }
+   }
+}
+
+/* Callback from the stack to fetch a posted Ethernet frame to send to the
+ * Master over EtherCAT
+ */
+static int appl_fetch_send_buffer (uint8_t port, eoe_pbuf_t * ebuf)
+{
+   int ret;
+   struct pbuf *p;
+
+   if(mbox_fetch_tmo(pbuf_mbox, (void **)&p, 0))
+   {
+      ebuf->pbuf = NULL;
+      ebuf->payload = NULL;
+      ret = -1;
+   }
+   else
+   {
+      ebuf->pbuf = p;
+      ebuf->payload = p->payload;
+      ebuf->len = p->tot_len;
+      ret = ebuf->len;
+   }
+   return ret;
+}
+
+/* Util function for lwIP to post Ethernet frames to be sent over dummy
+ * EtherCAT network interface.
+ */
+static err_t transmit_frame (struct netif *netif, struct pbuf *p)
+{
+   /* Try posting the buffer to the EoE stack send Q, the caller will try to
+    * free the buffer if we fail to post..
+    */
+   if(mbox_post_tmo(pbuf_mbox, p, 0))
+   {
+      rprintf("transmit_frame timeout full?\n");
+   }
+   else
+   {
+      /* Create a pbuf ref to keep the buf alive until it is sent over EoE */
+      pbuf_ref(p);
+      sem_signal(ecat_isr_sem);
+   }
+   return ERR_OK;
+}
+
+/* Create an dummy lwIP EtherCAT interface */
+err_t eoe_netif_init (struct netif * netif)
+{
+   rprintf("EOE eoe_netif_init called\n");
+
+   /* Initialise netif */
+   netif->name[0]    = 'e';
+   netif->name[1]    = 'c';
+   netif->output     = etharp_output;
+   netif->linkoutput = transmit_frame;
+   netif->mtu = 1500;   /* maximum transfer unit */
+   netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_IGMP;
+   netif->hwaddr_len = ETHARP_HWADDR_LEN;
+   memcpy (netif->hwaddr, mac_address, sizeof(netif->hwaddr));
+
+   return ERR_OK;
+}
+
+/* Callback on fragment sent event, we trigger a stack cycle to handle mailbox traffic
+ * if we might have more fragements in queue.
+ */
+void eoe_frame_sent (void)
+{
+   sem_signal(ecat_isr_sem);
+}
+
+int main (void)
+{
+   static esc_cfg_t config =
+   {
+      .user_arg = NULL,
+      .use_interrupt = 1,
+      .watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
+      .set_defaults_hook = NULL,
+      .pre_state_change_hook = NULL,
+      .post_state_change_hook = cb_state_change,
+      .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 = ESC_interrupt_enable,
+      .esc_hw_interrupt_disable = ESC_interrupt_disable,
+      .esc_hw_eep_handler = ESC_eep_handler,
+      .esc_check_dc_handler = NULL
+   };
+
+   /* Configuration parameters for EoE
+    * Function callbacks to interact with an TCP/IP stack
+    */
+   static eoe_cfg_t eoe_config =
+   {
+      .get_buffer = appl_get_buffer,
+      .free_buffer = appl_free_buffer,
+      .load_eth_settings = appl_load_eth_settings,
+      .store_ethernet_settings = appl_store_ethernet_settings,
+      .handle_recv_buffer = appl_handle_recv_buffer,
+      .fetch_send_buffer = appl_fetch_send_buffer,
+      .fragment_sent_event = eoe_frame_sent,
+   };
+
+   /* Create an mailbox for interprocess communication between TCP/IP stack and
+    * EtherCAT stack.
+    */
+   pbuf_mbox = mbox_create (10);
+   /* Set up dummy IF */
+   found_if = net_add_interface(eoe_netif_init);
+   if(found_if == NULL)
+   {
+      rprintf("OBS! Failed to create an EtherCAT network interface\n");
+   }
+   /* Init EoE */
+   EOE_config(&eoe_config);
+
+   rprintf ("Hello world\n");
+   ecat_slv_init (&config);
+
+   /* The stack is run from interrupt and a worker thread in esc_hw.c */
+
+   return 0;
+}

applications/rtl_lwip_eoe/slave30.c

@@ -0,0 +1,14 @@
+#include <stddef.h>
+#include "utypes.h"
+#include "ecat_options.h"
+#include "esc.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;

applications/rtl_lwip_eoe/slave30.esx

@@ -1,298 +1,421 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Slave id="evb9252_dig" productCode="1234">
-  <Name>lan9252</Name>
+<Slave xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="com.rtlabs.emf.esx" fileVersion="2" id="slave30" productCode="0x3030">
+  <Name>slave30 product</Name>
   <Vendor>
     <Id>0x1337</Id>
-    <Name>rt-labs AB</Name>
+    <Name>rt-labs</Name>
   </Vendor>
   <Group>
-    <Type>lan9252_spi</Type>
-    <Name>lan9252</Name>
+    <Type>sdk test</Type>
+    <Name>sdk test</Name>
   </Group>
   <Fmmu>Outputs</Fmmu>
   <Fmmu>Inputs</Fmmu>
+  <Fmmu>MBoxState</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="0x64" DefaultSize="0" StartAddress="0x1100">Outputs</Sm>
   <Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
-  <Mailbox CoE="true" FoE="true">
+  <Mailbox CoE="true" EoE="true">
     <Bootstrap Length="128" Start="0x1000"/>
     <Standard Length="128" Start="0x1000"/>
   </Mailbox>
   <Eeprom>
-    <ConfigData>8002000000000000</ConfigData>
+    <ConfigData>8006810600000000</ConfigData>
     <BootStrap>0010800080108000</BootStrap>
   </Eeprom>
   <Dictionary>
     <Item>
-      <Name>Device Type</Name>
-      <Index>0x1000</Index>
-      <DataType>UNSIGNED32</DataType>
-      <DefaultValue>0x01901389</DefaultValue>
-    </Item>
-    <Item Managed="true">
-      <Name>Device Name</Name>
-      <Index>0x1008</Index>
-      <DataType>VISIBLE_STRING</DataType>
-      <DefaultValue>evb9252_dig</DefaultValue>
-    </Item>
-    <Item>
-      <Name>Hardware Version</Name>
       <Index>0x1009</Index>
+      <Name>Hardware Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
+      <Length>4</Length>
     </Item>
     <Item>
-      <Name>Software Version</Name>
       <Index>0x100A</Index>
+      <Name>Software Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
+      <Length>4</Length>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1000</Index>
+      <Name>Device Type</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0x00001389</DefaultValue>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1008</Index>
+      <Name>Device Name</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>slave30</DefaultValue>
+      <Length>7</Length>
     </Item>
     <Item Managed="true">
-      <Name>Identity Object</Name>
       <Index>0x1018</Index>
+      <Name>Identity Object</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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>
+        <DefaultValue>0x3030</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">
-      <Name>LEDs</Name>
       <Index>0x1600</Index>
+      <Name>LEDgroup0</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
-        <DataType>UNSIGNED8</DataType>
-        <DefaultValue>2</DefaultValue>
-      </SubItem>
-      <SubItem>
-        <Name>LED0</Name>
-        <DataType>UNSIGNED32</DataType>
-        <DefaultValue>0x70000108</DefaultValue>
-      </SubItem>
-      <SubItem>
-        <Name>LED1</Name>
-        <DataType>UNSIGNED32</DataType>
-        <DefaultValue>0x70000208</DefaultValue>
-      </SubItem>
-    </Item>
-    <Item Managed="true">
-      <Name>Buttons</Name>
-      <Index>0x1A00</Index>
-      <DataType>RECORD</DataType>
-      <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
+        <Index>0x01</Index>
+        <Name>LED0</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x70000108</DefaultValue>
+      </SubItem>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1601</Index>
+      <Name>LEDgroup1</Name>
+      <DataType>RECORD</DataType>
+      <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Name>LED1</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x70010108</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">
-      <Name>Sync Manager Communication Type</Name>
       <Index>0x1C00</Index>
+      <Name>Sync Manager Communication Type</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Sync Manager 2 PDO Assignment</Name>
       <Index>0x1C12</Index>
+      <Name>Sync Manager 2 PDO Assignment</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
-        <DefaultValue>1</DefaultValue>
+        <DefaultValue>2</DefaultValue>
       </SubItem>
       <SubItem>
+        <Index>0x01</Index>
         <Name>PDO Mapping</Name>
         <DataType>UNSIGNED16</DataType>
         <DefaultValue>0x1600</DefaultValue>
       </SubItem>
+      <SubItem>
+        <Index>0x02</Index>
+        <Name>PDO Mapping</Name>
+        <DataType>UNSIGNED16</DataType>
+        <DefaultValue>0x1601</DefaultValue>
+      </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>Sync Manager 3 PDO Assignment</Name>
       <Index>0x1C13</Index>
+      <Name>Sync Manager 3 PDO Assignment</Name>
       <DataType>ARRAY</DataType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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">
-      <Name>Buttons</Name>
       <Index>0x6000</Index>
+      <Name>Buttons</Name>
       <DataType>RECORD</DataType>
       <Variable>Buttons</Variable>
       <VariableType>Input</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <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>
-        <Access>RO</Access>
+        <PdoMapping>TX</PdoMapping>
         <Variable>Button1</Variable>
         <VariableType>Input</VariableType>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>LEDs</Name>
       <Index>0x7000</Index>
+      <Name>LEDgroup0</Name>
       <DataType>RECORD</DataType>
-      <Variable>LEDs</Variable>
+      <Variable>LEDgroup0</Variable>
       <VariableType>Output</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
-        <DefaultValue>2</DefaultValue>
+        <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
+        <Index>0x01</Index>
+        <Access>RO</Access>
         <Name>LED0</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>0</DefaultValue>
-        <Access>RO</Access>
+        <PdoMapping>RX</PdoMapping>
         <Variable>LED0</Variable>
         <VariableType>Output</VariableType>
       </SubItem>
+    </Item>
+    <Item Managed="true">
+      <Index>0x7001</Index>
+      <Name>LEDgroup1</Name>
+      <DataType>RECORD</DataType>
+      <Variable>LEDgroup1</Variable>
+      <VariableType>Output</VariableType>
       <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Access>RO</Access>
         <Name>LED1</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>0</DefaultValue>
-        <Access>RO</Access>
+        <PdoMapping>RX</PdoMapping>
         <Variable>LED1</Variable>
         <VariableType>Output</VariableType>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>Parameters</Name>
       <Index>0x8000</Index>
+      <Name>Parameters</Name>
       <DataType>RECORD</DataType>
       <Variable>Parameters</Variable>
       <VariableType>Parameter</VariableType>
       <SubItem>
-        <Name>Number of Elements</Name>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
+        <Index>0x01</Index>
+        <Access>RO</Access>
         <Name>Multiplier</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0</DefaultValue>
-        <Access>RW</Access>
+        <PdoMapping>TX_AND_RX</PdoMapping>
         <Variable>Multiplier</Variable>
         <VariableType>Parameter</VariableType>
       </SubItem>
     </Item>
+    <Item Managed="true">
+      <Index>0x8001</Index>
+      <Access>RO</Access>
+      <Name>variableRW</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0</DefaultValue>
+      <Variable>variableRW</Variable>
+      <VariableType>Parameter</VariableType>
+    </Item>
   </Dictionary>
-  <RxPdo>
-    <Index>0x1600</Index>
-    <Container>LEDs</Container>
-    <Name>LEDs</Name>
+  <SmAssignment>
+    <Index>0x1C12</Index>
     <Entry>
-      <Index>0x7000</Index>
-      <SubIndex>1</SubIndex>
-      <Variable>LED0</Variable>
+      <Index>0x01</Index>
+      <AssignedPdo>0x1600</AssignedPdo>
     </Entry>
     <Entry>
-      <Index>0x7000</Index>
-      <SubIndex>2</SubIndex>
+      <Index>0x02</Index>
+      <AssignedPdo>0x1601</AssignedPdo>
+    </Entry>
+  </SmAssignment>
+  <SmAssignment>
+    <Index>0x1C13</Index>
+    <Entry>
+      <Index>0x01</Index>
+      <AssignedPdo>0x1A00</AssignedPdo>
+    </Entry>
+  </SmAssignment>
+  <RxPdo>
+    <Index>0x1600</Index>
+    <Name>LEDgroup0</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x01</MappedSubIndex>
+      <Variable>LED0</Variable>
+    </Entry>
+  </RxPdo>
+  <RxPdo>
+    <Index>0x1601</Index>
+    <Name>LEDgroup1</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x7001</MappedIndex>
+      <MappedSubIndex>0x01</MappedSubIndex>
       <Variable>LED1</Variable>
     </Entry>
   </RxPdo>
   <TxPdo>
     <Index>0x1A00</Index>
-    <Container>Buttons</Container>
     <Name>Buttons</Name>
     <Entry>
-      <Index>0x6000</Index>
-      <SubIndex>1</SubIndex>
+      <Index>0x1</Index>
+      <MappedIndex>0x6000</MappedIndex>
+      <MappedSubIndex>0x01</MappedSubIndex>
       <Variable>Button1</Variable>
     </Entry>
   </TxPdo>
   <Input>
+    <Index>0x6000</Index>
     <Name>Buttons</Name>
-    <Type>RECORD</Type>
+    <PdoMapping>TX</PdoMapping>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
       <Name>Button1</Name>
       <Type>UNSIGNED8</Type>
+      <PdoMapping>TX</PdoMapping>
     </Member>
   </Input>
   <Output>
-    <Name>LEDs</Name>
-    <Type>RECORD</Type>
+    <Index>0x7000</Index>
+    <Name>LEDgroup0</Name>
+    <PdoMapping>RX</PdoMapping>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
       <Name>LED0</Name>
       <Type>UNSIGNED8</Type>
+      <PdoMapping>RX</PdoMapping>
     </Member>
+  </Output>
+  <Output>
+    <Index>0x7001</Index>
+    <Name>LEDgroup1</Name>
+    <PdoMapping>RX</PdoMapping>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
       <Name>LED1</Name>
       <Type>UNSIGNED8</Type>
+      <PdoMapping>RX</PdoMapping>
     </Member>
   </Output>
   <Parameter>
+    <Index>0x8000</Index>
     <Name>Parameters</Name>
-    <Type>RECORD</Type>
+    <PdoMapping>NONE</PdoMapping>
+    <ObjectType>RECORD</ObjectType>
     <Member>
+      <Index>0x01</Index>
       <Name>Multiplier</Name>
       <Type>UNSIGNED32</Type>
+      <PdoMapping>TX_AND_RX</PdoMapping>
     </Member>
   </Parameter>
-</Slave>
+  <Parameter>
+    <Index>0x8001</Index>
+    <Name>variableRW</Name>
+    <Type>UNSIGNED32</Type>
+    <PdoMapping>NONE</PdoMapping>
+    <ObjectType>VAR</ObjectType>
+  </Parameter>
+</Slave>

applications/rtl_lwip_eoe/slave30.xml

@@ -2,23 +2,23 @@
 <EtherCATInfo>
   <Vendor>
     <Id>#x1337</Id>
-    <Name LcId="1033">rt-labs AB</Name>
+    <Name LcId="1033">rt-labs</Name>
   </Vendor>
   <Descriptions>
     <Groups>
       <Group>
-        <Type>lan9252_spi</Type>
-        <Name LcId="1033">lan9252</Name>
+        <Type>sdk test</Type>
+        <Name LcId="1033">sdk test</Name>
       </Group>
     </Groups>
     <Devices>
       <Device Physics="YY">
-        <Type ProductCode="1234" RevisionNo="0">evb9252_dig</Type>
-        <Name LcId="1033">lan9252</Name>
-        <GroupType>lan9252_spi</GroupType>
+        <Type ProductCode="#x3030" RevisionNo="0">slave30</Type>
+        <Name LcId="1033">slave30 product</Name>
+        <GroupType>sdk test</GroupType>
         <Profile>
           <ProfileNo>5001</ProfileNo>
-          <AddInfo>400</AddInfo>
+          <AddInfo>0</AddInfo>
           <Dictionary>
             <DataTypes>
               <DataType>
@@ -26,7 +26,7 @@
                 <BitSize>144</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -77,10 +77,10 @@
               </DataType>
               <DataType>
                 <Name>DT1600</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -98,12 +98,26 @@
                     <Access>ro</Access>
                   </Flags>
                 </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1601</Name>
+                <BitSize>48</BitSize>
                 <SubItem>
-                  <SubIdx>2</SubIdx>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
                   <Name>LED1</Name>
                   <Type>UDINT</Type>
                   <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
+                  <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -114,7 +128,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -147,7 +161,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -168,18 +182,18 @@
               <DataType>
                 <Name>DT1C12ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>16</BitSize>
+                <BitSize>32</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>1</Elements>
+                  <Elements>2</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C12</Name>
-                <BitSize>32</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -190,7 +204,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C12ARR</Type>
-                  <BitSize>16</BitSize>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -211,7 +225,7 @@
                 <BitSize>32</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -234,7 +248,7 @@
                 <BitSize>24</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -250,15 +264,16 @@
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
+                    <PdoMapping>T</PdoMapping>
                   </Flags>
                 </SubItem>
               </DataType>
               <DataType>
                 <Name>DT7000</Name>
-                <BitSize>32</BitSize>
+                <BitSize>24</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -272,18 +287,34 @@
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <PdoMapping>R</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT7001</Name>
+                <BitSize>24</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
                 </SubItem>
                 <SubItem>
-                  <SubIdx>2</SubIdx>
+                  <SubIdx>1</SubIdx>
                   <Name>LED1</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
-                  <BitOffs>24</BitOffs>
+                  <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
+                    <PdoMapping>R</PdoMapping>
                   </Flags>
                 </SubItem>
               </DataType>
@@ -292,7 +323,7 @@
                 <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
-                  <Name>Number of Elements</Name>
+                  <Name>Max SubIndex</Name>
                   <Type>USINT</Type>
                   <BitSize>8</BitSize>
                   <BitOffs>0</BitOffs>
@@ -307,17 +338,14 @@
                   <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
-                    <Access>rw</Access>
+                    <Access>ro</Access>
+                    <PdoMapping>TR</PdoMapping>
                   </Flags>
                 </SubItem>
               </DataType>
               <DataType>
-                <Name>STRING(3)</Name>
-                <BitSize>24</BitSize>
-              </DataType>
-              <DataType>
-                <Name>STRING(11)</Name>
-                <BitSize>88</BitSize>
+                <Name>STRING(4)</Name>
+                <BitSize>32</BitSize>
               </DataType>
               <DataType>
                 <Name>UDINT</Name>
@@ -327,42 +355,21 @@
                 <Name>UINT</Name>
                 <BitSize>16</BitSize>
               </DataType>
+              <DataType>
+                <Name>STRING(7)</Name>
+                <BitSize>56</BitSize>
+              </DataType>
               <DataType>
                 <Name>USINT</Name>
                 <BitSize>8</BitSize>
               </DataType>
             </DataTypes>
             <Objects>
-              <Object>
-                <Index>#x1000</Index>
-                <Name>Device Type</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultValue>#x01901389</DefaultValue>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <Category>m</Category>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x1008</Index>
-                <Name>Device Name</Name>
-                <Type>STRING(11)</Type>
-                <BitSize>88</BitSize>
-                <Info>
-                  <DefaultString>evb9252_dig</DefaultString>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                </Flags>
-              </Object>
               <Object>
                 <Index>#x1009</Index>
                 <Name>Hardware Version</Name>
-                <Type>STRING(3)</Type>
-                <BitSize>24</BitSize>
+                <Type>STRING(4)</Type>
+                <BitSize>32</BitSize>
                 <Info>
                   <DefaultString>1.0</DefaultString>
                 </Info>
@@ -374,8 +381,8 @@
               <Object>
                 <Index>#x100A</Index>
                 <Name>Software Version</Name>
-                <Type>STRING(3)</Type>
-                <BitSize>24</BitSize>
+                <Type>STRING(4)</Type>
+                <BitSize>32</BitSize>
                 <Info>
                   <DefaultString>1.0</DefaultString>
                 </Info>
@@ -383,6 +390,31 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x1000</Index>
+                <Name>Device Type</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>#x00001389</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1008</Index>
+                <Name>Device Name</Name>
+                <Type>STRING(7)</Type>
+                <BitSize>56</BitSize>
+                <Info>
+                  <DefaultString>slave30</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
               <Object>
                 <Index>#x1018</Index>
                 <Name>Identity Object</Name>
@@ -390,7 +422,7 @@
                 <BitSize>144</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>4</DefaultValue>
                     </Info>
@@ -404,7 +436,7 @@
                   <SubItem>
                     <Name>Product Code</Name>
                     <Info>
-                      <DefaultValue>1234</DefaultValue>
+                      <DefaultValue>#x3030</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -426,14 +458,14 @@
               </Object>
               <Object>
                 <Index>#x1600</Index>
-                <Name>LEDs</Name>
+                <Name>LEDgroup0</Name>
                 <Type>DT1600</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>2</DefaultValue>
+                      <DefaultValue>1</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -442,10 +474,27 @@
                       <DefaultValue>#x70000108</DefaultValue>
                     </Info>
                   </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1601</Index>
+                <Name>LEDgroup1</Name>
+                <Type>DT1601</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
                   <SubItem>
                     <Name>LED1</Name>
                     <Info>
-                      <DefaultValue>#x70000208</DefaultValue>
+                      <DefaultValue>#x70010108</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -460,7 +509,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -483,7 +532,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>4</DefaultValue>
                     </Info>
@@ -521,12 +570,12 @@
                 <Index>#x1C12</Index>
                 <Name>Sync Manager 2 PDO Assignment</Name>
                 <Type>DT1C12</Type>
-                <BitSize>32</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>1</DefaultValue>
+                      <DefaultValue>2</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -535,6 +584,12 @@
                       <DefaultValue>#x1600</DefaultValue>
                     </Info>
                   </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1601</DefaultValue>
+                    </Info>
+                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -547,7 +602,7 @@
                 <BitSize>32</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -570,7 +625,7 @@
                 <BitSize>24</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -588,14 +643,14 @@
               </Object>
               <Object>
                 <Index>#x7000</Index>
-                <Name>LEDs</Name>
+                <Name>LEDgroup0</Name>
                 <Type>DT7000</Type>
-                <BitSize>32</BitSize>
+                <BitSize>24</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>2</DefaultValue>
+                      <DefaultValue>1</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -604,6 +659,23 @@
                       <DefaultValue>0</DefaultValue>
                     </Info>
                   </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7001</Index>
+                <Name>LEDgroup1</Name>
+                <Type>DT7001</Type>
+                <BitSize>24</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
                   <SubItem>
                     <Name>LED1</Name>
                     <Info>
@@ -622,7 +694,7 @@
                 <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
-                    <Name>Number of Elements</Name>
+                    <Name>Max SubIndex</Name>
                     <Info>
                       <DefaultValue>1</DefaultValue>
                     </Info>
@@ -638,28 +710,45 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x8001</Index>
+                <Name>variableRW</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
             </Objects>
           </Dictionary>
         </Profile>
         <Fmmu>Outputs</Fmmu>
         <Fmmu>Inputs</Fmmu>
+        <Fmmu>MBoxState</Fmmu>
         <Sm ControlByte="#x26" DefaultSize="128" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
         <Sm ControlByte="#x22" DefaultSize="128" Enable="1" StartAddress="#x1080">MBoxIn</Sm>
-        <Sm ControlByte="#x24" Enable="1" StartAddress="#x1100">Outputs</Sm>
+        <Sm ControlByte="#x64" Enable="1" StartAddress="#x1100">Outputs</Sm>
         <Sm ControlByte="#x20" Enable="1" StartAddress="#x1180">Inputs</Sm>
         <RxPdo Fixed="true" Mandatory="true" Sm="2">
           <Index>#x1600</Index>
-          <Name>LEDs</Name>
+          <Name>LEDgroup0</Name>
           <Entry>
             <Index>#x7000</Index>
-            <SubIndex>1</SubIndex>
+            <SubIndex>#x1</SubIndex>
             <BitLen>8</BitLen>
             <Name>LED0</Name>
             <DataType>USINT</DataType>
           </Entry>
+        </RxPdo>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1601</Index>
+          <Name>LEDgroup1</Name>
           <Entry>
-            <Index>#x7000</Index>
-            <SubIndex>2</SubIndex>
+            <Index>#x7001</Index>
+            <SubIndex>#x1</SubIndex>
             <BitLen>8</BitLen>
             <Name>LED1</Name>
             <DataType>USINT</DataType>
@@ -670,19 +759,19 @@
           <Name>Buttons</Name>
           <Entry>
             <Index>#x6000</Index>
-            <SubIndex>1</SubIndex>
+            <SubIndex>#x1</SubIndex>
             <BitLen>8</BitLen>
             <Name>Button1</Name>
             <DataType>USINT</DataType>
           </Entry>
         </TxPdo>
         <Mailbox DataLinkLayer="true">
-          <CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
-          <FoE/>
+          <EoE/>
+          <CoE CompleteAccess="false" PdoAssign="false" PdoUpload="false" SdoInfo="true"/>
         </Mailbox>
         <Eeprom>
           <ByteSize>256</ByteSize>
-          <ConfigData>8002000000000000</ConfigData>
+          <ConfigData>8006810600000000</ConfigData>
           <BootStrap>0010800080108000</BootStrap>
         </Eeprom>
       </Device>

applications/rtl_lwip_eoe/slave30_objectlist.c

@@ -1,80 +1,94 @@
-#include "soes/esc_coe.h"
+#include "esc_coe.h"
 #include "utypes.h"
 #include <stddef.h>
 
-static const char acName1000[] = "Device Type";
-static const char acName1000_0[] = "Device Type";
-static const char acName1008[] = "Device Name";
-static const char acName1008_0[] = "Device Name";
+#ifndef HW_REV
+#define HW_REV "1.0"
+#endif
+
+#ifndef SW_REV
+#define SW_REV "1.0"
+#endif
+
 static const char acName1009[] = "Hardware Version";
-static const char acName1009_0[] = "Hardware Version";
 static const char acName100A[] = "Software Version";
-static const char acName100A_0[] = "Software Version";
+static const char acName1000[] = "Device Type";
+static const char acName1008[] = "Device Name";
 static const char acName1018[] = "Identity Object";
-static const char acName1018_00[] = "Number of Elements";
+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[] = "Number of Elements";
+static const char acName1600[] = "LEDgroup0";
+static const char acName1600_00[] = "Max SubIndex";
 static const char acName1600_01[] = "LED0";
-static const char acName1600_02[] = "LED1";
+static const char acName1601[] = "LEDgroup1";
+static const char acName1601_00[] = "Max SubIndex";
+static const char acName1601_01[] = "LED1";
 static const char acName1A00[] = "Buttons";
-static const char acName1A00_00[] = "Number of Elements";
+static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "Button1";
 static const char acName1C00[] = "Sync Manager Communication Type";
-static const char acName1C00_00[] = "Number of Elements";
+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[] = "Number of Elements";
+static const char acName1C12_00[] = "Max SubIndex";
 static const char acName1C12_01[] = "PDO Mapping";
+static const char acName1C12_02[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
-static const char acName1C13_00[] = "Number of Elements";
+static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
 static const char acName6000[] = "Buttons";
-static const char acName6000_00[] = "Number of Elements";
+static const char acName6000_00[] = "Max SubIndex";
 static const char acName6000_01[] = "Button1";
-static const char acName7000[] = "LEDs";
-static const char acName7000_00[] = "Number of Elements";
+static const char acName7000[] = "LEDgroup0";
+static const char acName7000_00[] = "Max SubIndex";
 static const char acName7000_01[] = "LED0";
-static const char acName7000_02[] = "LED1";
+static const char acName7001[] = "LEDgroup1";
+static const char acName7001_00[] = "Max SubIndex";
+static const char acName7001_01[] = "LED1";
 static const char acName8000[] = "Parameters";
-static const char acName8000_00[] = "Number of Elements";
+static const char acName8000_00[] = "Max SubIndex";
 static const char acName8000_01[] = "Multiplier";
+static const char acName8001[] = "variableRW";
 
-const _objd SDO1000[] =
-{
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x01901389, NULL},
-};
-const _objd SDO1008[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "evb9252_dig"},
-};
 const _objd SDO1009[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
+  {0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName1009, 0, HW_REV},
 };
 const _objd SDO100A[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
+  {0x0, DTYPE_VISIBLE_STRING, 32, ATYPE_RO, acName100A, 0, SW_REV},
+};
+const _objd SDO1000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
+};
+const _objd SDO1008[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 56, ATYPE_RO, acName1008, 0, "slave30"},
 };
 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},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x3030, NULL},
   {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
   {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
 };
 const _objd SDO1600[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 2, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
   {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
-  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000208, NULL},
+};
+const _objd SDO1601[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
 };
 const _objd SDO1A00[] =
 {
@@ -91,8 +105,9 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 1, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
+  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
 };
 const _objd SDO1C13[] =
 {
@@ -102,18 +117,26 @@ const _objd SDO1C13[] =
 const _objd SDO6000[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_01, 0, &Rb.Buttons.Button1},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button1},
 };
 const _objd SDO7000[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Wb.LEDs.LED0},
-  {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_02, 0, &Wb.LEDs.LED1},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDgroup0.LED0},
+};
+const _objd SDO7001[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.LEDgroup1.LED1},
 };
 const _objd SDO8000[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Cb.Parameters.Multiplier},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO | ATYPE_RXPDO, acName8000_01, 0, &Obj.Parameters.Multiplier},
+};
+const _objd SDO8001[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8001, 0, &Obj.variableRW},
 };
 
 const _objectlist SDOobjects[] =
@@ -123,13 +146,16 @@ const _objectlist SDOobjects[] =
   {0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
   {0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
   {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
-  {0x1600, OTYPE_RECORD, 2, 0, acName1600, SDO1600},
+  {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
+  {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
   {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 1, 0, acName1C12, SDO1C12},
+  {0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
   {0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000},
-  {0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
+  {0x7000, OTYPE_RECORD, 1, 0, acName7000, SDO7000},
+  {0x7001, OTYPE_RECORD, 1, 0, acName7001, SDO7001},
   {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
+  {0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

applications/rtl_lwip_eoe/utypes.h

@@ -0,0 +1,50 @@
+#ifndef __UTYPES_H__
+#define __UTYPES_H__
+
+#include "cc.h"
+
+
+/* Object dictionary storage */
+
+typedef struct
+{
+   /* Inputs */
+   struct
+   {
+      uint8_t Button1;
+   } Buttons;
+
+
+   /* Outputs */
+   struct
+   {
+      uint8_t LED0;
+   } LEDgroup0;
+
+   struct
+   {
+      uint8_t LED1;
+   } LEDgroup1;
+
+
+   /* Parameters */
+   struct
+   {
+      uint32_t Multiplier;
+   } Parameters;
+
+   uint32_t variableRW;
+
+   /* Manufacturer specific data */
+
+   /* Dynamic TX PDO:s */
+
+   /* Dynamic RX PDO:s */
+
+   /* Sync Managers */
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

applications/rtl_slavedemo/CMakeLists.txt

@@ -1,6 +1,5 @@
 
 add_executable (rtl_slavedemo
-  soes.c
   objectlist.c
   led_handler.c
   bootstrap.c

applications/rtl_slavedemo/bootstrap.c

@@ -46,7 +46,7 @@ void boot_inithook (void)
    }
 }
 
-uint32_t flash_foe_buffer (foe_writefile_cfg_t * self, uint8_t * data)
+uint32_t flash_foe_buffer (foe_writefile_cfg_t * self, uint8_t * data, size_t length)
 {
    uint32_t flash_cmd_failed = 0;
    uint32_t calculated_address = self->dest_start_address + self->address_offset;
@@ -118,7 +118,6 @@ void bootstrap_foe_init  (void)
    {
       .buffer_size = FLASH_WRITE_BLOCK_SIZE,  /* Buffer size before we flush to destination */
       .fbuffer     = (uint8_t *)&fbuf,
-      .empty_write = 0xFF,
       .n_files     = NELEMENTS (files),
       .files       = files
    };

applications/rtl_slavedemo/ecat_options.h

@@ -0,0 +1,44 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#include "cc.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_RXPDO_SIZE   42
+#define MAX_TXPDO_SIZE   42
+
+#define MAX_MAPPINGS_SM2 1
+#define MAX_MAPPINGS_SM3 2
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/rtl_slavedemo/main.c

@@ -4,8 +4,128 @@
  */
 
 #include <kern.h>
+#include "ecat_slv.h"
+#include "utypes.h"
+#include "bsp.h"
+#include "bootstrap.h"
 
-int main(void)
+/* Application variables */
+_Rbuffer    Rb;
+_Wbuffer    Wb;
+_Cbuffer    Cb;
+
+uint32_t encoder_scale;
+uint32_t encoder_scale_mirror;
+
+void cb_get_inputs (void)
+{
+   Rb.button = gpio_get(GPIO_BUTTON_SW1);
+   //Rb.button = (flash_drv_get_active_swap() && 0x8);
+   Cb.reset_counter++;
+   Rb.encoder =  Cb.reset_counter;
+}
+
+void cb_set_outputs (void)
+{
+   gpio_set(GPIO_LED_BLUE, Wb.LED & BIT(0));
+}
+
+/** Optional: Hook called after state change for application specific
+ * actions for specific state changes.
+ */
+void post_state_change_hook (uint8_t * as, uint8_t * an)
+{
+
+   /* Add specific step change hooks here */
+   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
+   {
+      boot_inithook ();
+   }
+   else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
+   {
+      init_boothook ();
+   }
+}
+
+void post_object_download_hook (uint16_t index, uint8_t subindex,
+                                uint16_t flags)
+{
+   switch(index)
+   {
+      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;
+      }
+   }
+}
+
+void soes (void * arg)
+{
+
+   /* Setup config hooks */
+   static esc_cfg_t config =
+   {
+      .user_arg = "/spi0/et1100",
+      .use_interrupt = 0,
+      .set_defaults_hook = NULL,
+      .watchdog_cnt = 1000,
+      .pre_state_change_hook = NULL,
+      .post_state_change_hook = post_state_change_hook,
+      .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
+   };
+
+   ecat_slv_init (&config);
+
+   while (1)
+   {
+      ecat_slv();
+   }
+}
+
+uint8_t load1s, load5s, load10s;
+void my_cyclic_callback (void * arg)
+{
+   while (1)
+   {
+      task_delay(tick_from_ms (20000));
+      stats_get_load (&load1s, &load5s, &load10s);
+      DPRINT ("%d:%d:%d (1s:5s:10s)\n",
+               load1s, load5s, load10s);
+      DPRINT ("Local bootstate: %d App.state: %d\n", local_boot_state,App.state);
+      DPRINT ("AlStatus : 0x%x, AlError : 0x%x, Watchdog : %d \n", (ESCvar.ALstatus & 0x001f),ESCvar.ALerror,wd_cnt);
+
+   }
+}
+
+int main (void)
 {
    extern void led_run (void *arg);
    extern void led_error (void *arg);

applications/rtl_slavedemo/soes.c

@@ -1,351 +0,0 @@
-/*
- * Licensed under the GNU General Public License version 2 with exceptions. See
- * LICENSE file in the project root for full license information
- */
-
- /** \file
- * \brief
- * The application.
- *
- * The application, the main loop that service EtherCAT.
- */
-
-#include <kern.h>
-#include <flash_drv.h>
-
-#include <esc.h>
-#include <esc_coe.h>
-#include <esc_foe.h>
-#include "utypes.h"
-#include "config.h"
-#include "bootstrap.h"
-
-#define WD_RESET           1000
-#define DEFAULTTXPDOMAP    0x1a00
-#define DEFAULTRXPDOMAP    0x1600
-#define DEFAULTTXPDOITEMS  1
-#define DEFAULTRXPDOITEMS  1
-
-uint32_t            encoder_scale;
-uint32_t            encoder_scale_mirror;
-
-/* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
-_MBXcontrol MBXcontrol[MBXBUFFERS];
-_ESCvar     ESCvar;
-
-/* Application variables */
-_Rbuffer    Rb;
-_Wbuffer    Wb;
-_Cbuffer    Cb;
-
-/* Private variables */
-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;
-
-
-extern uint32_t local_boot_state;
-
-/** Function to pre-qualify the incoming SDO download.
- *
- * @param[in] index      = index of SDO download request to check
- * @param[in] sub-index  = sub-index of SDO download request to check
- * @return 1 if the SDO Download is correct. 0 If not correct.
- */
-int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
-{
-   if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   return 1;
-}
-
-
-/** 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;
-         }
-         ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-         break;
-      }
-      case 0x1c13:
-      {
-         if (txpdoitems > 1)
-         {
-            txpdoitems = 1;
-         }
-         if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
-             && (rxpdomap != 0x0000))
-         {
-            txpdomap = 0x1A00;
-         }
-         ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-         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, ESCvar.TXPDOsize);
-}
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   ESC_read (SM2_sma, &Wb.LED, ESCvar.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 (ESCvar.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 */
-         //gpio_set(GPIO_LED, Wb.LED & BIT(0));
-      }
-      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 (ESCvar.App.state)
-   {
-      //Rb.button = gpio_get(GPIO_WAKEUP);
-      Rb.button = (flash_drv_get_active_swap() && 0x8);
-      Cb.reset_counter++;
-      Rb.encoder =  Cb.reset_counter;
-      TXPDO_update ();
-   }
-}
-
-/** Optional: Hook called after state change for application specific
- * actions for specific state changes.
- */
-void post_state_change_hook (uint8_t * as, uint8_t * an)
-{
-
-   /* Add specific step change hooks here */
-   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
-   {
-      boot_inithook ();
-   }
-   else if((*as == INIT_TO_BOOT) && (*an & ESCerror ) == 0)
-   {
-      init_boothook ();
-   }
-}
-
-
-/** 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 (void *arg)
-{
-   DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
-
-   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-
-   /* Setup config hooks */
-   static esc_cfg_t config =
-   {
-      .user_arg = "/spi0/et1100",
-      .use_interrupt = 0,
-      .watchdog_cnt = 0,
-      .mbxsize = MBXSIZE,
-      .mbxsizeboot = MBXSIZEBOOT,
-      .mbxbuffers = MBXBUFFERS,
-      .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},
-      .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
-      .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
-      .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},      
-      .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_config (&config);
-   ESC_init (&config);
-
-   task_delay (tick_from_ms (200));
-
-   /*  wait until ESC is started up */
-   while ((ESCvar.DLstatus & 0x0001) == 0)
-   {
-      ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
-                sizeof (ESCvar.DLstatus));
-      ESCvar.DLstatus = etohs (ESCvar.DLstatus);
-   }
-
-   /* Pre FoE to set up Application information */
-   bootstrap_foe_init ();
-   /* Init FoE */
-   FOE_init();
-
-   /* reset ESC to init state */
-   ESC_ALstatus (ESCinit);
-   ESC_ALerror (ALERR_NONE);
-   ESC_stopmbx ();
-   ESC_stopinput ();
-   ESC_stopoutput ();
-
-   DPRINT ("Application_loop GO\n");
-   /* application run loop */
-   while (1)
-   {
-      /* 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(local_boot_state)
-      {
-         if (ESC_mbxprocess ())
-         {
-            ESC_foeprocess ();
-            ESC_xoeprocess ();
-         }
-         bootstrap_state ();
-       }
-      else
-      {
-         if (ESC_mbxprocess ())
-         {
-            ESC_coeprocess ();
-            ESC_xoeprocess ();
-         }
-         DIG_process ();
-      }
-   };
-}
-
-uint8_t load1s, load5s, load10s;
-void my_cyclic_callback (void * arg)
-{
-   while (1)
-   {
-      task_delay(tick_from_ms (20000));
-      stats_get_load (&load1s, &load5s, &load10s);
-      DPRINT ("%d:%d:%d (1s:5s:10s)\n",
-               load1s, load5s, load10s);
-      DPRINT ("Local bootstate: %d App.state: %d\n", local_boot_state,App.state);
-      DPRINT ("AlStatus : 0x%x, AlError : 0x%x, Watchdog : %d \n", (ESCvar.ALstatus & 0x001f),ESCvar.ALerror,wd_cnt);
-
-   }
-}

applications/rtl_slavedemo/utypes.h

@@ -18,7 +18,6 @@
 
 typedef struct
 {
-   uint8_t state;
    uint8_t button;
    uint32_t encoder;
 } _Rbuffer;

applications/rtl_xmc4_dynpdo/CMakeLists.txt

@@ -0,0 +1,14 @@
+
+add_custom_command (
+  OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
+  DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/sii_eeprom.bin
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  COMMAND arm-eabi-objcopy -I binary -O elf32-littlearm -B arm sii_eeprom.bin ${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
+  )
+
+add_executable (demo
+  slave_objectlist.c
+  main.c
+  ${CMAKE_CURRENT_BINARY_DIR}/sii_eeprom.o
+  )
+target_link_libraries(demo LINK_PUBLIC soes)

applications/rtl_xmc4_dynpdo/ecat_options.h

@@ -0,0 +1,42 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#define USE_FOE          0
+#define USE_EOE          0
+
+#define MBXSIZE          512
+#define MBXSIZEBOOT      512
+#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          0x1400
+#define SM2_smc          0x64
+#define SM2_act          1
+#define SM3_sma          0x1A00
+#define SM3_smc          0x20
+#define SM3_act          1
+
+#define MAX_MAPPINGS_SM2 10
+#define MAX_MAPPINGS_SM3 9
+
+#define MAX_RXPDO_SIZE   512
+#define MAX_TXPDO_SIZE   512
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/rtl_xmc4_dynpdo/main.c

@@ -0,0 +1,86 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <kern.h>
+#include "esc.h"
+#include "esc_hw.h"
+#include "ecat_slv.h"
+#include "options.h"
+#include "utypes.h"
+#include "bsp.h"
+
+/* Application variables */
+_Objects    Obj;
+
+/*
+ * This function is called to get input values
+ */
+void cb_get_inputs()
+{
+   Obj.Buttons.Button1 = gpio_get (GPIO_BUTTON1);
+}
+
+/*
+ * This function is called to set output values
+ */
+void cb_set_outputs()
+{
+   gpio_set (GPIO_LED1, Obj.LEDgroup0.LED0);
+   gpio_set (GPIO_LED2, Obj.LEDgroup1.LED1);
+}
+
+void cb_state_change (uint8_t * as, uint8_t * an)
+{
+   if (*as == SAFEOP_TO_OP)
+   {
+      /* Enable watchdog interrupt */
+      ESC_ALeventmaskwrite (ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
+   }
+   else if (*as == PREOP_TO_SAFEOP)
+   {
+      /* Write initial input data requried if an input only slave,
+       * otherwise the SM3 will never occur.
+       */
+      DIG_process (DIG_PROCESS_INPUTS_FLAG);
+   }
+}
+
+/* Setup of DC */
+uint16_t dc_checker (void)
+{
+   /* Indicate we run DC */
+   ESCvar.dcsync = 1;
+   /* Fetch the sync counter limit (SDO10F1) */
+   ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
+   return 0;
+}
+
+int main (void)
+{
+   static esc_cfg_t config =
+   {
+      .user_arg = NULL,
+      .use_interrupt = 1,
+      .watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
+      .set_defaults_hook = NULL,
+      .pre_state_change_hook = NULL,
+      .post_state_change_hook = cb_state_change,
+      .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 = ESC_interrupt_enable,
+      .esc_hw_interrupt_disable = ESC_interrupt_disable,
+      .esc_hw_eep_handler = ESC_eep_handler,
+      .esc_check_dc_handler = dc_checker
+      .get_device_id = NULL
+   };
+
+   rprintf ("Hello world\n");
+   ecat_slv_init (&config);
+   return 0;
+}

applications/rtl_xmc4_dynpdo/slave_objectlist.c

@@ -0,0 +1,289 @@
+#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 acName10F1[] = "ErrorSettings";
+static const char acName10F1_00[] = "Max SubIndex";
+static const char acName10F1_01[] = "Local Error Reaction";
+static const char acName10F1_02[] = "SyncErrorCounterLimit";
+static const char acName1600[] = "RXPDO 1";
+static const char acName1600_00[] = "Max SubIndex";
+static const char acName1600_01[] = "LED0";
+static const char acName1601[] = "RXPDO 2";
+static const char acName1601_00[] = "Max SubIndex";
+static const char acName1601_01[] = "LED1";
+static const char acName1602[] = "RXPDO 3";
+static const char acName1602_00[] = "Max SubIndex";
+static const char acName1602_01[] = "PDO Entry 1602:01";
+static const char acName1602_02[] = "PDO Entry 1602:02";
+static const char acName1602_03[] = "PDO Entry 1602:03";
+static const char acName1602_04[] = "PDO Entry 1602:04";
+static const char acName1602_05[] = "PDO Entry 1602:05";
+static const char acName1602_06[] = "PDO Entry 1602:06";
+static const char acName1602_07[] = "PDO Entry 1602:07";
+static const char acName1602_08[] = "PDO Entry 1602:08";
+static const char acName1A00[] = "TXPDO 1";
+static const char acName1A00_00[] = "Max SubIndex";
+static const char acName1A00_01[] = "Button1";
+static const char acName1A01[] = "TXPDO 2";
+static const char acName1A01_00[] = "Max SubIndex";
+static const char acName1A01_01[] = "PDO Entry 1A01:01";
+static const char acName1A01_02[] = "PDO Entry 1A01:02";
+static const char acName1A01_03[] = "PDO Entry 1A01:03";
+static const char acName1A01_04[] = "PDO Entry 1A01:04";
+static const char acName1A01_05[] = "PDO Entry 1A01:05";
+static const char acName1A01_06[] = "PDO Entry 1A01:06";
+static const char acName1A01_07[] = "PDO Entry 1A01:07";
+static const char acName1A01_08[] = "PDO Entry 1A01:08";
+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 acName1C12_02[] = "PDO Mapping";
+static const char acName1C12_03[] = "SM Entry 1C12:03";
+static const char acName1C12_04[] = "SM Entry 1C12:04";
+static const char acName1C12_05[] = "SM Entry 1C12:05";
+static const char acName1C12_06[] = "SM Entry 1C12:06";
+static const char acName1C12_07[] = "SM Entry 1C12:07";
+static const char acName1C12_08[] = "SM Entry 1C12:08";
+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 acName1C13_02[] = "SM Entry 1C13:02";
+static const char acName1C13_03[] = "SM Entry 1C13:03";
+static const char acName1C13_04[] = "SM Entry 1C13:04";
+static const char acName1C13_05[] = "SM Entry 1C13:05";
+static const char acName1C13_06[] = "SM Entry 1C13:06";
+static const char acName1C13_07[] = "SM Entry 1C13:07";
+static const char acName1C13_08[] = "SM Entry 1C13:08";
+static const char acName1C32[] = "SyncMgrParam";
+static const char acName1C32_00[] = "Max SubIndex";
+static const char acName1C32_01[] = "Sync mode";
+static const char acName1C32_02[] = "CycleTime";
+static const char acName1C32_03[] = "ShiftTime";
+static const char acName1C32_04[] = "Sync modes supported";
+static const char acName1C32_05[] = "Minimum Cycle Time";
+static const char acName1C32_06[] = "Calc and Copy Time";
+static const char acName1C32_07[] = "Minimum Delay Time";
+static const char acName1C32_08[] = "GetCycleTime";
+static const char acName1C32_09[] = "DelayTime";
+static const char acName1C32_0A[] = "Sync0CycleTime";
+static const char acName1C32_0B[] = "SMEventMissedCnt";
+static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
+static const char acName1C32_0D[] = "Shift too short counter";
+static const char acName1C32_0E[] = "RxPDOToggleFailed";
+static const char acName1C32_0F[] = "Minimum Cycle Distance";
+static const char acName1C32_10[] = "Maximum Cycle Distance";
+static const char acName1C32_11[] = "Minimum SM Sync Distance";
+static const char acName1C32_12[] = "Maximum SM Sync Distance";
+static const char acName1C32_20[] = "SyncError";
+static const char acName6000[] = "Buttons";
+static const char acName6000_00[] = "Max SubIndex";
+static const char acName6000_01[] = "Button1";
+static const char acName7000[] = "LEDgroup0";
+static const char acName7000_00[] = "Max SubIndex";
+static const char acName7000_01[] = "LED0";
+static const char acName7001[] = "LEDgroup1";
+static const char acName7001_00[] = "Max SubIndex";
+static const char acName7001_01[] = "LED1";
+static const char acName8000[] = "Parameters";
+static const char acName8000_00[] = "Max SubIndex";
+static const char acName8000_01[] = "Multiplier";
+static const char acName8001[] = "variableRW";
+
+const _objd SDO1000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
+};
+const _objd SDO1008[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc48relax"},
+};
+const _objd SDO1009[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
+};
+const _objd SDO100A[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x4800, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, &Obj.serial},
+};
+const _objd SDO10F1[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName10F1_01, 0, &Obj.ErrorSettings.Local_Error_Reaction},
+  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Obj.ErrorSettings.SyncErrorCounterLimit},
+};
+const _objd SDO1600[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
+};
+const _objd SDO1601[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
+};
+const _objd SDO1602[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1602_00, 8, &Obj.PDO1602.maxsub},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_01, 0x00000000, &Obj.PDO1602.value[0]},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_02, 0x00000000, &Obj.PDO1602.value[1]},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_03, 0x00000000, &Obj.PDO1602.value[2]},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_04, 0x00000000, &Obj.PDO1602.value[3]},
+  {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_05, 0x00000000, &Obj.PDO1602.value[4]},
+  {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_06, 0x00000000, &Obj.PDO1602.value[5]},
+  {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_07, 0x00000000, &Obj.PDO1602.value[6]},
+  {0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_08, 0x00000000, &Obj.PDO1602.value[7]},
+};
+const _objd SDO1A00[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
+};
+const _objd SDO1A01[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A01_00, 8, &Obj.PDO1A01.maxsub},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_01, 0x00000000, &Obj.PDO1A01.value[0]},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_02, 0x00000000, &Obj.PDO1A01.value[1]},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_03, 0x00000000, &Obj.PDO1A01.value[2]},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_04, 0x00000000, &Obj.PDO1A01.value[3]},
+  {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_05, 0x00000000, &Obj.PDO1A01.value[4]},
+  {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_06, 0x00000000, &Obj.PDO1A01.value[5]},
+  {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_07, 0x00000000, &Obj.PDO1A01.value[6]},
+  {0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_08, 0x00000000, &Obj.PDO1A01.value[7]},
+};
+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_RWpre, acName1C12_00, 8, &Obj.SM1C12.maxsub},
+  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM1C12.value[0]},
+  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0x1601, &Obj.SM1C12.value[1]},
+  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0x0000, &Obj.SM1C12.value[2]},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0x0000, &Obj.SM1C12.value[3]},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_05, 0x0000, &Obj.SM1C12.value[4]},
+  {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_06, 0x0000, &Obj.SM1C12.value[5]},
+  {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_07, 0x0000, &Obj.SM1C12.value[6]},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_08, 0x0000, &Obj.SM1C12.value[7]},
+};
+const _objd SDO1C13[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 8, &Obj.SM1C13.maxsub},
+  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM1C13.value[0]},
+  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x0000, &Obj.SM1C13.value[1]},
+  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x0000, &Obj.SM1C13.value[2]},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x0000, &Obj.SM1C13.value[3]},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_05, 0x0000, &Obj.SM1C13.value[4]},
+  {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_06, 0x0000, &Obj.SM1C13.value[5]},
+  {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_07, 0x0000, &Obj.SM1C13.value[6]},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_08, 0x0000, &Obj.SM1C13.value[7]},
+};
+const _objd SDO1C32[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
+  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName1C32_01, 0, &Obj.SyncMgrParam.Sync_mode},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Obj.SyncMgrParam.CycleTime},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Obj.SyncMgrParam.ShiftTime},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0, &Obj.SyncMgrParam.Sync_modes_supported},
+  {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.Minimum_Cycle_Time},
+  {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.Calc_and_Copy_Time},
+  {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.Minimum_Delay_Time},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Obj.SyncMgrParam.GetCycleTime},
+  {0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Obj.SyncMgrParam.DelayTime},
+  {0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Obj.SyncMgrParam.Sync0CycleTime},
+  {0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Obj.SyncMgrParam.SMEventMissedCnt},
+  {0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Obj.SyncMgrParam.CycleTimeTooSmallCnt},
+  {0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Obj.SyncMgrParam.Shift_too_short_counter},
+  {0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Obj.SyncMgrParam.RxPDOToggleFailed},
+  {0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Obj.SyncMgrParam.Minimum_Cycle_Distance},
+  {0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.Maximum_Cycle_Distance},
+  {0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.Minimum_SM_Sync_Distance},
+  {0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.Maximum_SM_Sync_Distance},
+  {0x20, DTYPE_BOOLEAN, 1, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError},
+};
+const _objd SDO6000[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button1},
+};
+const _objd SDO7000[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDgroup0.LED0},
+};
+const _objd SDO7001[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.LEDgroup1.LED1},
+};
+const _objd SDO8000[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8000_01, 0, &Obj.Parameters.Multiplier},
+};
+const _objd SDO8001[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW},
+};
+
+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},
+  {0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
+  {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
+  {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
+  {0x1602, OTYPE_RECORD, 8, 0, acName1602, SDO1602},
+  {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
+  {0x1A01, OTYPE_RECORD, 8, 0, acName1A01, SDO1A01},
+  {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
+  {0x1C12, OTYPE_ARRAY, 8, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 8, 0, acName1C13, SDO1C13},
+  {0x1C32, OTYPE_RECORD, 19, 0, acName1C32, SDO1C32},
+  {0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000},
+  {0x7000, OTYPE_RECORD, 1, 0, acName7000, SDO7000},
+  {0x7001, OTYPE_RECORD, 1, 0, acName7001, SDO7001},
+  {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
+  {0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
+  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
+};

applications/rtl_xmc4_dynpdo/utypes.h

@@ -0,0 +1,103 @@
+#ifndef __UTYPES_H__
+#define __UTYPES_H__
+
+#include "cc.h"
+
+/* Object dictionary storage */
+
+typedef struct
+{
+   /* Identity */
+
+   uint32_t serial;
+
+   /* Inputs */
+
+   struct
+   {
+      uint8_t Button1;
+   } Buttons;
+
+   /* Outputs */
+
+   struct
+   {
+      uint8_t LED0;
+   } LEDgroup0;
+   struct
+   {
+      uint8_t LED1;
+   } LEDgroup1;
+
+   /* Parameters */
+
+   struct
+   {
+      uint32_t Multiplier;
+   } Parameters;
+   uint32_t variableRW;
+
+   /* Manufacturer specific data */
+
+   struct
+   {
+      uint32_t Local_Error_Reaction;
+      uint16_t SyncErrorCounterLimit;
+   } ErrorSettings;
+   struct
+   {
+      uint16_t Sync_mode;
+      uint32_t CycleTime;
+      uint32_t ShiftTime;
+      uint16_t Sync_modes_supported;
+      uint32_t Minimum_Cycle_Time;
+      uint32_t Calc_and_Copy_Time;
+      uint32_t Minimum_Delay_Time;
+      uint16_t GetCycleTime;
+      uint32_t DelayTime;
+      uint32_t Sync0CycleTime;
+      uint16_t SMEventMissedCnt;
+      uint16_t CycleTimeTooSmallCnt;
+      uint16_t Shift_too_short_counter;
+      uint16_t RxPDOToggleFailed;
+      uint32_t Minimum_Cycle_Distance;
+      uint32_t Maximum_Cycle_Distance;
+      uint32_t Minimum_SM_Sync_Distance;
+      uint32_t Maximum_SM_Sync_Distance;
+      uint8_t SyncError;
+   } SyncMgrParam;
+
+   /* Dynamic TX PDO:s */
+
+   struct
+   {
+      uint8_t maxsub;
+      uint32_t value[8];
+   } PDO1A01;
+
+   /* Dynamic RX PDO:s */
+
+   struct
+   {
+      uint8_t maxsub;
+      uint32_t value[8];
+   } PDO1602;
+
+   /* Dynamic Sync Managers */
+
+   struct
+   {
+      uint8_t maxsub;
+      uint32_t value[8];
+   } SM1C12;
+   struct
+   {
+      uint8_t maxsub;
+      uint32_t value[8];
+   } SM1C13;
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

applications/rtl_xmc4_irq/config.h

@@ -1,35 +0,0 @@
-#ifndef __CONFIG_H__
-#define __CONFIG_H__
-
-#include <cc.h>
-
-#define MBXSIZE     128
-#define MBXSIZEBOOT 256
-#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
-
-#endif /* __CONFIG_H__ */

applications/rtl_xmc4_irq/main.c

@@ -1,184 +0,0 @@
-#include <kern.h>
-#include <xmc4.h>
-#include <bsp.h>
-#include "slave.h"
-#include "esc_hw.h"
-#include "config.h"
-
-#define SAMPLE_CODE 0
-
-/**
- * This function reads physical input values and assigns the corresponding members
- * of Rb.Buttons
- */
-void cb_get_Buttons()
-{
- Rb.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
-}
-
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-void cb_set_LEDgroup0()
-{
-   gpio_set(GPIO_LED1, Wb.LEDgroup0.LED0);
-}
-
-/**
- * This function writes physical output values from the corresponding members of
- * Wb.LEDs
- */
-void cb_set_LEDgroup1()
-{
-   gpio_set(GPIO_LED2, Wb.LEDgroup1.LED1);
-}
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_variableRW(int subindex)
-{
-
-}
-
-/** Optional: Hook called after state change for application specific
- * actions for specific state changes.
- */
-void pre_state_change_hook (uint8_t * as, uint8_t * an)
-{
-}
-
-/** Optional: Hook called after state change for application specific
- * actions for specific state changes.
- */
-void post_state_change_hook (uint8_t * as, uint8_t * an)
-{
-#if SAMPLE_CODE
-   /* Add specific step change hooks here */
-   if ((*as == BOOT_TO_INIT) && (*an == ESCinit))
-   {
-      rprintf("boot BOOT_TO_INIT\n");
-      upgrade_finished();
-      /* If we return here */
-      ESC_ALerror (ALERR_NOVALIDFIRMWARE);
-      /* Upgrade failed, enter init with error */
-      *an  = (ESCinit | ESCerror);
-   }
-   else if((*as == PREOP_TO_SAFEOP))
-   {
-      rprintf("boot PREOP_TO_SAFEOP\n");
-      ESC_ALerror (ALERR_NOVALIDFIRMWARE);
-      /* Stay in preop with error bit set */
-      *an = (ESCpreop | ESCerror);
-   }
-#endif
-}
-
-void user_post_dl_objecthandler (uint16_t index, uint8_t subindex)
-{
-#if SAMPLE_CODE
-   switch (index)
-   {
-   case 0x1c12:
-   {
-      RXPDOsize = ESC_SM2_sml = sizeRXPDO();
-      break;
-   }
-
-   /* Handle post-write of parameter values */
-   default:
-      break;
-   }
-#endif
-}
-
-int user_pre_dl_objecthandler (uint16_t index, uint8_t subindex)
-{
-#if SAMPLE_CODE
-   if (index == 0x1c12)
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   if (index == 0x1c13)
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-#endif
-   return 1;
-}
-
-
-/* Called from stack when stopping outputs */
-void user_safeoutput (void)
-{
-#if SAMPLE_CODE
-   DPRINT ("APP_safeoutput\n");
-
-   // Set safe values for Wb.LEDgroup0
-   Wb.LEDgroup0.LED0 = 1;
-
-   // Set safe values for Wb.LEDgroup1
-   Wb.LEDgroup1.LED1 = 1;
-#endif
-}
-
-/* Configuration parameters for SOES
- * SM and Mailbox parameters comes from the
- * generated config.h
- */
-static esc_cfg_t config =
-{
-   .user_arg = NULL,
-   .use_interrupt = 1,
-   .watchdog_cnt = 100,
-   .mbxsize = MBXSIZE,
-   .mbxsizeboot = MBXSIZEBOOT,
-   .mbxbuffers = MBXBUFFERS,
-   .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},
-   .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
-   .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
-   .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},
-   .pre_state_change_hook = NULL,
-   .post_state_change_hook = NULL,
-   .application_hook = NULL,
-   .safeoutput_override = user_safeoutput,
-   .pre_object_download_hook = user_pre_dl_objecthandler,
-   .post_object_download_hook = user_post_dl_objecthandler,
-   .rxpdo_override = NULL,
-   .txpdo_override = NULL,
-   .esc_hw_interrupt_enable = ESC_interrupt_enable,
-   .esc_hw_interrupt_disable = ESC_interrupt_disable,
-   .esc_hw_eep_handler = ESC_eep_handler
-};
-
-void main_run(void * arg)
-{
-   ecat_slv_init(&config);
-
-   while(1)
-   {
-      if(config.use_interrupt != 0)
-      {
-         DIG_process(DIG_PROCESS_WD_FLAG);
-      }
-      else
-      {
-         ecat_slv();
-      }
-      task_delay(1);
-   }
-}
-
-int main(void)
-{
-   rprintf("Hello Main\n");
-   task_spawn ("soes", main_run, 8, 2048, NULL);
-
-   return 0;
-}
-

applications/rtl_xmc4_irq/slave_objectlist.c

@@ -1,218 +0,0 @@
-#ifndef SOES_V1
-#include "esc_coe.h"
-#include "utypes.h"
-#include <stddef.h>
-
-static const char acName1000[] = "Device Type";
-static const char acName1000_0[] = "Device Type";
-static const char acName1008[] = "Device Name";
-static const char acName1008_0[] = "Device Name";
-static const char acName1009[] = "Hardware Version";
-static const char acName1009_0[] = "Hardware Version";
-static const char acName100A[] = "Software Version";
-static const char acName100A_0[] = "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 acName10F1[] = "ErrorSettings";
-static const char acName10F1_00[] = "Max SubIndex";
-static const char acName10F1_01[] = "Dummy_x01";
-static const char acName10F1_02[] = "SyncErrorCounterLimit";
-static const char acName1600[] = "LEDgroup0";
-static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "LED0";
-static const char acName1601[] = "LEDgroup1";
-static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "LED1";
-static const char acName1A00[] = "Buttons";
-static const char acName1A00_00[] = "Max SubIndex";
-static const char acName1A00_01[] = "Button1";
-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 acName1C12_02[] = "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 acName1C32[] = "SyncMgrParam";
-static const char acName1C32_00[] = "Max SubIndex";
-static const char acName1C32_01[] = "SyncType";
-static const char acName1C32_02[] = "CycleTime";
-static const char acName1C32_03[] = "ShiftTime";
-static const char acName1C32_04[] = "SyncTypeSupport";
-static const char acName1C32_05[] = "MinCycleTime";
-static const char acName1C32_06[] = "CalcCopyTime";
-static const char acName1C32_07[] = "MinDelayTime";
-static const char acName1C32_08[] = "GetCycleTime";
-static const char acName1C32_09[] = "DelayTime";
-static const char acName1C32_0A[] = "Sync0CycleTime";
-static const char acName1C32_0B[] = "SMEventMissedCnt";
-static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
-static const char acName1C32_0D[] = "ShiftTimeTooSmallCnt";
-static const char acName1C32_0E[] = "RxPDOToggleFailed";
-static const char acName1C32_0F[] = "MinCycleDist";
-static const char acName1C32_10[] = "MaxCycleDist";
-static const char acName1C32_11[] = "MinSMSYNCDist";
-static const char acName1C32_12[] = "MaxSMSYNCDist";
-static const char acName1C32_14[] = "Dummy_x14";
-static const char acName1C32_20[] = "SyncError";
-static const char acName6005[] = "Buttons";
-static const char acName6005_00[] = "Max SubIndex";
-static const char acName6005_01[] = "Button1";
-static const char acName7005[] = "LEDgroup0";
-static const char acName7005_00[] = "Max SubIndex";
-static const char acName7005_01[] = "LED0";
-static const char acName7006[] = "LEDgroup1";
-static const char acName7006_00[] = "Max SubIndex";
-static const char acName7006_01[] = "LED1";
-static const char acName8000[] = "Parameters";
-static const char acName8000_00[] = "Max SubIndex";
-static const char acName8000_01[] = "Multiplier";
-static const char acName8001[] = "variableRW";
-static const char acName8001_0[] = "variableRW";
-
-const _objd SDO1000[] =
-{
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
-};
-const _objd SDO1008[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 88, ATYPE_RO, acName1008_0, 0, "xmc43_slave"},
-};
-const _objd SDO1009[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, "1.0"},
-};
-const _objd SDO100A[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, "1.0"},
-};
-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, 4300, NULL},
-  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
-  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
-};
-const _objd SDO10F1[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_01, 0, &Mb.ErrorSettings.Dummy_x01},
-  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Mb.ErrorSettings.SyncErrorCounterLimit},
-};
-const _objd SDO1600[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70050108, NULL},
-};
-const _objd SDO1601[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70060108, NULL},
-};
-const _objd SDO1A00[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60050108, 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, 2, NULL},
-  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
-  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, 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 SDO1C32[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
-  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_01, 1, &Mb.SyncMgrParam.SyncType},
-  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Mb.SyncMgrParam.CycleTime},
-  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Mb.SyncMgrParam.ShiftTime},
-  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0x6, &Mb.SyncMgrParam.SyncTypeSupport},
-  {0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Mb.SyncMgrParam.MinCycleTime},
-  {0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Mb.SyncMgrParam.CalcCopyTime},
-  {0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Mb.SyncMgrParam.MinDelayTime},
-  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Mb.SyncMgrParam.GetCycleTime},
-  {0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Mb.SyncMgrParam.DelayTime},
-  {0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Mb.SyncMgrParam.Sync0CycleTime},
-  {0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Mb.SyncMgrParam.SMEventMissedCnt},
-  {0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Mb.SyncMgrParam.CycleTimeTooSmallCnt},
-  {0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Mb.SyncMgrParam.ShiftTimeTooSmallCnt},
-  {0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Mb.SyncMgrParam.RxPDOToggleFailed},
-  {0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Mb.SyncMgrParam.MinCycleDist},
-  {0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Mb.SyncMgrParam.MaxCycleDist},
-  {0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Mb.SyncMgrParam.MinSMSYNCDist},
-  {0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Mb.SyncMgrParam.MaxSMSYNCDist},
-  {0x14, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_14, 0, &Mb.SyncMgrParam.Dummy_x14},
-  {0x20, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_20, 0, &Mb.SyncMgrParam.SyncError},
-};
-const _objd SDO6005[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_01, 0, &Rb.Buttons.Button1},
-};
-const _objd SDO7005[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_01, 0, &Wb.LEDgroup0.LED0},
-};
-const _objd SDO7006[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_01, 0, &Wb.LEDgroup1.LED1},
-};
-const _objd SDO8000[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8000_01, 0, &Cb.Parameters.Multiplier},
-};
-const _objd SDO8001[] =
-{
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001_0, 0, &Cb.variableRW},
-};
-
-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},
-  {0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
-  {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
-  {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
-  {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
-  {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 1, 0, acName1C13, SDO1C13},
-  {0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
-  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
-  {0x7005, OTYPE_RECORD, 1, 0, acName7005, SDO7005},
-  {0x7006, OTYPE_RECORD, 1, 0, acName7006, SDO7006},
-  {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
-  {0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
-  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
-};
-#endif

applications/rtl_xmc4_irq/utypes.h

@@ -1,96 +0,0 @@
-#ifndef __UTYPES_H__
-#define __UTYPES_H__
-
-#include <cc.h>
-
-/* Inputs */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN   
-   struct
-   {
-      uint8_t Button1;
-   } CC_PACKED Buttons;
-   CC_PACKED_END
-} CC_PACKED _Rbuffer;
-CC_PACKED_END
-
-/* Outputs */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED0;
-   } CC_PACKED LEDgroup0;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED1;
-   } CC_PACKED LEDgroup1;
-   CC_PACKED_END
-} CC_PACKED _Wbuffer;
-CC_PACKED_END
-
-/* Parameters */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint32_t Multiplier;
-   } CC_PACKED Parameters;
-   CC_PACKED_END
-   uint32_t variableRW;
-} CC_PACKED _Cbuffer;
-CC_PACKED_END
-
-/* Manufacturer specific data */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint16_t SyncType;
-      uint32_t CycleTime;
-      uint32_t ShiftTime;
-      uint16_t SyncTypeSupport;
-      uint32_t MinCycleTime;
-      uint32_t CalcCopyTime;
-      uint32_t MinDelayTime;
-      uint16_t GetCycleTime;
-      uint32_t DelayTime;
-      uint32_t Sync0CycleTime;
-      uint16_t SMEventMissedCnt;
-      uint16_t CycleTimeTooSmallCnt;
-      uint16_t ShiftTimeTooSmallCnt;
-      uint16_t RxPDOToggleFailed;
-      uint32_t MinCycleDist;
-      uint32_t MaxCycleDist;
-      uint32_t MinSMSYNCDist;
-      uint32_t MaxSMSYNCDist;
-      uint8_t Dummy_x14;
-      uint8_t SyncError;
-   } CC_PACKED SyncMgrParam;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t Dummy_x01;
-      uint16_t SyncErrorCounterLimit;
-   } CC_PACKED ErrorSettings;
-   CC_PACKED_END
-} CC_PACKED _Mbuffer;
-CC_PACKED_END
-
-extern _Rbuffer Rb;
-extern _Wbuffer Wb;
-extern _Cbuffer Cb;
-extern _Mbuffer Mb;
-
-#endif /* __UTYPES_H__ */

applications/tiesc_am335x/am335xice.esx

@@ -0,0 +1,263 @@
+<?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="am335xice" productCode="0x9876">
+  <Name>slave</Name>
+  <Vendor>
+    <Id>0x1337</Id>
+    <Name>rt-labs</Name>
+  </Vendor>
+  <Group>
+    <Type>am335xice_t</Type>
+    <Name>am335xice_n</Name>
+  </Group>
+  <Fmmu>Outputs</Fmmu>
+  <Fmmu>Inputs</Fmmu>
+  <Fmmu>MBoxState</Fmmu>
+  <Sm ControlByte="0x26" DefaultSize="512" StartAddress="0x1000">MBoxOut</Sm>
+  <Sm ControlByte="0x22" DefaultSize="512" StartAddress="0x1200">MBoxIn</Sm>
+  <Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1400">Outputs</Sm>
+  <Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1A00">Inputs</Sm>
+  <Mailbox CoE="true">
+    <Bootstrap Length="512" Start="0x1000"/>
+    <Standard Length="512" Start="0x1000"/>
+  </Mailbox>
+  <Eeprom>
+    <ByteSize>2048</ByteSize>
+    <ConfigData>8006E08800000000</ConfigData>
+    <BootStrap>0010000200120002</BootStrap>
+  </Eeprom>
+  <Dictionary>
+    <Item Managed="true">
+      <Index>0x1000</Index>
+      <Name>Device Type</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0x00001389</DefaultValue>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1008</Index>
+      <Name>Device Name</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>am335xice</DefaultValue>
+      <Length>9</Length>
+    </Item>
+    <Item>
+      <Index>0x1009</Index>
+      <Name>Hardware Version</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
+    </Item>
+    <Item>
+      <Index>0x100A</Index>
+      <Name>Software Version</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
+    </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>0x9876</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>LED</Name>
+      <DataType>RECORD</DataType>
+      <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Name>LED</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x70000020</DefaultValue>
+      </SubItem>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1A00</Index>
+      <Name>BUTTON</Name>
+      <DataType>RECORD</DataType>
+      <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Name>BUTTON</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x60000020</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>
+      <Access>RO</Access>
+      <Name>BUTTON</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0</DefaultValue>
+      <PdoMapping>TX</PdoMapping>
+      <Variable>BUTTON</Variable>
+      <VariableType>Input</VariableType>
+    </Item>
+    <Item Managed="true">
+      <Index>0x7000</Index>
+      <Access>RO</Access>
+      <Name>LED</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0</DefaultValue>
+      <PdoMapping>RX</PdoMapping>
+      <Variable>LED</Variable>
+      <VariableType>Output</VariableType>
+    </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>LED</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
+      <Variable>LED</Variable>
+    </Entry>
+  </RxPdo>
+  <TxPdo>
+    <Index>0x1A00</Index>
+    <Name>BUTTON</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x6000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
+      <Variable>BUTTON</Variable>
+    </Entry>
+  </TxPdo>
+  <Input>
+    <Index>0x6000</Index>
+    <Name>BUTTON</Name>
+    <Type>UNSIGNED32</Type>
+    <PdoMapping>TX</PdoMapping>
+    <ObjectType>VAR</ObjectType>
+  </Input>
+  <Output>
+    <Index>0x7000</Index>
+    <Name>LED</Name>
+    <Type>UNSIGNED32</Type>
+    <PdoMapping>RX</PdoMapping>
+    <ObjectType>VAR</ObjectType>
+  </Output>
+</Slave>

applications/tiesc_am335x/am335xice.xml

@@ -0,0 +1,537 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherCATInfo>
+  <Vendor>
+    <Id>#x1337</Id>
+    <Name LcId="1033">rt-labs</Name>
+  </Vendor>
+  <Descriptions>
+    <Groups>
+      <Group>
+        <Type>am335xice_t</Type>
+        <Name LcId="1033">am335xice_n</Name>
+      </Group>
+    </Groups>
+    <Devices>
+      <Device Physics="YY">
+        <Type ProductCode="#x9876" RevisionNo="0">am335xice</Type>
+        <Name LcId="1033">slave</Name>
+        <GroupType>am335xice_t</GroupType>
+        <Profile>
+          <ProfileNo>5001</ProfileNo>
+          <AddInfo>0</AddInfo>
+          <Dictionary>
+            <DataTypes>
+              <DataType>
+                <Name>DT1018</Name>
+                <BitSize>144</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Vendor ID</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Product Code</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Revision Number</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Serial Number</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1600</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>LED</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1A00</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>BUTTON</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C00ARR</Name>
+                <BaseType>USINT</BaseType>
+                <BitSize>32</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>4</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C00</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C00ARR</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C12ARR</Name>
+                <BaseType>UINT</BaseType>
+                <BitSize>16</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>1</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C12</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C12ARR</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C13ARR</Name>
+                <BaseType>UINT</BaseType>
+                <BitSize>16</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>1</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C13</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C13ARR</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>STRING(3)</Name>
+                <BitSize>24</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UINT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>USINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+              <DataType>
+                <Name>STRING(9)</Name>
+                <BitSize>72</BitSize>
+              </DataType>
+            </DataTypes>
+            <Objects>
+              <Object>
+                <Index>#x1000</Index>
+                <Name>Device Type</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>#x00001389</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1008</Index>
+                <Name>Device Name</Name>
+                <Type>STRING(9)</Type>
+                <BitSize>72</BitSize>
+                <Info>
+                  <DefaultString>am335xice</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1009</Index>
+                <Name>Hardware Version</Name>
+                <Type>STRING(3)</Type>
+                <BitSize>24</BitSize>
+                <Info>
+                  <DefaultString>1.0</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x100A</Index>
+                <Name>Software Version</Name>
+                <Type>STRING(3)</Type>
+                <BitSize>24</BitSize>
+                <Info>
+                  <DefaultString>1.0</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1018</Index>
+                <Name>Identity Object</Name>
+                <Type>DT1018</Type>
+                <BitSize>144</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Vendor ID</Name>
+                    <Info>
+                      <DefaultValue>#x1337</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Product Code</Name>
+                    <Info>
+                      <DefaultValue>#x9876</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Revision Number</Name>
+                    <Info>
+                      <DefaultValue>0</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Serial Number</Name>
+                    <Info>
+                      <DefaultValue>#x00000000</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1600</Index>
+                <Name>LED</Name>
+                <Type>DT1600</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>LED</Name>
+                    <Info>
+                      <DefaultValue>#x70000020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1A00</Index>
+                <Name>BUTTON</Name>
+                <Type>DT1A00</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>BUTTON</Name>
+                    <Info>
+                      <DefaultValue>#x60000020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C00</Index>
+                <Name>Sync Manager Communication Type</Name>
+                <Type>DT1C00</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM0</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM1</Name>
+                    <Info>
+                      <DefaultValue>2</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM2</Name>
+                    <Info>
+                      <DefaultValue>3</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM3</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C12</Index>
+                <Name>Sync Manager 2 PDO Assignment</Name>
+                <Type>DT1C12</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1600</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C13</Index>
+                <Name>Sync Manager 3 PDO Assignment</Name>
+                <Type>DT1C13</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A00</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6000</Index>
+                <Name>BUTTON</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7000</Index>
+                <Name>LED</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+            </Objects>
+          </Dictionary>
+        </Profile>
+        <Fmmu>Outputs</Fmmu>
+        <Fmmu>Inputs</Fmmu>
+        <Fmmu>MBoxState</Fmmu>
+        <Sm ControlByte="#x26" DefaultSize="512" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
+        <Sm ControlByte="#x22" DefaultSize="512" Enable="1" StartAddress="#x1200">MBoxIn</Sm>
+        <Sm ControlByte="#x24" Enable="1" StartAddress="#x1400">Outputs</Sm>
+        <Sm ControlByte="#x20" Enable="1" StartAddress="#x1A00">Inputs</Sm>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1600</Index>
+          <Name>LED</Name>
+          <Entry>
+            <Index>#x7000</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>LED</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </RxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A00</Index>
+          <Name>BUTTON</Name>
+          <Entry>
+            <Index>#x6000</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>BUTTON</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </TxPdo>
+        <Mailbox DataLinkLayer="true">
+          <CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
+        </Mailbox>
+        <Eeprom>
+          <ByteSize>2048</ByteSize>
+          <ConfigData>8006E08800000000</ConfigData>
+          <BootStrap>0010000200120002</BootStrap>
+        </Eeprom>
+      </Device>
+    </Devices>
+  </Descriptions>
+</EtherCATInfo>

applications/tiesc_am335x/am335xice_objectlist.c

@@ -0,0 +1,120 @@
+#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[] = "LED";
+static const char acName1600_00[] = "Max SubIndex";
+static const char acName1600_01[] = "LED";
+static const char acName1A00[] = "BUTTON";
+static const char acName1A00_00[] = "Max SubIndex";
+static const char acName1A00_01[] = "BUTTON";
+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[] = "BUTTON";
+static const char acName7000[] = "LED";
+
+const _objd SDO1000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
+};
+const _objd SDO1008[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 72, ATYPE_RO, acName1008, 0, "am335xice"},
+};
+const _objd SDO1009[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
+};
+const _objd SDO100A[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x9876, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
+};
+const _objd SDO1600[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+};
+const _objd SDO1A00[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, 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[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.BUTTON},
+};
+const _objd SDO7000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.LED},
+};
+
+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, 1, 0, acName1600, SDO1600},
+  {0x1A00, OTYPE_RECORD, 1, 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_VAR, 0, 0, acName6000, SDO6000},
+  {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
+  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
+};

applications/tiesc_am335x/ecat_options.h

@@ -0,0 +1,44 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#include "cc.h"
+
+#define USE_FOE          0
+#define USE_EOE          0
+
+#define MBXSIZE          512
+#define MBXSIZEBOOT      512
+#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          0x1400
+#define SM2_smc          0x24
+#define SM2_act          1
+#define SM3_sma          0x1A00
+#define SM3_smc          0x20
+#define SM3_act          1
+
+#define MAX_RXPDO_SIZE   512
+#define MAX_TXPDO_SIZE   512
+
+#define MAX_MAPPINGS_SM2 1
+#define MAX_MAPPINGS_SM3 1
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/tiesc_am335x/main.c

@@ -0,0 +1,85 @@
+#include "esc_hw.h"
+#include "ecat_slv.h"
+#include "options.h"
+#include "utypes.h"
+#include <string.h>
+#include "tiescutils.h"
+#include <examples/board/include/board_i2cLed.h>
+#include <examples/board/include/board_rotary_switch.h>
+
+#if 1
+/* Application variables */
+_Objects    Obj;
+
+/**
+ * This function reads physical input values and assigns the corresponding members
+ * of Rb.Buttons
+ */
+void cb_get_inputs()
+{
+    volatile uint8_t io_input;
+    Board_readRotarySwitch((uint8_t *)&io_input);
+    Obj.BUTTON = io_input;
+}
+
+/**
+ * This function writes physical output values from the corresponding members of
+ * Wb.LEDs
+ */
+void cb_set_outputs()
+{
+    volatile uint8_t io_output;
+    io_output = Obj.LED;
+    Board_setDigOutput(io_output);
+}
+#endif
+
+
+/* Called from stack when stopping outputs */
+void user_safeoutput (void)
+{
+   memset(&Obj.LED, 0, (sizeof(Obj.LED)));
+   Board_setDigOutput(0);
+}
+
+/* Configuration parameters for SOES
+ * SM and Mailbox parameters comes from the
+ * generated config.h
+ */
+static esc_cfg_t config =
+{
+   .user_arg = NULL,
+   .use_interrupt = 1,
+   .watchdog_cnt = 9998,
+   .set_defaults_hook = NULL,
+   .pre_state_change_hook = NULL,
+   .post_state_change_hook = NULL,
+   .application_hook = NULL,
+   .safeoutput_override = user_safeoutput,
+   .pre_object_download_hook = NULL,
+   .post_object_download_hook = NULL,
+   .rxpdo_override = NULL,
+   .txpdo_override = NULL,
+   .esc_hw_interrupt_enable = ESC_interrupt_enable,
+   .esc_hw_interrupt_disable = ESC_interrupt_disable,
+   .esc_hw_eep_handler = ESC_eep_handler,
+   .esc_check_dc_handler = NULL
+};
+
+int MainInit(void)
+{
+   ecat_slv_init(&config);
+   return 0;
+}
+
+void MainLoop(void)
+{
+   ecat_slv_poll();
+   DIG_process(DIG_PROCESS_WD_FLAG);
+}
+
+int main()
+{
+   common_main();
+   return 0;
+}

applications/tiesc_am335x/utypes.h

@@ -0,0 +1,31 @@
+#ifndef __UTYPES_H__
+#define __UTYPES_H__
+
+#include "cc.h"
+
+
+/* Object dictionary storage */
+
+typedef struct
+{
+   /* Inputs */
+   uint32_t BUTTON;
+
+   /* Outputs */
+   uint32_t LED;
+
+   /* Parameters */
+
+   /* Manufacturer specific data */
+
+   /* Dynamic TX PDO:s */
+
+   /* Dynamic RX PDO:s */
+
+   /* Sync Managers */
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

applications/tiesc_k2gice/ecat_options.h

@@ -0,0 +1,44 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#include "cc.h"
+
+#define USE_FOE          0
+#define USE_EOE          0
+
+#define MBXSIZE          512
+#define MBXSIZEBOOT      512
+#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          0x1400
+#define SM2_smc          0x24
+#define SM2_act          1
+#define SM3_sma          0x1A00
+#define SM3_smc          0x20
+#define SM3_act          1
+
+#define MAX_RXPDO_SIZE   512
+#define MAX_TXPDO_SIZE   512
+
+#define MAX_MAPPINGS_SM2 1
+#define MAX_MAPPINGS_SM3 1
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/tiesc_k2gice/k2gice.esx

@@ -0,0 +1,263 @@
+<?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="k2gice" productCode="0x4291ce">
+  <Name>k2gice_n</Name>
+  <Vendor>
+    <Id>0x1337</Id>
+    <Name>rt-labs</Name>
+  </Vendor>
+  <Group>
+    <Type>k2gice_t</Type>
+    <Name>am335xice_n</Name>
+  </Group>
+  <Fmmu>Outputs</Fmmu>
+  <Fmmu>Inputs</Fmmu>
+  <Fmmu>MBoxState</Fmmu>
+  <Sm ControlByte="0x26" DefaultSize="512" StartAddress="0x1000">MBoxOut</Sm>
+  <Sm ControlByte="0x22" DefaultSize="512" StartAddress="0x1200">MBoxIn</Sm>
+  <Sm ControlByte="0x24" DefaultSize="0" StartAddress="0x1400">Outputs</Sm>
+  <Sm ControlByte="0x20" DefaultSize="0" StartAddress="0x1A00">Inputs</Sm>
+  <Mailbox CoE="true">
+    <Bootstrap Length="512" Start="0x1000"/>
+    <Standard Length="512" Start="0x1000"/>
+  </Mailbox>
+  <Eeprom>
+    <ByteSize>2048</ByteSize>
+    <ConfigData>800CE08800000000</ConfigData>
+    <BootStrap>0010000200120002</BootStrap>
+  </Eeprom>
+  <Dictionary>
+    <Item Managed="true">
+      <Index>0x1000</Index>
+      <Name>Device Type</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0x00001389</DefaultValue>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1008</Index>
+      <Name>Device Name</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>k2gice</DefaultValue>
+      <Length>6</Length>
+    </Item>
+    <Item>
+      <Index>0x1009</Index>
+      <Name>Hardware Version</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
+    </Item>
+    <Item>
+      <Index>0x100A</Index>
+      <Name>Software Version</Name>
+      <DataType>VISIBLE_STRING</DataType>
+      <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
+    </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>0x4291ce</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>LED</Name>
+      <DataType>RECORD</DataType>
+      <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Name>LED</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x70000020</DefaultValue>
+      </SubItem>
+    </Item>
+    <Item Managed="true">
+      <Index>0x1A00</Index>
+      <Name>BUTTON</Name>
+      <DataType>RECORD</DataType>
+      <SubItem>
+        <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
+        <DataType>UNSIGNED8</DataType>
+        <DefaultValue>1</DefaultValue>
+      </SubItem>
+      <SubItem>
+        <Index>0x01</Index>
+        <Name>BUTTON</Name>
+        <DataType>UNSIGNED32</DataType>
+        <DefaultValue>0x60000020</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>
+      <Access>RO</Access>
+      <Name>BUTTON</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0</DefaultValue>
+      <PdoMapping>TX</PdoMapping>
+      <Variable>BUTTON</Variable>
+      <VariableType>Input</VariableType>
+    </Item>
+    <Item Managed="true">
+      <Index>0x7000</Index>
+      <Access>RO</Access>
+      <Name>LED</Name>
+      <DataType>UNSIGNED32</DataType>
+      <DefaultValue>0</DefaultValue>
+      <PdoMapping>RX</PdoMapping>
+      <Variable>LED</Variable>
+      <VariableType>Output</VariableType>
+    </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>LED</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
+      <Variable>LED</Variable>
+    </Entry>
+  </RxPdo>
+  <TxPdo>
+    <Index>0x1A00</Index>
+    <Name>BUTTON</Name>
+    <Entry>
+      <Index>0x1</Index>
+      <MappedIndex>0x6000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
+      <Variable>BUTTON</Variable>
+    </Entry>
+  </TxPdo>
+  <Input>
+    <Index>0x6000</Index>
+    <Name>BUTTON</Name>
+    <Type>UNSIGNED32</Type>
+    <PdoMapping>TX</PdoMapping>
+    <ObjectType>VAR</ObjectType>
+  </Input>
+  <Output>
+    <Index>0x7000</Index>
+    <Name>LED</Name>
+    <Type>UNSIGNED32</Type>
+    <PdoMapping>RX</PdoMapping>
+    <ObjectType>VAR</ObjectType>
+  </Output>
+</Slave>

applications/tiesc_k2gice/k2gice.xml

@@ -0,0 +1,537 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherCATInfo>
+  <Vendor>
+    <Id>#x1337</Id>
+    <Name LcId="1033">rt-labs</Name>
+  </Vendor>
+  <Descriptions>
+    <Groups>
+      <Group>
+        <Type>k2gice_t</Type>
+        <Name LcId="1033">am335xice_n</Name>
+      </Group>
+    </Groups>
+    <Devices>
+      <Device Physics="YY">
+        <Type ProductCode="#x4291ce" RevisionNo="0">k2gice</Type>
+        <Name LcId="1033">k2gice_n</Name>
+        <GroupType>k2gice_t</GroupType>
+        <Profile>
+          <ProfileNo>5001</ProfileNo>
+          <AddInfo>0</AddInfo>
+          <Dictionary>
+            <DataTypes>
+              <DataType>
+                <Name>DT1018</Name>
+                <BitSize>144</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Vendor ID</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Product Code</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Revision Number</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Serial Number</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1600</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>LED</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1A00</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>BUTTON</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C00ARR</Name>
+                <BaseType>USINT</BaseType>
+                <BitSize>32</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>4</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C00</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C00ARR</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C12ARR</Name>
+                <BaseType>UINT</BaseType>
+                <BitSize>16</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>1</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C12</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C12ARR</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C13ARR</Name>
+                <BaseType>UINT</BaseType>
+                <BitSize>16</BitSize>
+                <ArrayInfo>
+                  <LBound>1</LBound>
+                  <Elements>1</Elements>
+                </ArrayInfo>
+              </DataType>
+              <DataType>
+                <Name>DT1C13</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <Name>Elements</Name>
+                  <Type>DT1C13ARR</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>STRING(6)</Name>
+                <BitSize>48</BitSize>
+              </DataType>
+              <DataType>
+                <Name>STRING(3)</Name>
+                <BitSize>24</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UINT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>USINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+            </DataTypes>
+            <Objects>
+              <Object>
+                <Index>#x1000</Index>
+                <Name>Device Type</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>#x00001389</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1008</Index>
+                <Name>Device Name</Name>
+                <Type>STRING(6)</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <DefaultString>k2gice</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1009</Index>
+                <Name>Hardware Version</Name>
+                <Type>STRING(3)</Type>
+                <BitSize>24</BitSize>
+                <Info>
+                  <DefaultString>1.0</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x100A</Index>
+                <Name>Software Version</Name>
+                <Type>STRING(3)</Type>
+                <BitSize>24</BitSize>
+                <Info>
+                  <DefaultString>1.0</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1018</Index>
+                <Name>Identity Object</Name>
+                <Type>DT1018</Type>
+                <BitSize>144</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Vendor ID</Name>
+                    <Info>
+                      <DefaultValue>#x1337</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Product Code</Name>
+                    <Info>
+                      <DefaultValue>#x4291ce</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Revision Number</Name>
+                    <Info>
+                      <DefaultValue>0</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Serial Number</Name>
+                    <Info>
+                      <DefaultValue>#x00000000</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1600</Index>
+                <Name>LED</Name>
+                <Type>DT1600</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>LED</Name>
+                    <Info>
+                      <DefaultValue>#x70000020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1A00</Index>
+                <Name>BUTTON</Name>
+                <Type>DT1A00</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>BUTTON</Name>
+                    <Info>
+                      <DefaultValue>#x60000020</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C00</Index>
+                <Name>Sync Manager Communication Type</Name>
+                <Type>DT1C00</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM0</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM1</Name>
+                    <Info>
+                      <DefaultValue>2</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM2</Name>
+                    <Info>
+                      <DefaultValue>3</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Communications Type SM3</Name>
+                    <Info>
+                      <DefaultValue>4</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C12</Index>
+                <Name>Sync Manager 2 PDO Assignment</Name>
+                <Type>DT1C12</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1600</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1C13</Index>
+                <Name>Sync Manager 3 PDO Assignment</Name>
+                <Type>DT1C13</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A00</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6000</Index>
+                <Name>BUTTON</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7000</Index>
+                <Name>LED</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+            </Objects>
+          </Dictionary>
+        </Profile>
+        <Fmmu>Outputs</Fmmu>
+        <Fmmu>Inputs</Fmmu>
+        <Fmmu>MBoxState</Fmmu>
+        <Sm ControlByte="#x26" DefaultSize="512" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
+        <Sm ControlByte="#x22" DefaultSize="512" Enable="1" StartAddress="#x1200">MBoxIn</Sm>
+        <Sm ControlByte="#x24" Enable="1" StartAddress="#x1400">Outputs</Sm>
+        <Sm ControlByte="#x20" Enable="1" StartAddress="#x1A00">Inputs</Sm>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1600</Index>
+          <Name>LED</Name>
+          <Entry>
+            <Index>#x7000</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>LED</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </RxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A00</Index>
+          <Name>BUTTON</Name>
+          <Entry>
+            <Index>#x6000</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>BUTTON</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </TxPdo>
+        <Mailbox DataLinkLayer="true">
+          <CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
+        </Mailbox>
+        <Eeprom>
+          <ByteSize>2048</ByteSize>
+          <ConfigData>800EE08800000000</ConfigData>
+          <BootStrap>0010000200120002</BootStrap>
+        </Eeprom>
+      </Device>
+    </Devices>
+  </Descriptions>
+</EtherCATInfo>

applications/tiesc_k2gice/k2gice_objectlist.c

@@ -0,0 +1,120 @@
+#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[] = "LED";
+static const char acName1600_00[] = "Max SubIndex";
+static const char acName1600_01[] = "LED";
+static const char acName1A00[] = "BUTTON";
+static const char acName1A00_00[] = "Max SubIndex";
+static const char acName1A00_01[] = "BUTTON";
+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[] = "BUTTON";
+static const char acName7000[] = "LED";
+
+const _objd SDO1000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
+};
+const _objd SDO1008[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008, 0, "k2gice"},
+};
+const _objd SDO1009[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
+};
+const _objd SDO100A[] =
+{
+  {0x0, DTYPE_VISIBLE_STRING, 24, 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, 0x4291ce, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, NULL},
+};
+const _objd SDO1600[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+};
+const _objd SDO1A00[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, 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[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.BUTTON},
+};
+const _objd SDO7000[] =
+{
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.LED},
+};
+
+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, 1, 0, acName1600, SDO1600},
+  {0x1A00, OTYPE_RECORD, 1, 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_VAR, 0, 0, acName6000, SDO6000},
+  {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
+  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
+};

applications/tiesc_k2gice/main.c

@@ -0,0 +1,80 @@
+#include "esc_hw.h"
+#include "ecat_slv.h"
+#include "options.h"
+#include "utypes.h"
+#include <string.h>
+#include "tiescutils.h"
+#include <examples/board/include/board_i2cLed.h>
+#include <examples/board/include/board_rotary_switch.h>
+
+/* Application variables */
+_Objects    Obj;
+
+/**
+ * This function reads physical input values and assigns the corresponding members
+ */
+void cb_get_inputs()
+{
+    volatile uint8_t io_input;
+    Board_readRotarySwitch((uint8_t *)&io_input);
+    Obj.BUTTON = io_input;
+}
+
+/**
+ * This function writes physical output values from the corresponding members
+ */
+void cb_set_outputs()
+{
+    volatile uint8_t io_output;
+    io_output = Obj.LED;
+    Board_setDigOutput(io_output);
+}
+
+/* Called from stack when stopping outputs */
+void user_safeoutput (void)
+{
+   memset(&Obj.LED, 0, (sizeof(Obj.LED)));
+   Board_setDigOutput(0);
+}
+
+/* Configuration parameters for SOES
+ * SM and Mailbox parameters comes from the
+ * generated config.h
+ */
+static esc_cfg_t config =
+{
+   .user_arg = NULL,
+   .use_interrupt = 1,
+   .watchdog_cnt = 9998,
+   .set_defaults_hook = NULL,
+   .pre_state_change_hook = NULL,
+   .post_state_change_hook = NULL,
+   .application_hook = NULL,
+   .safeoutput_override = user_safeoutput,
+   .pre_object_download_hook = NULL,
+   .post_object_download_hook = NULL,
+   .rxpdo_override = NULL,
+   .txpdo_override = NULL,
+   .esc_hw_interrupt_enable = ESC_interrupt_enable,
+   .esc_hw_interrupt_disable = ESC_interrupt_disable,
+   .esc_hw_eep_handler = ESC_eep_handler,
+   .esc_check_dc_handler = NULL
+};
+
+int MainInit(void)
+{
+   ecat_slv_init(&config);
+   return 0;
+}
+
+void MainLoop(void)
+{
+   ecat_slv_poll();
+   DIG_process(DIG_PROCESS_WD_FLAG);
+}
+
+int main()
+{
+   common_main();
+   return 0;
+}

applications/tiesc_k2gice/utypes.h

@@ -0,0 +1,31 @@
+#ifndef __UTYPES_H__
+#define __UTYPES_H__
+
+#include "cc.h"
+
+
+/* Object dictionary storage */
+
+typedef struct
+{
+   /* Inputs */
+   uint32_t BUTTON;
+
+   /* Outputs */
+   uint32_t LED;
+
+   /* Parameters */
+
+   /* Manufacturer specific data */
+
+   /* Dynamic TX PDO:s */
+
+   /* Dynamic RX PDO:s */
+
+   /* Sync Managers */
+
+} _Objects;
+
+extern _Objects Obj;
+
+#endif /* __UTYPES_H__ */

applications/xmc4300_slavedemo/Makefile

@@ -13,7 +13,7 @@ SOES_DIR = ../../soes
 SRC = \
 	main.c \
 	objectlist.c \
-	soes.c \
+	$(SOES_DIR)/ecat_slv.c \
 	$(SOES_DIR)/esc.c \
 	$(SOES_DIR)/esc_coe.c \
 	$(SOES_DIR)/esc_eep.c \

applications/xmc4300_slavedemo/ecat_options.h

@@ -0,0 +1,44 @@
+#ifndef __ECAT_OPTIONS_H__
+#define __ECAT_OPTIONS_H__
+
+#include "cc.h"
+
+#define USE_FOE          0
+#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_RXPDO_SIZE   42
+#define MAX_TXPDO_SIZE   42
+
+#define MAX_MAPPINGS_SM2 0
+#define MAX_MAPPINGS_SM3 0
+
+#endif /* __ECAT_OPTIONS_H__ */

applications/xmc4300_slavedemo/main.c

@@ -1,15 +1,136 @@
-#include <string.h>
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
 
+#include "ecat_slv.h"
+#include "utypes.h"
 #include "xmc_gpio.h"
 
-#include "soes.h"
+#ifdef XMC4800_F144x2048
+#define P_LED  P5_8
+#define P_BTN  P15_12
+#endif
 
-int main(void)
+#ifdef XMC4300_F100x256
+#define P_LED  P4_1
+#define P_BTN  P3_4
+#endif
+
+extern void ESC_eep_handler(void);
+
+/* Application variables */
+_Rbuffer    Rb;
+_Wbuffer    Wb;
+_Cbuffer    Cb;
+
+uint8_t * rxpdo = (uint8_t *)&Wb.LED;
+uint8_t * txpdo = (uint8_t *)&Rb.button;
+
+uint32_t encoder_scale;
+uint32_t encoder_scale_mirror;
+
+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
+};
+
+void cb_get_inputs (void)
 {
-  soes_init();
-
-  while(1) {
-    soes_task();
-  }
+   Rb.button = XMC_GPIO_GetInput(P_BTN);
+   Cb.reset_counter++;
+   Rb.encoder =  ESCvar.Time;
 }
 
+void cb_set_outputs (void)
+{
+   if (Wb.LED)
+   {
+      XMC_GPIO_SetOutputHigh(P_LED);
+   }
+   else
+   {
+      XMC_GPIO_SetOutputLow(P_LED);
+   }
+}
+
+void post_object_download_hook (uint16_t index, uint8_t subindex,
+                                uint16_t flags)
+{
+   switch(index)
+   {
+      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;
+      }
+   }
+}
+
+void soes (void * arg)
+{
+   /* Setup config hooks */
+   static esc_cfg_t config =
+   {
+      .user_arg = NULL,
+      .use_interrupt = 0,
+      .watchdog_cnt = 5000,
+      .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 = post_object_download_hook,
+      .rxpdo_override = NULL,
+      .txpdo_override = NULL,
+      .esc_hw_interrupt_enable = NULL,
+      .esc_hw_interrupt_disable = NULL,
+      .esc_hw_eep_handler = ESC_eep_handler
+   };
+
+   DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
+
+   // configure I/O
+   XMC_GPIO_Init(P_BTN, &gpio_config_btn);
+   XMC_GPIO_Init(P_LED, &gpio_config_led);
+
+   ecat_slv_init (&config);
+
+   while (1)
+   {
+      ecat_slv();
+   }
+}
+
+int main (void)
+{
+   soes (NULL);
+   return 0;
+}

applications/xmc4300_slavedemo/soes.c

@@ -1,318 +0,0 @@
-/*
- * Licensed under the GNU General Public License version 2 with exceptions. See
- * LICENSE file in the project root for full license information
- */
-
- /** \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;
-
-/* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
-_MBXcontrol MBXcontrol[MBXBUFFERS];
-_ESCvar     ESCvar;
-
-/* Application variables */
-_Rbuffer    Rb;
-_Wbuffer    Wb;
-_Cbuffer    Cb;
-
-/* Private variables */
-volatile uint8_t  digoutput;
-volatile uint8_t  diginput;
-uint16_t          txpdomap = DEFAULTTXPDOMAP;
-uint16_t          rxpdomap = DEFAULTRXPDOMAP;
-uint8_t           txpdoitems = DEFAULTTXPDOITEMS;
-uint8_t           rxpdoitems = DEFAULTTXPDOITEMS;
-
-
-/** Function to pre-qualify the incoming SDO download.
- *
- * @param[in] index      = index of SDO download request to check
- * @param[in] sub-index  = sub-index of SDO download request to check
- * @return 1 if the SDO Download is correct. 0 If not correct.
- */
-int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
-{
-   if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
-   {
-      SDO_abort (index, subindex, ABORT_READONLY);
-      return 0;
-   }
-   return 1;
-}
-
-/** 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;
-         }
-         ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-         break;
-      }
-      case 0x1c13:
-      {
-         if (txpdoitems > 1)
-         {
-            txpdoitems = 1;
-         }
-         if ((txpdomap != 0x1A00) && (txpdomap != 0x1A01)
-             && (rxpdomap != 0x0000))
-         {
-            txpdomap = 0x1A00;
-         }
-         ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-         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, ESCvar.TXPDOsize);
-}
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   ESC_read (SM2_sma, &Wb.LED, ESCvar.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 (ESCvar.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 (ESCvar.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);
-
-   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-
-   /* Setup config hooks */
-   static esc_cfg_t config =
-   {
-      .user_arg = NULL,
-      .use_interrupt = 0,
-      .watchdog_cnt = 0,
-      .mbxsize = MBXSIZE,
-      .mbxsizeboot = MBXSIZEBOOT,
-      .mbxbuffers = MBXBUFFERS,
-      .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},
-      .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
-      .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
-      .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},      
-      .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_config (&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();
-   /* Check the SM activation event */
-   ESC_sm_act_event();
-
-   /* 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();
-}
-

applications/xmc4300_slavedemo/soes.h

@@ -1,14 +0,0 @@
-#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
-

applications/xmc4300_slavedemo/utypes.h

@@ -16,21 +16,27 @@
 
 #include <cc.h>
 
+CC_PACKED_BEGIN
 typedef struct
 {
    uint8_t state;
    uint8_t button;
    uint32_t encoder;
-} _Rbuffer;
+}CC_PACKED _Rbuffer;
+CC_PACKED_END
 
+CC_PACKED_BEGIN
 typedef struct
 {
    uint8_t LED;
-} _Wbuffer;
+}CC_PACKED _Wbuffer;
+CC_PACKED_END
 
+CC_PACKED_BEGIN
 typedef struct
 {
    uint32_t reset_counter;
-} _Cbuffer;
+}CC_PACKED _Cbuffer;
+CC_PACKED_END
 
 #endif

cmake/Linux.cmake

@@ -1,14 +1,20 @@
-
-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)
+add_compile_options(-Wall -Wextra -Wconversion -Wno-unused-parameter -Werror)

cmake/Platform/rt-kernel.cmake

@@ -41,7 +41,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
 
 # Default libs
-set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm")
+set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm -lshell")
 
 set(CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
 set(CMAKE_C_LINK_EXECUTABLE   "<CMAKE_C_COMPILER>   <FLAGS> <CMAKE_C_LINK_FLAGS>   <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")

cmake/toolchain/rt-kernel-xmc4.cmake

@@ -0,0 +1,29 @@
+# Guard against multiple inclusion
+if(_TOOLCHAIN_CMAKE_)
+  return()
+endif()
+set(_TOOLCHAIN_CMAKE_ TRUE)
+
+INCLUDE(CMakeForceCompiler)
+SET(CMAKE_SYSTEM_NAME rt-kernel)
+
+# specify the cross compiler
+CMAKE_FORCE_C_COMPILER(arm-eabi-gcc GNU)
+CMAKE_FORCE_CXX_COMPILER(arm-eabi-g++ GNU)
+
+set(ARCH xmc4)
+set(CPU cortex-m4f)
+set(BSP xmc48relax)
+set(MACHINE_FLAGS "-mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16")
+
+set(SOES_DEMO applications/rtl_xmc4_dynpdo)
+
+include_directories(
+  ${SOES_SOURCE_DIR}/${SOES_DEMO}
+  ${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4
+  )
+
+set(HAL_SOURCES
+  ${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4/esc_hw.c
+  ${SOES_SOURCE_DIR}/soes/hal/rt-kernel-xmc4/esc_hw_eep.c
+  )

drivers/linux/lan9252/lan9252.c

@@ -1,184 +1,160 @@
+/*
+	Datasheet : http://ww1.microchip.com/downloads/en/DeviceDoc/
+		00001909A.pdf
+*/
 #include <linux/init.h>
 #include <linux/module.h>
 #include <linux/fs.h>
 #include <linux/spi/spi.h>
 #include <linux/uaccess.h>
-
-/*
-        Datasheet : http://ww1.microchip.com/downloads/en/DeviceDoc/
-                00001909A.pdf
-*/
+#include <linux/miscdevice.h>
 
 #define LAN9252_MAGIC 'l' //8bit=0~0xff 'l'an9252
 #define TEST _IO(LAN9252_MAGIC, 0)
 
-#define LAN9252_LOCK mutex_lock(&lan9252_mutex);
-#define LAN9252_UNLOCK mutex_unlock(&lan9252_mutex);
+#define LAN9252_LOCK	mutex_lock(&lan9252_mutex);
+#define LAN9252_UNLOCK	mutex_unlock(&lan9252_mutex);
 
 #define DEVICE_NAME	"lan9252"
-#define LAN9252_MAJOR	153
 
+/* spi command */
 #define FAST_READ	0x0B
 #define FAST_READ_DUMMY	1
 
 struct mutex lock;
 static DEFINE_MUTEX(lan9252_mutex);
 
-dev_t id;
-static struct device *dev;
-static struct class *lan9252_class;
-static struct spi_device *lan9252_devices;
+static struct spi_device *lan9252;
 
 static int lan9252_ethercat_probe(struct spi_device *spi);
 static int lan9252_ethercat_remove(struct spi_device *spi);
 
-static int lan9252_open(struct inode *inode, struct file *filp)
+static loff_t lan9252_llseek(struct file *file, loff_t address, int whence)
 {
-        dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
-        return 0;
-}
+	int ret;
 
-static int lan9252_release(struct inode *inode, struct file *filp)
-{
-        dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
-        return 0;
-}
+	LAN9252_LOCK;
 
-static loff_t lan9252_llseek(struct file *file, loff_t address,
-                         int whence)
-{
-        int status;
+	file->f_pos = address;
+	ret = file->f_pos;
 
-        LAN9252_LOCK;
+	LAN9252_UNLOCK;
 
-        file->f_pos = address;
-
-        status = file->f_pos;
-
-        LAN9252_UNLOCK;
-
-        return status;
+	return ret;
 }
 
 static int * lan9252_reg_addr_make(int address)
 {
-
-        int temp;
-        static int lan9252_reg_addr[2];
+	int temp;
+	static int lan9252_reg_addr[2];
 #ifdef DEBUG
-        int i;
+	int i;
 #endif
 
-        dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
-
-        temp = address & 0xff00;
-        lan9252_reg_addr[0] = temp >> 8;
-        temp = address & 0x00ff;
-        lan9252_reg_addr[1] = temp;
+	temp = address & 0xff00;
+	lan9252_reg_addr[0] = temp >> 8;
+	temp = address & 0x00ff;
+	lan9252_reg_addr[1] = temp;
 
 #ifdef DEBUG
-        for (i=0; i<2; i++)
-                dev_dbg(&lan9252_devices->dev, "%s() lan9252_reg_addr[%d] = 0x%x\n",
-                        __FUNCTION__, i, lan9252_reg_addr[i]);
+	for (i=0; i<2; i++)
+		dev_dbg(&lan9252->dev, "%s() lan9252_reg_addr[%d] = 0x%x\n",
+			__FUNCTION__, i, lan9252_reg_addr[i]);
 #endif
 
-        return lan9252_reg_addr;
+	return lan9252_reg_addr;
 }
 
 /*
-        int lan9252_test(void);
-        Description :   Check the connection status of LAN9252    
-        Retrun Value
-        0       :   success
-        other   :   fail   
+	int lan9252_test(void);
+	Description :	Check the connection status of LAN9252
+	Retrun Value
+	0	:   success
+	other	:   fail
 
-        Register Type           :   SYSTEM CONTROL AND STATUS REGISTERS
-        Register Name(SYMBOL)   :   BYTE ORDER TEST REGISTER(BYTE_TEST)
-        Offset                  :   0x0064
-        Size                    :   32bit
-        Default                 :   0x87654321
-        Datasheet description   :   Chip-level reset/configuration
-                                    completion can be determined by first
-                                    polling the 
-                                    Byte Order Test Register(BYTE_TEST).
+	Register Type		: SYSTEM CONTROL AND STATUS REGISTERS
+	Register Name(SYMBOL)	: BYTE ORDER TEST REGISTER(BYTE_TEST)
+	Offset			: 0x0064
+	Size			: 32bit
+	Default			: 0x87654321
+	Datasheet description	: Chip-level reset/configuration
+				completion can be determined by first
+				polling the
+				Byte Order Test Register(BYTE_TEST).
 */
 static int lan9252_test(void)
 {
-        u8 command[4];
-        u8 test_buffer[4];
-        int status=0;
+	u8 command[4];
+	u8 test_buffer[4];
+	int ret=0;
 #ifdef DEBUG
-        int i;
+	int i;
 #endif
-        command[0]=FAST_READ;
-        command[1]=0x00;
-        command[2]=0x64;
-        command[3]=FAST_READ_DUMMY;
+	command[0]=FAST_READ;
+	command[1]=0x00;
+	command[2]=0x64;
+	command[3]=FAST_READ_DUMMY;
 
+	ret = spi_write_then_read(lan9252, &command, sizeof(command),
+					test_buffer, sizeof(test_buffer));
+	if (ret < 0 ) {
+		dev_err(&lan9252->dev, "%s() spi_write_then_read failed "
+			"ret=%d\n", __FUNCTION__, ret);
+		return -1;
+	}
 
-        status = spi_write_then_read(lan9252_devices, &command,
-                        sizeof(command), test_buffer, sizeof(test_buffer));
-        if (status < 0 ) {
-                dev_err(&lan9252_devices->dev, "%s() spi_write_then_read "
-                        " failed status=%d\n", __FUNCTION__, status);
-                return -1;
-        }
+	ret = spi_write_then_read(lan9252, &command, sizeof(command),
+					test_buffer, sizeof(test_buffer));
+	if (ret < 0) {
+		dev_err(&lan9252->dev, "%s() spi_write_then_read failed "
+			"ret=%d\n", __FUNCTION__, ret);
+		return -1;
+	}
 
-        status = spi_write_then_read(lan9252_devices, &command,
-                        sizeof(command), test_buffer, sizeof(test_buffer));
-        if (status < 0 ) {
-                dev_err(&lan9252_devices->dev, "%s() spi_write_then_read "
-                        " failed status=%d\n", __FUNCTION__, status);
-                return -1;
-        }
-    
 #ifdef DEBUG
-        for (i=0; i<sizeof(test_buffer); i++)
-                dev_dbg(&lan9252_devices->dev, "%s() test_buffer[%d] = 0x%x\n",
-                        __FUNCTION__, i, test_buffer[i]);
+	for (i=0; i<sizeof(test_buffer); i++)
+		dev_dbg(&lan9252->dev, "%s() test_buffer[%d] = 0x%x\n",
+			__FUNCTION__, i, test_buffer[i]);
 #endif
 
-        if (test_buffer[0]==0x21 && test_buffer[1]==0x43 &&
-                test_buffer[2]==0x65 && test_buffer[3]==0x87)
-                return 0;
-        else 
-                return -1;                     
+	if (test_buffer[0]==0x21 && test_buffer[1]==0x43 &&
+		test_buffer[2]==0x65 && test_buffer[3]==0x87)
+		return 0;
+	else
+		return -1;
 }
 
-static ssize_t lan9252_read(
-        struct file *file, char *buffer,
-	size_t read_buffer_size, loff_t *f_pos)
+static ssize_t lan9252_read(struct file *file, char *buffer,
+				size_t read_buffer_size, loff_t *f_pos)
 {
-        u8 command[4];
-        u8 *read_buffer;
-        int status=0;
-        int *lan9252_reg_read_addr;
+	u8 command[4];
+	u8 *read_buffer;
+	int ret = 0;
+	int *lan9252_reg_read_addr;
 #ifdef DEBUG
-        int i;
+	int i;
 #endif
 
-        dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
-
-        LAN9252_LOCK;
+	LAN9252_LOCK;
 
 	if (read_buffer_size <= 0) {
-		dev_err(&lan9252_devices->dev, "read_buffer_size(%d) <= 0 \n",
+		dev_err(&lan9252->dev, "read_buffer_size(%d) <= 0 \n",
 			read_buffer_size);
 		goto out;
 	} else {
-		dev_dbg(&lan9252_devices->dev, "read_buffer_size = %d\n",
-		        read_buffer_size);
+		dev_dbg(&lan9252->dev, "read_buffer_size = %d\n",
+			read_buffer_size);
 	}
 
-	read_buffer= (u8 *)kmalloc((read_buffer_size) *
-			sizeof(u32), GFP_KERNEL | GFP_DMA);
+	read_buffer= (u8 *)kmalloc((read_buffer_size) * sizeof(u32),
+					GFP_KERNEL | GFP_DMA);
 	if (!read_buffer) {
-		dev_err(&lan9252_devices->dev, "read_buffer kmalloc error\n");
-		status = -ENOMEM;
+		dev_err(&lan9252->dev, "write read_buffer kmalloc error\n");
+		ret = -ENOMEM;
 		goto out;
-	 }
+	}
 
-        memset(read_buffer, 0, (read_buffer_size) * sizeof(u8));
+	memset(read_buffer, 0, (read_buffer_size) * sizeof(u8));
 
 	lan9252_reg_read_addr = lan9252_reg_addr_make(file->f_pos);
 	command[0] = FAST_READ;
@@ -188,94 +164,88 @@ static ssize_t lan9252_read(
 
 #ifdef DEBUG
 	for (i=0; i<4; i++)
-		dev_dbg(&lan9252_devices->dev, "%s() command[%d] = 0x%x\n",
-		        __FUNCTION__, i, command[i]);
+		dev_dbg(&lan9252->dev, "%s() command[%d] = 0x%x\n", 
+			__FUNCTION__, i, command[i]);
 #endif
 
-	status = spi_write_then_read(lan9252_devices, &command,
-                        sizeof(command), read_buffer,read_buffer_size);
-	if (status < 0 ) {
-		dev_err(&lan9252_devices->dev, "%s() spi_write_then_read "
-		        "failed status=%d\n", __FUNCTION__, status);
+	ret = spi_write_then_read(lan9252, &command, sizeof(command),
+					read_buffer,read_buffer_size);
+	if (ret < 0) {
+		dev_err(&lan9252->dev, "%s() spi_write_then_read failed "
+			"ret=%d\n", __FUNCTION__, ret);
 		goto kfree_read_buffer;
 	}
 
 #ifdef DEBUG
 	for (i=0; i<read_buffer_size; i++)
-		dev_dbg(&lan9252_devices->dev, "%s() read_buffer[%d] = 0x%x\n",
-		        __FUNCTION__, i, read_buffer[i]);
+		dev_dbg(&lan9252->dev, "%s() read_buffer[%d] = 0x%x\n",
+			__FUNCTION__, i, read_buffer[i]);
 #endif
 
 	if (copy_to_user(buffer, read_buffer, read_buffer_size)) {
-		dev_err(&lan9252_devices->dev, "%s() copy_to_user failed\n",
-		        __FUNCTION__);
-		status = -EFAULT;
+		dev_err(&lan9252->dev, "%s() copy_to_user failed\n",
+			__FUNCTION__);
+		ret = -EFAULT;
 		goto kfree_read_buffer;
 	}
 
-	status = read_buffer_size;
+	ret = read_buffer_size;
 
 kfree_read_buffer:
 	kfree(read_buffer);
-
 out:
 	LAN9252_UNLOCK;
-	return status;
+
+	return ret;
 }
 
-
-static ssize_t lan9252_write(
-        struct file *file, const char *command_buff,
-        size_t command_buff_size, loff_t *f_pos)
+static ssize_t lan9252_write(struct file *file, const char *command_buff,
+				size_t command_buff_size, loff_t *f_pos)
 {
 	u8 *command;
-	int status=0;
+	int ret = 0;
 #ifdef DEBUG
 	int i;
 #endif
 
-	dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
-
 	LAN9252_LOCK;
 
 	if (command_buff_size <= 0) {
-		dev_err(&lan9252_devices->dev, "command_buff_size(%d) <= 0 \n",
+		dev_err(&lan9252->dev, "command_buff_size(%d) <= 0 \n",
 			command_buff_size);
 		goto out;
 	} else {
-		dev_dbg(&lan9252_devices->dev, "command_buff_size = %d\n",
-		        command_buff_size);
+		dev_dbg(&lan9252->dev, "command_buff_size = %d\n",
+			command_buff_size);
 	}
 
-	command = (u8 *)kmalloc((command_buff_size) *
-			sizeof(u8), GFP_KERNEL | GFP_DMA);
+	command = (u8 *)kmalloc((command_buff_size) * sizeof(u8),
+					GFP_KERNEL | GFP_DMA);
 	if (!command) {
-		dev_err(&lan9252_devices->dev, "write command buffer kmalloc"
-		        " error\n");
-		status = -ENOMEM;
+		dev_err(&lan9252->dev, "write command kmalloc error\n");
+		ret = -ENOMEM;
 		goto out;
 	}
 
 	memset(command, 0, (command_buff_size) * sizeof(u8));
 
 	if (copy_from_user(command, command_buff, command_buff_size)) {
-		dev_err(&lan9252_devices->dev, "%s() copy_from_user failed\n",
-	                __FUNCTION__);
-		status = -EFAULT;
+		dev_err(&lan9252->dev, "%s() copy_from_user failed\n",
+			__FUNCTION__);
+		ret = -EFAULT;
 		goto kfree_command;
 	}
 
 #ifdef DEBUG
 	for(i=0;i<command_buff_size;i++)
-		dev_dbg(&lan9252_devices->dev, "command[%d]=0x%x\n", i,
-		        command[i]);
+		dev_dbg(&lan9252->dev, "command[%d]=0x%x\n",i,command[i]);
 #endif
 
-	status = spi_write_then_read(lan9252_devices, command,
-                                        command_buff_size, NULL, 0);
-	if (status < 0 ) {
-		dev_err(&lan9252_devices->dev, "%s() spi_write_then_read "
-                        "failed status=%d\n", __FUNCTION__, status);
+	ret = spi_write_then_read(lan9252, command,
+					command_buff_size, NULL, 0);
+	if (ret < 0) {
+		dev_err(&lan9252->dev, "%s() spi_write_then_read failed "
+			"ret=%d\n", __FUNCTION__, ret);
 		goto kfree_command;
 	}
 
@@ -284,29 +254,30 @@ kfree_command:
 
 out:
 	LAN9252_UNLOCK;
-	return status;
+
+	return ret;
 }
 
 static long lan9252_ioctl(struct file *file, unsigned int cmd,
-                unsigned long argument)
+				unsigned long argument)
 {
-        int status;
+	int ret;
 
-        LAN9252_LOCK;
-	
-        switch (cmd) {
-        case TEST:
-                status=lan9252_test();   
-                break;
+	LAN9252_LOCK;
 
-        default:   
-                status=0;
-                break;
-        }
+	switch (cmd) {
+		case TEST:
+			ret = lan9252_test();
+			break;
 
-        LAN9252_UNLOCK;
+		default:
+			ret = 0;
+			break;
+	}
 
-        return status;	
+	LAN9252_UNLOCK;
+
+	return ret;
 }
 
 
@@ -317,13 +288,11 @@ static const struct spi_device_id lan9252_id_table[] = {
 MODULE_DEVICE_TABLE(spi, lan9252_id_table);
 
 static const struct file_operations lan9252_fops = {
-        .owner =	THIS_MODULE,
-        .open =		lan9252_open,
-        .release =	lan9252_release,
-        .llseek	=	lan9252_llseek,
-        .write =	lan9252_write,
-        .read =		lan9252_read,
-        .unlocked_ioctl = lan9252_ioctl,
+	.owner		= THIS_MODULE,
+	.llseek		= lan9252_llseek,
+	.write		= lan9252_write,
+	.read		= lan9252_read,
+	.unlocked_ioctl = lan9252_ioctl,
 };
 
 static struct spi_driver lan9252_ethercat_driver = {
@@ -335,80 +304,47 @@ static struct spi_driver lan9252_ethercat_driver = {
 	.remove = lan9252_ethercat_remove,
 };
 
+struct miscdevice lan9252_miscdev = {
+	.minor	= MISC_DYNAMIC_MINOR,
+	.name	= DEVICE_NAME,
+	.fops	= &lan9252_fops,
+};
+
 static int lan9252_ethercat_probe(struct spi_device *spi)
 {
-	int status;
-
-	dev_dbg(&spi->dev, "%s() called\n", __FUNCTION__);
+	int ret;
 
 	mutex_init(&lock);
 
-	lan9252_devices = spi;
+	lan9252 = spi;
 
-        if(lan9252_test())
-                dev_warn(&lan9252_devices->dev, "lan9252 not connected\n");
+	if(lan9252_test())
+		dev_warn(&spi->dev, "lan9252 not connected\n");
 
-	if (register_chrdev(LAN9252_MAJOR,
-	        lan9252_ethercat_driver.driver.name, &lan9252_fops)) {
-		dev_err(&lan9252_devices->dev, "unable to get major %d for "            
-		, LAN9252_MAJOR);
-		status = -ENODEV;
-		goto register_chrdev_fail;
-	}
+	ret = misc_register(&lan9252_miscdev);
+	if (ret)
+		goto misc_register_fail;
 
-	lan9252_class = class_create(THIS_MODULE,
-        		lan9252_ethercat_driver.driver.name);
-	if (IS_ERR(lan9252_class)) {
-		status = PTR_ERR(lan9252_class);
-		goto class_create_fail;
-	}
-	
-	id = MKDEV(LAN9252_MAJOR, 0);
-	dev = device_create(lan9252_class, NULL, id, NULL,
-		 lan9252_ethercat_driver.driver.name);  
-	if (IS_ERR(dev)) {
-		status = PTR_ERR(dev);  
-		dev_err(dev, "device_create error %d\n", status);
-		goto device_create_fail;
-
-	}  
-
-	dev_dbg(&lan9252_devices->dev, "spi->max_speed_hz=%d"
-                " spi->bits_per_word=%d spi->mode=%d\n", spi->max_speed_hz,
-                spi->bits_per_word, spi->mode);
-        dev_dbg(&lan9252_devices->dev, "spi->chip_select=%d spi->cs_gpio=%d\n",
-                spi->chip_select, spi->cs_gpio);
-
-	dev_info(&lan9252_devices->dev, "Probed\n");
+	dev_info(&spi->dev, "Probed\n");
 
 	return 0;
 
-device_create_fail:
-	class_destroy(lan9252_class);
+misc_register_fail:
+	dev_err(&spi->dev, "Probed failed : %d\n", ret);
 
-class_create_fail:
-	unregister_chrdev(LAN9252_MAJOR, 
-	        lan9252_ethercat_driver.driver.name);
-
-register_chrdev_fail:
-	dev_err(&lan9252_devices->dev, "Probed failed : %d\n", status);  
-	return status;
+	return ret;
 }
 
 static int lan9252_ethercat_remove(struct spi_device *spi)
 {
-	dev_dbg(&lan9252_devices->dev, "%s() called\n", __FUNCTION__);
+	misc_deregister(&lan9252_miscdev);
 
-	device_destroy(lan9252_class, id); 
-	class_destroy(lan9252_class);
-	unregister_chrdev(LAN9252_MAJOR,
-	        lan9252_ethercat_driver.driver.name);
+	dev_info(&spi->dev, "Removed\n");
 
-	dev_info(&lan9252_devices->dev, "Removed\n");
 	return 0;
 }
 module_spi_driver(lan9252_ethercat_driver);
 
 MODULE_AUTHOR("tykwon@m2i.co.kr");
 MODULE_DESCRIPTION("Microchip LAN9252 Ethercat Driver");
-MODULE_LICENSE("GPL v2");
+MODULE_LICENSE("GPL");

drivers/linux/lan9252/microchip,lan9252.txt

@@ -6,8 +6,8 @@ Required properties:
  - reg: SPI chip select.
 
 Example:
-        ethercat: lan9252@1 {
-                compatible = "lan9252";
-                spi-max-frequency = <20000000>;
-                reg = <1>; 
-        };
+	ethercat: lan9252@1 {
+		compatible = "lan9252";
+		spi-max-frequency = <20000000>;
+		reg = <1>;
+	};

soes/CMakeLists.txt

@@ -7,8 +7,13 @@ add_library (soes
   esc_coe.h
   esc_foe.c
   esc_foe.h
+  esc_eoe.c
+  esc_eoe.h
   esc_eep.c
   esc_eep.h
+  ecat_slv.c
+  ecat_slv.h
+  options.h
   ${HAL_SOURCES}
   )
 
@@ -19,5 +24,6 @@ install (FILES
   esc.h
   esc_coe.h
   esc_foe.h
+  esc_eoe.h
   esc_eep.h
   DESTINATION include)

soes/ecat_slv.c

@@ -1,74 +1,135 @@
-#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 "utypes.h"
 #include "esc.h"
 #include "esc_coe.h"
 #include "esc_foe.h"
-#include "config.h"
-#include "slave.h"
+#include "esc_eoe.h"
+#include "ecat_slv.h"
+
+#define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)
+#define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
 
 /* Global variables used by the stack */
 uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
 _MBXcontrol MBXcontrol[MBXBUFFERS];
+_SMmap      SMmap2[MAX_MAPPINGS_SM2];
+_SMmap      SMmap3[MAX_MAPPINGS_SM3];
 _ESCvar     ESCvar;
 
-/* Application variables */
-_Rbuffer    Rb;
-_Wbuffer    Wb;
-_Cbuffer    Cb;
-_Mbuffer    Mb;
-
 /* Private variables */
 static volatile int watchdog;
 
-/** Mandatory: Function to pre-qualify the incoming SDO download.
+#if MAX_MAPPINGS_SM2 > 0
+static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned (8)));
+#else
+extern uint8_t rxpdo[];
+#endif
+
+#if MAX_MAPPINGS_SM3 > 0
+static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned (8)));
+#else
+extern uint8_t txpdo[];
+#endif
+
+/** Function to pre-qualify the incoming SDO download.
  *
  * @param[in] index      = index of SDO download request to check
  * @param[in] sub-index  = sub-index of SDO download request to check
- * @return 1 if the SDO Download is correct. 0 If not correct.
+ * @return SDO abort code, or 0 on success
  */
-int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
+uint32_t ESC_download_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags)
 {
-   int result = 1;
-
-   if(ESCvar.pre_object_download_hook)
+   if (IS_RXPDO (index) ||
+       IS_TXPDO (index) ||
+       index == RX_PDO_OBJIDX ||
+       index == TX_PDO_OBJIDX)
    {
-      result = (ESCvar.pre_object_download_hook)(index, subindex);
+      uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
+      if (subindex > minSub && COE_maxSub (index) != 0)
+      {
+         return ABORT_SUBINDEX0_NOT_ZERO;
+      }
    }
 
-   return result;
+   if (ESCvar.pre_object_download_hook)
+   {
+      return (ESCvar.pre_object_download_hook) (index,
+            subindex,
+            data,
+            size,
+            flags);
+   }
+
+   return 0;
 }
 
-/** Mandatory: Hook called from the slave stack SDO Download handler to act on
+/** 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
+ * @return SDO abort code, or 0 on success
  */
-void ESC_objecthandler (uint16_t index, uint8_t subindex)
+uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
 {
-   switch (index)
+   if (ESCvar.post_object_download_hook != NULL)
    {
-   /* Handle post-write of parameter values */
-   case 0x8001:
-   {
-      cb_post_write_variableRW(subindex);
-      break;
-   }
-   default:
-   {
-      if(ESCvar.post_object_download_hook != NULL)
-      {
-         (ESCvar.post_object_download_hook)(index, subindex);
-      }
-      break;
-   }
+      return (ESCvar.post_object_download_hook)(index, subindex, flags);
    }
+
+   return 0;
 }
 
-/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
+/** Function to pre-qualify the incoming SDO upload.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t *size,
+      uint16_t flags)
+{
+   if (ESCvar.pre_object_upload_hook != NULL)
+   {
+      return (ESCvar.pre_object_upload_hook) (index,
+            subindex,
+            data,
+            size,
+            flags);
+   }
+
+   return 0;
+}
+
+/** Hook called from the slave stack SDO Upload handler to act on
+ * user specified Index and Sub-index.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
+{
+   if (ESCvar.post_object_upload_hook != NULL)
+   {
+      return (ESCvar.post_object_upload_hook)(index, subindex, flags);
+   }
+
+   return 0;
+}
+
+/** 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)
 {
@@ -78,16 +139,9 @@ void APP_safeoutput (void)
    {
       (ESCvar.safeoutput_override)();
    }
-   else
-   {
-      // Set safe values for Wb.LEDgroup0
-      Wb.LEDgroup0.LED0 = 0;
-      // Set safe values for Wb.LEDgroup1
-      Wb.LEDgroup1.LED1 = 0;
-   }
 }
 
-/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
+/** Write local process data to Sync Manager 3, Master Inputs.
  */
 void TXPDO_update (void)
 {
@@ -97,11 +151,15 @@ void TXPDO_update (void)
    }
    else
    {
-      ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
+      if (MAX_MAPPINGS_SM3 > 0)
+      {
+         COE_pdoPack (txpdo, ESCvar.sm3mappings, SMmap3);
+      }
+      ESC_write (ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
    }
 }
 
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
+/** Read Sync Manager 2 to local process data, Master Outputs.
  */
 void RXPDO_update (void)
 {
@@ -111,11 +169,25 @@ void RXPDO_update (void)
    }
    else
    {
-      ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
+      ESC_read (ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
+      if (MAX_MAPPINGS_SM2 > 0)
+      {
+         COE_pdoUnpack (rxpdo, ESCvar.sm2mappings, SMmap2);
+      }
    }
 }
 
-/** Mandatory: Function to update local I/O, call read ethercat outputs, call
+/* Set the watchdog count value, don't have any affect when using
+ * HW watchdog 0x4xx
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
+ */
+void APP_setwatchdog (int watchdogcnt)
+{
+   CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
+}
+
+/* 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.
  */
@@ -124,21 +196,17 @@ void DIG_process (uint8_t flags)
    /* Handle watchdog */
    if((flags & DIG_PROCESS_WD_FLAG) > 0)
    {
-
       if (CC_ATOMIC_GET(watchdog) > 0)
       {
          CC_ATOMIC_SUB(watchdog, 1);
       }
 
       if ((CC_ATOMIC_GET(watchdog) <= 0) &&
-          ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
+          ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
+           (ESCvar.ESC_SM2_sml > 0))
       {
          DPRINT("DIG_process watchdog expired\n");
-         ESC_stopoutput();
-         /* watchdog, invalid outputs */
-         ESC_ALerror (ALERR_WATCHDOG);
-         /* goto safe-op with error bit set */
-         ESC_ALstatus (ESCsafeop | ESCerror);
+         ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
       }
       else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
       {
@@ -154,44 +222,18 @@ void DIG_process (uint8_t flags)
       {
          RXPDO_update();
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
-         if(ESCvar.dcsync > 0)
-         {
-            CC_ATOMIC_ADD(ESCvar.synccounter, 1);
-         }
          /* Set outputs */
-         cb_set_LEDgroup0();
-         cb_set_LEDgroup1();
+         cb_set_outputs();
       }
       else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
       {
-         RXPDO_update();
+         ESC_read (ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
       }
    }
 
    /* Call application */
    if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
    {
-
-      if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
-      {
-         CC_ATOMIC_SUB(ESCvar.synccounter, 1);
-      }
-
-      if((ESCvar.dcsync > 0) &&
-            ((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
-             (CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit)))
-      {
-         if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
-         {
-            DPRINT("sync error = %d\n", ESCvar.synccounter);
-            ESC_stopoutput();
-            /* Sync error */
-            ESC_ALerror (ALERR_SYNCERROR);
-            /* goto safe-op with error bit set */
-            ESC_ALstatus (ESCsafeop | ESCerror);
-            CC_ATOMIC_SET(ESCvar.synccounter, 0);
-         }
-      }
       /* Call application callback if set */
       if (ESCvar.application_hook != NULL)
       {
@@ -205,13 +247,13 @@ void DIG_process (uint8_t flags)
       if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
       {
          /* Update inputs */
-         cb_get_Buttons();
+         cb_get_inputs();
          TXPDO_update();
       }
    }
 }
 
-/**
+/*
  * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
  * control what interrupts that should be served and re-activated with
  * event mask argument
@@ -229,10 +271,17 @@ void ecat_slv_worker (uint32_t event_mask)
       while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
       {
          ESC_coeprocess();
+#if USE_FOE
          ESC_foeprocess();
+#endif
+#if USE_EOE
+         ESC_eoeprocess();
+#endif
          ESC_xoeprocess();
       }
-
+#if USE_EOE
+      ESC_eoeprocess_tx();
+#endif
       /* Call emulated eeprom handler if set */
       if (ESCvar.esc_hw_eep_handler != NULL)
       {
@@ -246,18 +295,7 @@ void ecat_slv_worker (uint32_t event_mask)
    ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
 }
 
-/**
- * ISR function. It should be called from ISR for applications entirely driven by
- * interrupts.
- * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
- */
-void ecat_slv_isr (void)
-{
-   ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-            | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
-}
-
-/**
+/*
  * Polling function. It should be called periodically for an application 
  * when only SM2/DC interrupt is active.
  * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
@@ -277,9 +315,17 @@ void ecat_slv_poll (void)
    if (ESC_mbxprocess())
    {
       ESC_coeprocess();
+#if USE_FOE
       ESC_foeprocess();
+#endif
+#if USE_EOE
+      ESC_eoeprocess();
+#endif
       ESC_xoeprocess();
    }
+#if USE_EOE
+   ESC_eoeprocess_tx();
+#endif
 
    /* Call emulated eeprom handler if set */
    if (ESCvar.esc_hw_eep_handler != NULL)
@@ -288,6 +334,9 @@ void ecat_slv_poll (void)
    }
 }
 
+/*
+ * Poll all events in a free-run application
+ */
 void ecat_slv (void)
 {
    ecat_slv_poll();
@@ -295,16 +344,13 @@ void ecat_slv (void)
          DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
 }
 
-/**
+/*
  * Initialize the slave stack.
  */
 void ecat_slv_init (esc_cfg_t * config)
 {
    DPRINT ("Slave stack init started\n");
 
-   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
-   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
-
    /* Init watchdog */
    watchdog = config->watchdog_cnt;
 
@@ -321,14 +367,22 @@ void ecat_slv_init (esc_cfg_t * config)
       ESCvar.DLstatus = etohs (ESCvar.DLstatus);
    }
 
+#if USE_FOE
    /* Init FoE */
-   FOE_init();
+   FOE_init ();
+#endif
+
+#if USE_EOE
+   /* Init EoE */
+   EOE_init ();
+#endif
 
    /* reset ESC to init state */
    ESC_ALstatus (ESCinit);
    ESC_ALerror (ALERR_NONE);
-   ESC_stopmbx();
-   ESC_stopinput();
-   ESC_stopoutput();
+   ESC_stopmbx ();
+   ESC_stopinput ();
+   ESC_stopoutput ();
+   /* Init Object Dictionary default values */
+   COE_initDefaultValues ();
 }
-#endif

soes/ecat_slv.h

@@ -1,28 +1,29 @@
-#ifndef __SLAVE_H__
-#define __SLAVE_H__
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
 
-#include "utypes.h"
+#ifndef __ECAT_SLV_H__
+#define __ECAT_SLV_H__
+
+#include "options.h"
 #include "esc.h"
 
 /**
- * This function gets input values and updates Rb.Buttons
+ * This function is called when to get input values
  */
-void cb_get_Buttons();
+void cb_get_inputs();
 
 /**
- * This function sets output values according to Wb.LEDgroup0
+* This function is called when to set outputs values
  */
-void cb_set_LEDgroup0();
+void cb_set_outputs();
 
-/**
- * This function sets output values according to Wb.LEDgroup1
+/** Set the watchdog count value
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
  */
-void cb_set_LEDgroup1();
-
-/**
- * This function is called after a SDO write of the object Cb.variableRW.
- */
-void cb_post_write_variableRW(int subindex);
+void APP_setwatchdog (int watchdogcnt);
 
 #define DIG_PROCESS_INPUTS_FLAG     0x01
 #define DIG_PROCESS_OUTPUTS_FLAG    0x02
@@ -47,12 +48,6 @@ void DIG_process (uint8_t flags);
  */
 void ecat_slv_worker (uint32_t event_mask);
 
-/**
- * ISR for SM0/1, EEPROM and AL CONTROL events in a SM/DC
- * synchronization application
- */
-CC_DEPRECATED void ecat_slv_isr (void);
-
 /**
  * Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
  * application
@@ -71,4 +66,4 @@ void ecat_slv (void);
  */
 void ecat_slv_init (esc_cfg_t * config);
 
-#endif /* __SLAVE_H__ */
+#endif /* __ECAT_SLV_H__ */

soes/esc.c

@@ -41,6 +41,48 @@ void ESC_ALstatus (uint8_t status)
    ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy));
 }
 
+/** Write AL Status and AL Status code to the ESC.
+ *  Call pre- and poststate change hook
+ *
+ * @param[in] status   = Write current slave status to register 0x130 AL Status
+ * reflecting actual state and error indication if present
+ * @param[in] errornumber   = Write an by EtherCAT specified Error number
+ * register 0x134 AL Status Code
+ */
+void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber)
+{
+   uint8_t an, as;
+
+   if(status & ESCop)
+   {
+      /* Erroneous input, ignore */
+      return;
+   }
+   /* Mask error ack of current state */
+   as = ESCvar.ALstatus & ESCREG_AL_ERRACKMASK;
+   an = as;
+   /* Set the state transition, new state in high bits and old in bits  */
+   as = (uint8_t)(((status & ESCREG_AL_ERRACKMASK) << 4) | (as & 0x0f));
+   /* Call post state change hook case it have been configured  */
+   if (ESCvar.pre_state_change_hook != NULL)
+   {
+      ESCvar.pre_state_change_hook (&as, &an);
+   }
+   /* Stop outputs if active */
+   if ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
+   {
+      ESC_stopoutput();
+   }
+   ESC_ALerror(errornumber);
+   ESC_ALstatus(status);
+   an = status;
+   /* Call post state change hook case it have been configured  */
+   if (ESCvar.post_state_change_hook != NULL)
+   {
+      ESCvar.post_state_change_hook (&as, &an);
+   }
+}
+
 /** Write ALeventMask register 0x204.
  *
  * @param[in] n   = AL Event Mask
@@ -86,15 +128,15 @@ uint32_t ESC_ALeventread (void)
    return htoel(alevent);
 }
 
-/** Read SM Status register 0x805(+ offset to SyncManager n) to acknowledge a
+/** Read SM Activate register 0x806(+ offset to SyncManager n) to acknowledge a
  * Sync Manager event Bit 3 in ALevent. The result is not used.
  *
  * @param[in] n   = Read Sync Manager no. n
  */
 void ESC_SMack (uint8_t n)
 {
-   uint16_t dummy;
-   ESC_read (ESCREG_SM0STATUS + (n << 3), &dummy, 2);
+   uint8_t dummy;
+   ESC_read ((uint16_t)(ESCREG_SM0ACTIVATE + (n << 3)), &dummy, 1);
 }
 
 /** Read SM Status register 0x805(+ offset to SyncManager n) and save the
@@ -105,18 +147,8 @@ void ESC_SMack (uint8_t n)
 void ESC_SMstatus (uint8_t n)
 {
    _ESCsm2 *sm;
-   uint16_t temp;
-   sm = (_ESCsm2 *) & ESCvar.SM[n];
-   ESC_read (ESCREG_SM0STATUS + (n << 3), &temp, 2);
-#if defined(EC_LITTLE_ENDIAN)
-   sm->ActESC = temp >> 8;
-   sm->Status = temp;
-#endif
-
-#if defined(EC_BIG_ENDIAN)
-   sm->ActESC = temp;
-   sm->Status = temp >> 8;
-#endif
+   sm = (_ESCsm2 *)&ESCvar.SM[n];
+   ESC_read ((uint16_t)(ESCREG_SM0STATUS + (n << 3)), &(sm->Status), 1);
 }
 
 /** Write ESCvar.SM[n] data to ESC PDI control register 0x807(+ offset to SyncManager n).
@@ -126,8 +158,19 @@ void ESC_SMstatus (uint8_t n)
 void ESC_SMwritepdi (uint8_t n)
 {
    _ESCsm2 *sm;
-   sm = (_ESCsm2 *) & ESCvar.SM[n];
-   ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1);
+   sm = (_ESCsm2 *)&ESCvar.SM[n];
+   ESC_write ((uint16_t)(ESCREG_SM0PDI + (n << 3)), &(sm->ActPDI), 1);
+}
+
+/** Read ESC PDI control register 0x807(+ offset to SyncManager n) to ESCvar.SM[n] data.
+ *
+ * @param[in] n   = Read from Sync Manager no. n
+ */
+void ESC_SMreadpdi (uint8_t n)
+{
+    _ESCsm2* sm;
+    sm = (_ESCsm2*)&ESCvar.SM[n];
+    ESC_read ((uint16_t)(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.
@@ -137,9 +180,14 @@ void ESC_SMwritepdi (uint8_t n)
 void ESC_SMenable (uint8_t n)
 {
    _ESCsm2 *sm;
-   sm = (_ESCsm2 *) & ESCvar.SM[n];
-   sm->ActPDI &= ~ESCREG_SMENABLE_BIT;
+   sm = (_ESCsm2 *)&ESCvar.SM[n];
+   sm->ActPDI &= (uint8_t)~ESCREG_SMENABLE_BIT;
    ESC_SMwritepdi (n);
+   /* Read back wait until enabled */
+   do
+   {
+      ESC_SMreadpdi (n);
+   } while ((sm->ActPDI & ESCREG_SMENABLE_BIT) == 1);
 }
 /** Write 1 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to De-activte the Sync Manager n.
  *
@@ -148,9 +196,14 @@ void ESC_SMenable (uint8_t n)
 void ESC_SMdisable (uint8_t n)
 {
    _ESCsm2 *sm;
-   sm = (_ESCsm2 *) & ESCvar.SM[n];
+   sm = (_ESCsm2 *)&ESCvar.SM[n];
    sm->ActPDI |= ESCREG_SMENABLE_BIT;
    ESC_SMwritepdi (n);
+   /* Read back wait until disabled */
+   do
+   {
+      ESC_SMreadpdi (n);
+   } while ((sm->ActPDI & ESCREG_SMENABLE_BIT) == 0);
 }
 /** Read Configured Station Address register 0x010 assigned by the Master.
  *
@@ -218,51 +271,16 @@ uint16_t ESC_checkDC (void)
    uint16_t ret = 0;
 
    uint8_t sync_act = ESC_SYNCactivation();
-   uint32_t sync0_cycletime = ESC_SYNC0cycletime();
-   uint16_t sync_type_supported1c32 = 0;
-   uint32_t mincycletime = 0;
-
    /* Do we need to check sync settings? */
    if((sync_act & (ESCREG_SYNC_ACT_ACTIVATED | ESCREG_SYNC_AUTO_ACTIVATED)) > 0)
    {
-      /* If the sync unit is active at least on signal should be activated */
-      if(COE_getSyncMgrPara(0x1c32, 0x4, &sync_type_supported1c32, DTYPE_UNSIGNED16) == 0)
+      /* Trigger a by the application given DC check handler, return error if
+       *  non is given
+       */
+      ret = ALERR_DCINVALIDSYNCCFG;
+      if(ESCvar.esc_check_dc_handler != NULL)
       {
-         ret = ALERR_DCINVALIDSYNCCFG;
-
-      }
-      else if(COE_getSyncMgrPara(0x1c32, 0x5, &mincycletime, DTYPE_UNSIGNED32) == 0)
-      {
-         ret = ALERR_DCINVALIDSYNCCFG;
-      }
-      else if(COE_getSyncMgrPara(0x10F1, 0x2, &ESCvar.synccounterlimit, DTYPE_UNSIGNED16) == 0)
-      {
-         ret = ALERR_DCINVALIDSYNCCFG;
-      }
-      else if((sync_act & (ESCREG_SYNC_SYNC0_EN | ESCREG_SYNC_SYNC1_EN)) == 0)
-      {
-         ret = ALERR_DCINVALIDSYNCCFG;
-      }
-      /* Do we support activated signals */
-      else if(((sync_type_supported1c32 & SYNCTYPE_SUPPORT_DCSYNC0) == 0) &&
-            ((sync_act & ESCREG_SYNC_SYNC0_EN) > 0))
-      {
-         ret = ALERR_DCINVALIDSYNCCFG;
-      }
-      /* Do we support activated signals */
-      else if(((sync_type_supported1c32 & SYNCTYPE_SUPPORT_DCSYNC1) == 0) &&
-            ((sync_act & ESCREG_SYNC_SYNC1_EN) > 0))
-      {
-         ret = ALERR_DCINVALIDSYNCCFG;
-      }
-      else if((sync0_cycletime != 0) && (sync0_cycletime < mincycletime))
-      {
-         ret = ALERR_DCSYNC0CYCLETIME;
-      }
-      else
-      {
-         ESCvar.dcsync = 1;
-         ESCvar.synccounter = 0;
+         ret = (ESCvar.esc_check_dc_handler)();
       }
    }
    else
@@ -320,11 +338,10 @@ uint8_t ESC_checkmbx (uint8_t state)
 uint8_t ESC_startmbx (uint8_t state)
 {
    /* Assign SM settings */
-   ESCvar.activembxsize = ESCvar.mbxsize;
+   ESCvar.activembxsize = MBXSIZE;
    ESCvar.activemb0 = &ESCvar.mb[0];
    ESCvar.activemb1 = &ESCvar.mb[1];
 
-
    ESC_SMenable (0);
    ESC_SMenable (1);
    ESC_SMstatus (0);
@@ -337,6 +354,8 @@ uint8_t ESC_startmbx (uint8_t state)
    else
    {
       ESCvar.toggle = ESCvar.SM[1].ECrep;       //sync repeat request toggle state
+      ESCvar.SM[1].PDIrep = ESCvar.toggle & 0x1U;
+      ESC_SMwritepdi (1);
       ESCvar.MBXrun = 1;
    }
    return state;
@@ -354,7 +373,7 @@ uint8_t ESC_startmbx (uint8_t state)
 uint8_t ESC_startmbxboot (uint8_t state)
 {
    /* Assign SM settings */
-   ESCvar.activembxsize = ESCvar.mbxsizeboot;
+   ESCvar.activembxsize = MBXSIZEBOOT;
    ESCvar.activemb0 = &ESCvar.mbboot[0];
    ESCvar.activemb1 = &ESCvar.mbboot[1];
 
@@ -370,6 +389,8 @@ uint8_t ESC_startmbxboot (uint8_t state)
    else
    {
       ESCvar.toggle = ESCvar.SM[1].ECrep;       //sync repeat request toggle state
+      ESCvar.SM[1].PDIrep = ESCvar.toggle & 0x1U;
+      ESC_SMwritepdi (1);
       ESCvar.MBXrun = 1;
    }
    return state;
@@ -398,6 +419,9 @@ void ESC_stopmbx (void)
    ESCvar.frags = 0;
    ESCvar.fragsleft = 0;
    ESCvar.txcue = 0;
+   ESCvar.index = 0;
+   ESCvar.subindex = 0;
+   ESCvar.flags = 0;
 }
 
 /** Read Receive mailbox and store data in local ESCvar.MBX variable.
@@ -414,9 +438,9 @@ void ESC_readmbx (void)
 
    if (length > (ESC_MBX0_sml - ESC_MBXHSIZE))
    {
-      length = ESC_MBX0_sml - ESC_MBXHSIZE;
+      length = (uint16_t)(ESC_MBX0_sml - ESC_MBXHSIZE);
    }
-   ESC_read (ESC_MBX0_sma + ESC_MBXHSIZE, MB->b, length);
+   ESC_read ((uint16_t)(ESC_MBX0_sma + ESC_MBXHSIZE), MB->b, length);
    if (length + ESC_MBXHSIZE < ESC_MBX0_sml)
    {
       ESC_read (ESC_MBX0_sme, &length, 1);
@@ -439,9 +463,9 @@ void ESC_writembx (uint8_t n)
 
    if (length > (ESC_MBX1_sml - ESC_MBXHSIZE))
    {
-      length = ESC_MBX1_sml - ESC_MBXHSIZE;
+      length = (uint16_t)(ESC_MBX1_sml - ESC_MBXHSIZE);
    }
-   ESC_write (ESC_MBX1_sma, MBh, ESC_MBXHSIZE + length);
+   ESC_write (ESC_MBX1_sma, MBh, (uint16_t)(ESC_MBXHSIZE + length));
    if (length + ESC_MBXHSIZE < ESC_MBX1_sml)
    {
       ESC_write (ESC_MBX1_sme, &dummy, 1);
@@ -487,7 +511,7 @@ uint8_t ESC_claimbuffer (void)
       MBh->address = htoes (0x0000);      // destination is master
       MBh->channel = 0;
       MBh->priority = 0;
-      MBh->mbxcnt = ESCvar.mbxcnt;
+      MBh->mbxcnt = ESCvar.mbxcnt & 0xFU;
       ESCvar.txcue++;
    }
    return n;
@@ -545,15 +569,15 @@ uint8_t ESC_mbxprocess (void)
       return 0;
    }
 
-   /* SM0/1 access or SMn change event */
-   if (ESCvar.ALevent & ESCREG_ALEVENT_SM_MASK)
+   /* SM0/1 access */
+   if (ESCvar.ALevent & (ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1))
    {
       ESC_SMstatus (0);
       ESC_SMstatus (1);
    }
 
    /* outmbx read by master */
-   if (ESCvar.mbxoutpost && ESCvar.SM[1].IntR)
+   if (ESCvar.mbxoutpost && (ESCvar.ALevent & ESCREG_ALEVENT_SM1))
    {
       ESC_ackmbxread ();
       /* dispose old backup */
@@ -601,7 +625,7 @@ uint8_t ESC_mbxprocess (void)
             ESC_writembx (ESCvar.mbxbackup);
          }
          ESCvar.toggle = ESCvar.SM[1].ECrep;
-         ESCvar.SM[1].PDIrep = ESCvar.toggle;
+         ESCvar.SM[1].PDIrep = ESCvar.toggle & 0x1U;
          ESC_SMwritepdi (1);
       }
       return 0;
@@ -616,6 +640,8 @@ uint8_t ESC_mbxprocess (void)
       if (mbxhandle)
       {
          ESC_writembx (mbxhandle);
+         /* Refresh SM status */
+         ESC_SMstatus (1);
          /* change state */
          MBXcontrol[mbxhandle].state = MBXstate_outpost;
          ESCvar.mbxoutpost = mbxhandle;
@@ -686,17 +712,78 @@ uint8_t ESC_checkSM23 (uint8_t state)
    _ESCsm2 *SM;
    ESC_read (ESCREG_SM2, (void *) &ESCvar.SM[2], sizeof (ESCvar.SM[2]));
    SM = (_ESCsm2 *) & ESCvar.SM[2];
-   if ((etohs (SM->PSA) != ESC_SM2_sma) || (etohs (SM->Length) != ESCvar.ESC_SM2_sml)
-       || (SM->Command != ESC_SM2_smc) || !(SM->ActESC & ESC_SM2_act))
+   
+   /* Check SM settings */
+   if ((etohs (SM->PSA) != ESC_SM2_sma) ||
+       (SM->Command != ESC_SM2_smc))
    {
       ESCvar.SMtestresult = SMRESULT_ERRSM2;
       /* fail state change */
       return (ESCpreop | ESCerror);
    }
+   /* Check run-time settings */
+   /* Check length */
+   else if (etohs (SM->Length) != ESCvar.ESC_SM2_sml)
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM2;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+   /* SM disabled and (SM activated or length > 0) set by master */
+   else if (((ESC_SM2_act & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
+            ((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) || (ESCvar.ESC_SM2_sml > 0)))
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM2;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+   /* SM enabled and (length > 0 but SM disabled) set by master */
+   else if (((ESC_SM2_act & ESCREG_SYNC_ACT_ACTIVATED) > 0) &&
+            ((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
+            (ESCvar.ESC_SM2_sml > 0))
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM2;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+
+   if ((ESC_SM2_sma + (etohs (SM->Length) * 3)) > ESC_SM3_sma)
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM2;
+      /* SM2 overlaps SM3, fail state change */
+      return (ESCpreop | ESCerror);
+   }
+
    ESC_read (ESCREG_SM3, (void *) &ESCvar.SM[3], sizeof (ESCvar.SM[3]));
    SM = (_ESCsm2 *) & ESCvar.SM[3];
-   if ((etohs (SM->PSA) != ESC_SM3_sma) || (etohs (SM->Length) != ESCvar.ESC_SM3_sml)
-       || (SM->Command != ESC_SM3_smc) || !(SM->ActESC & ESC_SM3_act))
+   /* Check SM settings */
+   if ((etohs (SM->PSA) != ESC_SM3_sma) ||
+       (SM->Command != ESC_SM3_smc))
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM3;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+   /* Check run-time settings */
+   /* Check length */
+   else if (etohs (SM->Length) != ESCvar.ESC_SM3_sml)
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM3;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+   /* SM disabled and (SM activated or length > 0) set by master */
+   else if (((ESC_SM3_act & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
+            ((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) || (ESCvar.ESC_SM3_sml > 0)))
+   {
+      ESCvar.SMtestresult = SMRESULT_ERRSM3;
+      /* fail state change */
+      return (ESCpreop | ESCerror);
+   }
+   /* SM enabled and (length > 0 but SM disabled) set by master */
+   else if (((ESC_SM3_act & ESCREG_SYNC_ACT_ACTIVATED) > 0) &&
+            ((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
+            (ESCvar.ESC_SM3_sml > 0))
    {
       ESCvar.SMtestresult = SMRESULT_ERRSM3;
       /* fail state change */
@@ -719,7 +806,12 @@ uint8_t ESC_startinput (uint8_t state)
 
    if (state != (ESCpreop | ESCerror))
    {
-      ESC_SMenable (3);
+   	  /* If inputs > 0 , enable SM3 */
+      if (ESCvar.ESC_SM3_sml > 0)
+      {
+         ESC_SMenable (3);
+      }
+      /* Go to state input regardless of any inputs present */
       CC_ATOMIC_SET(ESCvar.App.state, APPSTATE_INPUT);
    }
    else
@@ -759,15 +851,22 @@ uint8_t ESC_startinput (uint8_t state)
       {
          if (ESCvar.esc_hw_interrupt_enable != NULL)
          {
-            if(ESCvar.dcsync > 0)
+            uint32_t int_mask;
+
+            if (ESCvar.ESC_SM2_sml == 0)
             {
-               ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_DC_SYNC0 |
-                     ESCREG_ALEVENT_SM2);
+               int_mask = ESCREG_ALEVENT_SM3;
             }
             else
             {
-               ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_SM2);
+               int_mask = ESCREG_ALEVENT_SM2;
             }
+
+            if (ESCvar.dcsync > 0)
+            {
+               int_mask |= ESCREG_ALEVENT_DC_SYNC0;
+            }
+            ESCvar.esc_hw_interrupt_enable (int_mask);
          }
       }
    }
@@ -790,7 +889,8 @@ void ESC_stopinput (void)
          (ESCvar.esc_hw_interrupt_disable != NULL))
    {
       ESCvar.esc_hw_interrupt_disable (ESCREG_ALEVENT_DC_SYNC0 |
-            ESCREG_ALEVENT_SM2);
+            ESCREG_ALEVENT_SM2 |
+            ESCREG_ALEVENT_SM3);
    }
 }
 
@@ -804,8 +904,13 @@ void ESC_stopinput (void)
  */
 uint8_t ESC_startoutput (uint8_t state)
 {
-
-   ESC_SMenable (2);
+	
+   /* If outputs > 0 , enable SM2 */
+   if (ESCvar.ESC_SM2_sml > 0)
+   {
+      ESC_SMenable (2);
+   }
+   /* Go to state output regardless of any outputs present */
    CC_ATOMIC_OR(ESCvar.App.state, APPSTATE_OUTPUT);
    return state;
 
@@ -912,6 +1017,75 @@ void ESC_sm_act_event (void)
       ESC_SMack (7);
    }
 }
+
+static bool ESC_check_id_request (uint16_t ALcontrol, uint8_t * an)
+{
+   if ((ALcontrol & ESCREG_AL_ID_REQUEST) != 0)
+   {
+      uint8_t state = ALcontrol & ESCREG_AL_ERRACKMASK;
+
+      if ((state != ESCboot) &&
+          ((state < ESCsafeop) || (*an == ESCsafeop) || (*an == ESCop)))
+      {
+         uint16_t ALstatuscode;
+
+         ESC_read (ESCREG_ALERROR,
+                   (void *)&ALstatuscode,
+                   sizeof (ALstatuscode));
+
+         return (ALstatuscode == ALERR_NONE);
+      }
+   }
+
+   return false;
+}
+
+static uint8_t ESC_load_device_id (void)
+{
+   uint16_t device_id;
+
+   if (ESCvar.get_device_id != NULL)
+   {
+      if (ESCvar.get_device_id (&device_id) != 0)
+      {
+         device_id = 0;
+      }
+   }
+   else
+   {
+      ESC_read (ESCREG_CONF_STATION_ALIAS,
+                (void *)&device_id,
+                sizeof (device_id));
+   }
+
+   if (device_id != 0)
+   {
+      /* Load the Device Identification Value to the AL Status Code register */
+      ESC_ALerror (device_id);
+
+      return ESCREG_AL_ID_REQUEST;
+   }
+
+   return 0;
+}
+
+#ifdef ESC_DEBUG
+static char * ESC_state_to_string (uint8_t ESC_state)
+{
+   switch (ESC_state)
+   {
+      case ESCinit:   return "Init";
+      case ESCpreop:  return "Pre-Operational";
+      case ESCboot:   return "Bootstrap";
+      case ESCsafeop: return "Safe-Operational";
+      case ESCop:     return "Operational";
+      case ESCerror:  return "Error";
+   }
+
+   return "Unknown";
+}
+#endif
+
 /** The state handler acting on ALControl Bit(0)
  * events in the Al Event Request register 0x220.
  *
@@ -950,7 +1124,7 @@ void ESC_state (void)
    }
 
    /* Mask high bits ALcommand, low bits ALstatus */
-   as = (ac << 4) | (as & 0x0f);
+   as = (uint8_t)((ac << 4) | (as & 0x0f));
 
    /* Call post state change hook case it have been configured  */
    if (ESCvar.pre_state_change_hook != NULL)
@@ -973,7 +1147,6 @@ void ESC_state (void)
       {
          /* get station address */
          ESC_address ();
-         COE_initDefaultSyncMgrPara ();
          an = ESC_startmbx (ac);
          break;
       }
@@ -1031,8 +1204,24 @@ void ESC_state (void)
       case PREOP_TO_SAFEOP:
       case SAFEOP_TO_SAFEOP:
       {
-         ESCvar.ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX);
-         ESCvar.ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX);
+         ESCvar.ESC_SM2_sml = sizeOfPDO (RX_PDO_OBJIDX, &ESCvar.sm2mappings,
+                                         SMmap2, MAX_MAPPINGS_SM2);
+         if (ESCvar.sm2mappings < 0)
+         {
+            an = ESCpreop | ESCerror;
+            ESC_ALerror (ALERR_INVALIDOUTPUTSM);
+            break;
+         }
+
+         ESCvar.ESC_SM3_sml = sizeOfPDO (TX_PDO_OBJIDX, &ESCvar.sm3mappings,
+                                         SMmap3, MAX_MAPPINGS_SM3);
+         if (ESCvar.sm3mappings < 0)
+         {
+            an = ESCpreop | ESCerror;
+            ESC_ALerror (ALERR_INVALIDINPUTSM);
+            break;
+         }
+
          an = ESC_startinput (ac);
          if (an == ac)
          {
@@ -1075,6 +1264,11 @@ void ESC_state (void)
          an = ESCsafeop | ESCerror;
          ESC_ALerror (ALERR_INVALIDSTATECHANGE);
          ESC_stopoutput ();
+         /* If no outputs present, we need to flag error using SM3 */
+         if (ESCvar.ESC_SM2_sml == 0 && ESCvar.ESC_SM3_sml > 0)
+         {
+            ESC_SMdisable (3);
+         }
          break;
       }
       case OP_TO_SAFEOP:
@@ -1088,6 +1282,11 @@ void ESC_state (void)
          if (an == ESCop)
          {
             ESC_stopoutput ();
+            /* If no outputs present, we need to flag error using SM3 */
+            if (ESCvar.ESC_SM2_sml == 0 && ESCvar.ESC_SM3_sml > 0)
+            {
+               ESC_SMdisable (3);
+            }
             an = ESCsafeop;
          }
          if (as == ESCsafeop)
@@ -1112,8 +1311,16 @@ void ESC_state (void)
       ESC_ALerror (ALERR_NONE);
    }
 
+   if (ESC_check_id_request (ESCvar.ALcontrol, &an))
+   {
+      an |= ESC_load_device_id ();
+   }
+
    ESC_ALstatus (an);
 
+#ifdef ESC_DEBUG
+   DPRINT ("state %s\n", ESC_state_to_string (an & 0xF));
+#endif
 }
 /** Function copying the application configuration variable
  * data to the stack local variable.
@@ -1123,29 +1330,35 @@ void ESC_state (void)
  */
 void ESC_config (esc_cfg_t * cfg)
 {
-   /* Copy configuration data */
+   static sm_cfg_t mb0 = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0};
+   static sm_cfg_t mb1 = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0};
+   static sm_cfg_t mbboot0 = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0};
+   static sm_cfg_t mbboot1 = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0};
+
+   /* Configure stack */
    ESCvar.use_interrupt = cfg->use_interrupt;
    ESCvar.watchdogcnt = cfg->watchdog_cnt;
-   ESCvar.mbxsize = cfg->mbxsize;
-   ESCvar.mbxsizeboot = cfg->mbxsizeboot;
-   ESCvar.mbxbuffers = cfg->mbxbuffers;
 
-   ESCvar.mb[0] = cfg->mb[0];
-   ESCvar.mb[1] = cfg->mb[1];
-   ESCvar.mbboot[0] = cfg->mb_boot[0];
-   ESCvar.mbboot[1] = cfg->mb_boot[1];
-   ESCvar.pdosm[0] = cfg->pdosm[0];
-   ESCvar.pdosm[1] = cfg->pdosm[1];
+   ESCvar.mb[0] = mb0;
+   ESCvar.mb[1] = mb1;
+   ESCvar.mbboot[0] = mbboot0;
+   ESCvar.mbboot[1] = mbboot1;
 
+   ESCvar.skip_default_initialization = cfg->skip_default_initialization;
+   ESCvar.set_defaults_hook = cfg->set_defaults_hook;
    ESCvar.pre_state_change_hook = cfg->pre_state_change_hook;
    ESCvar.post_state_change_hook = cfg->post_state_change_hook;
    ESCvar.application_hook = cfg->application_hook;
    ESCvar.safeoutput_override = cfg->safeoutput_override;
    ESCvar.pre_object_download_hook = cfg->pre_object_download_hook;
    ESCvar.post_object_download_hook = cfg->post_object_download_hook;
+   ESCvar.pre_object_upload_hook = cfg->pre_object_upload_hook;
+   ESCvar.post_object_upload_hook = cfg->post_object_upload_hook;
    ESCvar.rxpdo_override = cfg->rxpdo_override;
    ESCvar.txpdo_override = cfg->txpdo_override;
    ESCvar.esc_hw_interrupt_enable = cfg->esc_hw_interrupt_enable;
    ESCvar.esc_hw_interrupt_disable = cfg->esc_hw_interrupt_disable;
    ESCvar.esc_hw_eep_handler = cfg->esc_hw_eep_handler;
+   ESCvar.esc_check_dc_handler = cfg->esc_check_dc_handler;
+   ESCvar.get_device_id = cfg->get_device_id;
 }

soes/esc.h

@@ -11,12 +11,18 @@
 #ifndef __esc__
 #define __esc__
 
+#include <stdbool.h>
 #include <cc.h>
+#include <esc_coe.h>
+#include "options.h"
 
 #define ESCREG_ADDRESS              0x0010
+#define ESCREG_CONF_STATION_ALIAS   0x0012
 #define ESCREG_DLSTATUS             0x0110
 #define ESCREG_ALCONTROL            0x0120
+#define ESCREG_ALCONTROL_ERROR_ACK  0x0010
 #define ESCREG_ALSTATUS             0x0130
+#define ESCREG_ALSTATUS_ERROR_IND   0x0010
 #define ESCREG_ALERROR              0x0134
 #define ESCREG_ALEVENTMASK          0x0204
 #define ESCREG_ALEVENT              0x0220
@@ -27,6 +33,7 @@
 #define ESCREG_ALEVENT_DC_SYNC0     0x0004
 #define ESCREG_ALEVENT_DC_SYNC1     0x0008
 #define ESCREG_ALEVENT_EEP          0x0020
+#define ESCREG_ALEVENT_WD           0x0040
 #define ESCREG_ALEVENT_SM0          0x0100
 #define ESCREG_ALEVENT_SM1          0x0200
 #define ESCREG_ALEVENT_SM2          0x0400
@@ -36,11 +43,13 @@
 #define ESCREG_EEDATA               0x0508
 #define ESCREG_SM0                  0x0800
 #define ESCREG_SM0STATUS            (ESCREG_SM0 + 5)
+#define ESCREG_SM0ACTIVATE          (ESCREG_SM0 + 6)
 #define ESCREG_SM0PDI               (ESCREG_SM0 + 7)
 #define ESCREG_SM1                  (ESCREG_SM0 + 0x08)
 #define ESCREG_SM2                  (ESCREG_SM0 + 0x10)
 #define ESCREG_SM3                  (ESCREG_SM0 + 0x18)
 #define ESCREG_LOCALTIME            0x0910
+#define ESCREG_LOCALTIME_OFFSET     0x0920
 #define ESCREG_SYNC_ACT             0x0981
 #define ESCREG_SYNC_ACT_ACTIVATED   0x01
 #define ESCREG_SYNC_SYNC0_EN        0x02
@@ -52,6 +61,7 @@
 #define ESCREG_AL_STATEMASK         0x001f
 #define ESCREG_AL_ALLBUTINITMASK    0x0e
 #define ESCREG_AL_ERRACKMASK        0x0f
+#define ESCREG_AL_ID_REQUEST        0x0020
 
 #define SYNCTYPE_SUPPORT_FREERUN    0x01
 #define SYNCTYPE_SUPPORT_SYNCHRON   0x02
@@ -93,6 +103,8 @@
 #define OP_TO_OP                 0x88
 
 #define ALERR_NONE                  0x0000
+#define ALERR_UNSPECIFIEDERROR      0x0001
+#define ALERR_NOMEMORY              0x0002
 #define ALERR_INVALIDSTATECHANGE    0x0011
 #define ALERR_UNKNOWNSTATE          0x0012
 #define ALERR_BOOTNOTSUPPORTED      0x0013
@@ -100,12 +112,49 @@
 #define ALERR_INVALIDBOOTMBXCONFIG  0x0015
 #define ALERR_INVALIDMBXCONFIG      0x0016
 #define ALERR_INVALIDSMCONFIG       0x0017
+#define ALERR_NOVALIDINPUTS         0x0018
+#define ALERR_NOVALIDOUTPUTS        0x0019
 #define ALERR_SYNCERROR             0x001A
 #define ALERR_WATCHDOG              0x001B
+#define ALERR_INVALIDSYNCMANAGERTYP 0x001C
 #define ALERR_INVALIDOUTPUTSM       0x001D
 #define ALERR_INVALIDINPUTSM        0x001E
+#define ALERR_INVALIDWDTCFG         0x001F
+#define ALERR_SLAVENEEDSCOLDSTART   0x0020
+#define ALERR_SLAVENEEDSINIT        0x0021
+#define ALERR_SLAVENEEDSPREOP       0x0022
+#define ALERR_SLAVENEEDSSAFEOP      0x0023
+#define ALERR_INVALIDINPUTMAPPING   0x0024
+#define ALERR_INVALIDOUTPUTMAPPING  0x0025
+#define ALERR_INCONSISTENTSETTINGS  0x0026
+#define ALERR_FREERUNNOTSUPPORTED   0x0027
+#define ALERR_SYNCNOTSUPPORTED      0x0028
+#define ALERR_FREERUNNEEDS3BUFFMODE 0x0029
+#define ALERR_BACKGROUNDWATCHDOG    0x002A
+#define ALERR_NOVALIDINPUTSOUTPUTS  0x002B
+#define ALERR_FATALSYNCERROR        0x002C
+#define ALERR_NOSYNCERROR           0x002D
+#define ALERR_INVALIDINPUTFMMUCFG   0x002E
 #define ALERR_DCINVALIDSYNCCFG      0x0030
+#define ALERR_INVALIDDCLATCHCFG     0x0031
+#define ALERR_PLLERROR              0x0032
+#define ALERR_DCSYNCIOERROR         0x0033
+#define ALERR_DCSYNCTIMEOUT         0x0034
+#define ALERR_DCSYNCCYCLETIME       0x0035
 #define ALERR_DCSYNC0CYCLETIME      0x0036
+#define ALERR_DCSYNC1CYCLETIME      0x0037
+#define ALERR_MBXAOE                0x0041
+#define ALERR_MBXEOE                0x0042
+#define ALERR_MBXCOE                0x0043
+#define ALERR_MBXFOE                0x0044
+#define ALERR_MBXSOE                0x0045
+#define ALERR_MBXVOE                0x004F
+#define ALERR_EEPROMNOACCESS        0x0050
+#define ALERR_EEPROMERROR           0x0051
+#define ALERR_SLAVERESTARTEDLOCALLY 0x0060
+#define ALERR_DEVICEIDVALUEUPDATED  0x0061
+#define ALERR_APPLCTRLAVAILABLE     0x00f0
+#define ALERR_UNKNOWN               0xffff
 
 #define MBXERR_SYNTAX                   0x0001
 #define MBXERR_UNSUPPORTEDPROTOCOL      0x0002
@@ -117,15 +166,41 @@
 #define MBXERR_INVALIDSIZE              0x0008
 
 #define ABORT_NOTOGGLE                  0x05030000
+#define ABORT_TRANSFER_TIMEOUT          0x05040000
 #define ABORT_UNKNOWN                   0x05040001
+#define ABORT_INVALID_BLOCK_SIZE        0x05040002
+#define ABORT_INVALID_SEQUENCE_NUMBER   0x05040003
+#define ABORT_BLOCK_CRC_ERROR           0x05040004
+#define ABORT_OUT_OF_MEMORY             0x05040005
 #define ABORT_UNSUPPORTED               0x06010000
 #define ABORT_WRITEONLY                 0x06010001
 #define ABORT_READONLY                  0x06010002
+#define ABORT_SUBINDEX0_NOT_ZERO        0x06010003
+#define ABORT_CA_NOT_SUPPORTED          0x06010004
+#define ABORT_EXCEEDS_MBOX_SIZE         0x06010005
+#define ABORT_SDO_DOWNLOAD_BLOCKED      0x06010006
 #define ABORT_NOOBJECT                  0x06020000
+#define ABORT_MAPPING_OBJECT_ERROR      0x06040041
+#define ABORT_MAPPING_LENGTH_ERROR      0x06040042
+#define ABORT_GENERAL_PARAMETER_ERROR   0x06040043
+#define ABORT_GENERAL_DEVICE_ERROR      0x06040047
+#define ABORT_HARDWARE_ERROR            0x06060000
 #define ABORT_TYPEMISMATCH              0x06070010
+#define ABORT_DATATYPE_TOO_HIGH         0x06070012
+#define ABORT_DATATYPE_TOO_LOW          0x06070013
 #define ABORT_NOSUBINDEX                0x06090011
+#define ABORT_VALUE_EXCEEDED            0x06090030
+#define ABORT_VALUE_TOO_HIGH            0x06090031
+#define ABORT_VALUE_TOO_LOW             0x06090032
+#define ABORT_MODULE_LIST_MISMATCH      0x06090033
+#define ABORT_MAX_VAL_LESS_THAN_MIN_VAL 0x06090036
+#define ABORT_RESOURCE_NOT_AVAILABLE    0x060A0023
 #define ABORT_GENERALERROR              0x08000000
+#define ABORT_DATA_STORE_ERROR          0x08000020
+#define ABORT_DATA_STORE_LOCAL_ERROR    0x08000021
 #define ABORT_NOTINTHISSTATE            0x08000022
+#define ABORT_OBJECT_DICTIONARY_ERROR   0x08000023
+#define ABORT_NO_DATA_AVAILABLE         0x08000024
 
 #define MBXstate_idle                   0x00
 #define MBXstate_inclaim                0x01
@@ -135,9 +210,9 @@
 #define MBXstate_backup                 0x05
 #define MBXstate_again                  0x06
 
-#define COE_DEFAULTLENGTH               0x0a
-#define COE_HEADERSIZE                  0x0a
-#define COE_SEGMENTHEADERSIZE           0x03
+#define COE_DEFAULTLENGTH               0x0AU
+#define COE_HEADERSIZE                  0x0AU
+#define COE_SEGMENTHEADERSIZE           0x03U
 #define COE_SDOREQUEST                  0x02
 #define COE_SDORESPONSE                 0x03
 #define COE_SDOINFORMATION              0x08
@@ -146,7 +221,10 @@
 #define COE_COMMAND_UPLOADRESPONSE      0x40
 #define COE_COMMAND_UPLOADSEGMENT       0x00
 #define COE_COMMAND_UPLOADSEGREQ        0x60
+#define COE_COMMAND_DOWNLOADREQUEST     0x20
 #define COE_COMMAND_DOWNLOADRESPONSE    0x60
+#define COE_COMMAND_DOWNLOADSEGREQ      0x00
+#define COE_COMMAND_DOWNLOADSEGRESP     0x20
 #define COE_COMMAND_LASTSEGMENTBIT      0x01
 #define COE_SIZE_INDICATOR              0x01
 #define COE_EXPEDITED_INDICATOR         0x02
@@ -193,6 +271,7 @@
 #define FOE_ERR_NOTINBOOTSTRAP         0x8009
 #define FOE_ERR_NORIGHTS               0x800A
 #define FOE_ERR_PROGERROR              0x800B
+#define FOE_ERR_CHECKSUM               0x800C
 
 #define FOE_OP_RRQ                     1
 #define FOE_OP_WRQ                     2
@@ -206,10 +285,19 @@
 #define FOE_WAIT_FOR_FINAL_ACK         2
 #define FOE_WAIT_FOR_DATA              3
 
+#define EOE_RESULT_SUCCESS                   0x0000
+#define EOE_RESULT_UNSPECIFIED_ERROR         0x0001
+#define EOE_RESULT_UNSUPPORTED_FRAME_TYPE    0x0002
+#define EOE_RESULT_NO_IP_SUPPORT             0x0201
+#define EOE_RESULT_NO_DHCP_SUPPORT           0x0202
+#define EOE_RESULT_NO_FILTER_SUPPORT         0x0401
+
 #define APPSTATE_IDLE                  0x00
 #define APPSTATE_INPUT                 0x01
 #define APPSTATE_OUTPUT                0x02
 
+#define PREALLOC_BUFFER_SIZE  (PREALLOC_FACTOR * MBXSIZE)
+
 typedef struct sm_cfg
 {
    uint16_t cfg_sma;
@@ -224,23 +312,35 @@ typedef struct esc_cfg
    void * user_arg;
    int use_interrupt;
    int watchdog_cnt;
-   size_t mbxsize;
-   size_t mbxsizeboot;
-   int mbxbuffers;
-   sm_cfg_t mb[2];
-   sm_cfg_t mb_boot[2];
-   sm_cfg_t pdosm[2];
+   bool skip_default_initialization;
+   void (*set_defaults_hook) (void);
    void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
    void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
    void (*application_hook) (void);
    void (*safeoutput_override) (void);
-   int (*pre_object_download_hook) (uint16_t index, uint8_t subindex);
-   void (*post_object_download_hook) (uint16_t index, uint8_t subindex);
+   uint32_t (*pre_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t size,
+         uint16_t flags);
+   uint32_t (*post_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
+   uint32_t (*pre_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t *size,
+         uint16_t flags);
+   uint32_t (*post_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
    void (*rxpdo_override) (void);
    void (*txpdo_override) (void);
    void (*esc_hw_interrupt_enable) (uint32_t mask);
    void (*esc_hw_interrupt_disable) (uint32_t mask);
    void (*esc_hw_eep_handler) (void);
+   uint16_t (*esc_check_dc_handler) (void);
+   int (*get_device_id) (uint16_t * device_id);
 } esc_cfg_t;
 
 typedef struct
@@ -331,36 +431,47 @@ typedef struct CC_PACKED
 } _ESCsmCompact;
 CC_PACKED_END
 
-CC_PACKED_BEGIN
-typedef struct CC_PACKED
+typedef struct
 {
    /* Configuration input is saved so the user variable may go out-of-scope */
    int use_interrupt;
-   size_t mbxsize;
-   size_t mbxsizeboot;
-   int mbxbuffers;
    sm_cfg_t  mb[2];
    sm_cfg_t  mbboot[2];
-   sm_cfg_t  pdosm[2];
+   bool skip_default_initialization;
+   void (*set_defaults_hook) (void);
    void (*pre_state_change_hook) (uint8_t * as, uint8_t * an);
    void (*post_state_change_hook) (uint8_t * as, uint8_t * an);
    void (*application_hook) (void);
    void (*safeoutput_override) (void);
-   int (*pre_object_download_hook) (uint16_t index, uint8_t subindex);
-   void (*post_object_download_hook) (uint16_t index, uint8_t subindex);
+   uint32_t (*pre_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t size,
+         uint16_t flags);
+   uint32_t (*post_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
+   uint32_t (*pre_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t *size,
+         uint16_t flags);
+   uint32_t (*post_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
    void (*rxpdo_override) (void);
    void (*txpdo_override) (void);
    void (*esc_hw_interrupt_enable) (uint32_t mask);
    void (*esc_hw_interrupt_disable) (uint32_t mask);
    void (*esc_hw_eep_handler) (void);
+   uint16_t (*esc_check_dc_handler) (void);
+   int (*get_device_id) (uint16_t * device_id);
    uint8_t MBXrun;
-   size_t activembxsize;
+   uint32_t activembxsize;
    sm_cfg_t * activemb0;
    sm_cfg_t * activemb1;
    uint16_t ESC_SM2_sml;
    uint16_t ESC_SM3_sml;
-   uint16_t TXPDOsize;
-   uint16_t RXPDOsize;
    uint8_t dcsync;
    uint16_t synccounterlimit;
    uint16_t ALstatus;
@@ -378,33 +489,28 @@ typedef struct CC_PACKED
    uint8_t segmented;
    void *data;
    uint16_t entries;
-   uint16_t frags;
-   uint16_t fragsleft;
+   uint32_t frags;
+   uint32_t fragsleft;
+   uint16_t index;
+   uint8_t subindex;
+   uint16_t flags;
 
-#if defined(EC_LITTLE_ENDIAN)
-   uint8_t r1:1;
-   uint8_t toggle:1;
-   uint8_t r2:6;
-#endif
+   uint8_t toggle;
 
-#if defined(EC_BIG_ENDIAN)
-   uint8_t r2:6;
-   uint8_t toggle:1;
-   uint8_t r1:1;
-#endif
+   int sm2mappings;
+   int sm3mappings;
 
    uint8_t SMtestresult;
-   int16_t temp;
    uint32_t PrevTime;
    _ESCsm SM[4];
    /* Volatile since it may be read from ISR */
    volatile int watchdogcnt;
    volatile uint32_t Time;
-   volatile uint16_t ALevent;
+   volatile uint32_t ALevent;
    volatile int8_t synccounter;
    volatile _App App;
+   uint8_t mbxdata[PREALLOC_BUFFER_SIZE];
 } _ESCvar;
-CC_PACKED_END
 
 CC_PACKED_BEGIN
 typedef struct CC_PACKED
@@ -473,7 +579,7 @@ typedef struct CC_PACKED
 CC_PACKED_END
 
 CC_PACKED_BEGIN
-typedef struct CC_PACKED
+typedef struct CC_PACKED CC_ALIGNED(4)
 {
    _MBXh mbxheader;
    _COEh coeheader;
@@ -485,7 +591,7 @@ typedef struct CC_PACKED
 CC_PACKED_END
 
 CC_PACKED_BEGIN
-typedef struct CC_PACKED
+typedef struct CC_PACKED CC_ALIGNED(4)
 {
    _MBXh mbxheader;
    _COEh coeheader;
@@ -541,6 +647,28 @@ typedef struct CC_PACKED
    };
 } _FOE;
 CC_PACKED_END
+
+CC_PACKED_BEGIN
+typedef struct CC_PACKED
+{
+   uint16_t frameinfo1;
+   union
+   {
+      uint16_t frameinfo2;
+      uint16_t result;
+   };
+} _EOEh;
+CC_PACKED_END
+
+CC_PACKED_BEGIN
+typedef struct CC_PACKED
+{
+   _MBXh mbxheader;
+   _EOEh eoeheader;
+   uint8_t data[0];
+} _EOE;
+CC_PACKED_END
+
 /* state definition in mailbox
  * 0 : idle
  * 1 : claimed for inbox
@@ -565,18 +693,20 @@ typedef struct
 #define ESC_MBX1_sml        (ESCvar.activemb1->cfg_sml)
 #define ESC_MBX1_sme        (ESCvar.activemb1->cfg_sme)
 #define ESC_MBX1_smc        (ESCvar.activemb1->cfg_smc)
-#define ESC_MBXBUFFERS      (ESCvar.mbxbuffers)
-#define ESC_SM2_sma         (ESCvar.pdosm[0].cfg_sma)
-#define ESC_SM2_smc         (ESCvar.pdosm[0].cfg_smc)
-#define ESC_SM2_act         (ESCvar.pdosm[0].cfg_smact)
-#define ESC_SM3_sma         (ESCvar.pdosm[1].cfg_sma)
-#define ESC_SM3_smc         (ESCvar.pdosm[1].cfg_smc)
-#define ESC_SM3_act         (ESCvar.pdosm[1].cfg_smact)
+#define ESC_MBXBUFFERS      (MBXBUFFERS)
+#define ESC_SM2_sma         (SM2_sma)
+#define ESC_SM2_smc         (SM2_smc)
+#define ESC_SM2_act         (SM2_act)
+#define ESC_SM3_sma         (SM3_sma)
+#define ESC_SM3_smc         (SM3_smc)
+#define ESC_SM3_act         (SM3_act)
 
-#define ESC_MBXHSIZE        sizeof(_MBXh)
+#define ESC_MBXHSIZE        ((uint32_t)sizeof(_MBXh))
 #define ESC_MBXDSIZE        (ESC_MBXSIZE - ESC_MBXHSIZE)
-#define ESC_FOEHSIZE        sizeof(_FOEh)
+#define ESC_FOEHSIZE        (uint32_t)sizeof(_FOEh)
 #define ESC_FOE_DATA_SIZE   (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
+#define ESC_EOEHSIZE        ((uint32_t)sizeof(_EOEh))
+#define ESC_EOE_DATA_SIZE   (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
 
 void ESC_config (esc_cfg_t * cfg);
 void ESC_ALerror (uint16_t errornumber);
@@ -585,6 +715,7 @@ uint32_t ESC_ALeventread (void);
 void ESC_ALeventmaskwrite (uint32_t mask);
 uint32_t ESC_ALeventmaskread (void);
 void ESC_ALstatus (uint8_t status);
+void ESC_ALstatusgotoerror (uint8_t status, uint16_t errornumber);
 void ESC_SMstatus (uint8_t n);
 uint8_t ESC_WDstatus (void);
 uint8_t ESC_claimbuffer (void);
@@ -611,6 +742,8 @@ extern void APP_safeoutput ();
 extern _ESCvar ESCvar;
 extern _MBXcontrol MBXcontrol[];
 extern uint8_t MBX[];
+extern _SMmap SMmap2[];
+extern _SMmap SMmap3[];
 
 /* ATOMIC operations are used when running interrupt driven */
 #ifndef CC_ATOMIC_SET

soes/esc_coe.h

@@ -13,21 +13,20 @@
 
 #include <cc.h>
 
-CC_PACKED_BEGIN
-typedef struct CC_PACKED
+
+typedef struct
 {
    uint16_t subindex;
    uint16_t datatype;
    uint16_t bitlength;
-   uint16_t access;
+   uint16_t flags;
    const char *name;
    uint32_t value;
    void *data;
 } _objd;
-CC_PACKED_END
 
-CC_PACKED_BEGIN
-typedef struct CC_PACKED
+
+typedef struct
 {
    uint16_t index;
    uint16_t objtype;
@@ -36,7 +35,14 @@ typedef struct CC_PACKED
    const char *name;
    const _objd *objdesc;
 } _objectlist;
-CC_PACKED_END
+
+
+typedef struct
+{
+   const _objd * obj;
+   const _objectlist * objectlistitem;
+   uint32_t offset;
+} _SMmap;
 
 #define OBJH_READ               0
 #define OBJH_WRITE              1
@@ -66,6 +72,9 @@ CC_PACKED_END
 #define DTYPE_REAL64            0x0011
 #define DTYPE_PDO_MAPPING       0x0021
 #define DTYPE_IDENTITY          0x0023
+#define DTYPE_BITARR8           0x002D
+#define DTYPE_BITARR16          0x002E
+#define DTYPE_BITARR32          0x002F
 #define DTYPE_BIT1              0x0030
 #define DTYPE_BIT2              0x0031
 #define DTYPE_BIT3              0x0032
@@ -74,24 +83,56 @@ CC_PACKED_END
 #define DTYPE_BIT6              0x0035
 #define DTYPE_BIT7              0x0036
 #define DTYPE_BIT8              0x0037
+#define DTYPE_ARRAY_OF_INT      0x0260
+#define DTYPE_ARRAY_OF_SINT     0x0261
+#define DTYPE_ARRAY_OF_DINT     0x0262
+#define DTYPE_ARRAY_OF_UDINT    0x0263
 
-#define ATYPE_RO                0x07
-#define ATYPE_RW                0x3F
-#define ATYPE_RWpre             0x0F
+#define ATYPE_Rpre              0x01
+#define ATYPE_Rsafe             0x02
+#define ATYPE_Rop               0x04
+#define ATYPE_Wpre              0x08
+#define ATYPE_Wsafe             0x10
+#define ATYPE_Wop               0x20
 #define ATYPE_RXPDO             0x40
 #define ATYPE_TXPDO             0x80
+#define ATYPE_BACKUP            0x100
+#define ATYPE_SETTING           0x200
+
+#define ATYPE_RO                (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
+#define ATYPE_WO                (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
+#define ATYPE_RW                (ATYPE_RO | ATYPE_WO)
+#define ATYPE_RWpre             (ATYPE_Wpre | ATYPE_RO)
+#define ATYPE_RWop              (ATYPE_Wop | ATYPE_RO)
+#define ATYPE_RWpre_safe        (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_RO)
 
 #define TX_PDO_OBJIDX           0x1c13
 #define RX_PDO_OBJIDX           0x1c12
 
-void ESC_coeprocess (void);
-uint16_t sizeOfPDO (uint16_t index);
-void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode);
-void COE_initDefaultSyncMgrPara (void);
-int COE_getSyncMgrPara (uint16_t index, uint8_t subindex, void * buf, uint16_t datatype);
+#define COMPLETE_ACCESS_FLAG    (1 << 15)
 
-extern void ESC_objecthandler (uint16_t index, uint8_t subindex);
-extern int ESC_pre_objecthandler (uint16_t index, uint8_t subindex);
+void ESC_coeprocess (void);
+int16_t SDO_findsubindex (int32_t nidx, uint8_t subindex);
+int32_t SDO_findobject (uint16_t index);
+uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
+void COE_initDefaultValues (void);
+
+void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
+void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
+uint8_t COE_maxSub (uint16_t index);
+
+extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
+extern uint32_t ESC_download_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags);
+extern uint32_t ESC_upload_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t *size,
+      uint16_t flags);
+extern uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
 extern const _objectlist SDOobjects[];
 
 #endif

soes/esc_eep.c

@@ -15,6 +15,8 @@
 #include <string.h>
 
 static uint8_t eep_buf[8];
+static uint16_t eep_read_size = 8U;
+static void (*eep_reload_ptr)(eep_stat_t *stat) = NULL;
 
 /** EPP periodic task of ESC side EEPROM emulation.
  *
@@ -51,19 +53,53 @@ void EEP_process (void)
             break;
 
          case EEP_CMD_READ:
-         case EEP_CMD_RELOAD:
             /* handle read request */
-            if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
+            if (EEP_read (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
                stat.contstat.bits.ackErr = 1;
-            } else {
-               ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
+            }
+            else {
+               ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
+            }
+            break;
+
+         case EEP_CMD_RELOAD:
+            /* user defined reload if set */
+            if (eep_reload_ptr != NULL) {
+               /* Reload function is responsible to update
+                * control status register bits.
+                */
+               (*eep_reload_ptr)(&stat);
+            }
+            else {
+                if (eep_read_size == 8U) {
+                   /* handle reload request */
+                   if (EEP_read(stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
+                      stat.contstat.bits.ackErr = 1;
+                   }
+                   else {
+                      ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
+                   }
+                }
+                else {
+                  /* Default handler of reload request for 4 Byte read, load config alias.
+                   * To support other ESC behavior, implement user defined reload.
+                   */
+                  if (EEP_read(EEP_CONFIG_ALIAS_WORD_OFFSET * 2U /* sizeof(uint16_t) */,
+                        eep_buf,
+                        2U /* 2 Bytes config alias*/) != 0) {
+                     stat.contstat.bits.ackErr = 1;
+                  }
+                  else {
+                     ESC_write(ESCREG_EEDATA, eep_buf, 2U /* 2 Bytes config alias*/);
+                  }
+               }
             }
             break;
 
          case EEP_CMD_WRITE:
             /* handle write request */
             ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
-            if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
+            if (EEP_write (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, EEP_WRITE_SIZE) != 0) {
                stat.contstat.bits.ackErr = 1;
             }
             break;
@@ -78,3 +114,24 @@ void EEP_process (void)
    }
 }
 
+/** EPP Set read size, 4 Byte or 8 Byte depending on ESC.
+ *  Default 8 Byte.
+ */
+void EEP_set_read_size (uint16_t read_size)
+{
+   if ((read_size == 8U) || (read_size == 4U)) {
+      eep_read_size = read_size;
+   }
+}
+
+/** EPP Set reload function pointer.
+ *  Function shall update current stat accordingly.
+ *  Eg. on CRC error reload function shall set
+ *   stat.contstat.bits.csumErr = 1
+ *   stat.contstat.bits.ackErr = 1
+ *
+ */
+void EEP_set_reload_function_pointer(void (*reload_ptr)(eep_stat_t* stat))
+{
+   eep_reload_ptr = reload_ptr;
+}

soes/esc_eep.h

@@ -15,14 +15,16 @@
 #include "esc.h"
 
 /* EEPROM commands */
-#define EEP_CMD_IDLE        0x0
-#define EEP_CMD_READ        0x1
-#define EEP_CMD_WRITE       0x2
-#define EEP_CMD_RELOAD      0x3
+#define EEP_CMD_IDLE                    0x0
+#define EEP_CMD_READ                    0x1
+#define EEP_CMD_WRITE                   0x2
+#define EEP_CMD_RELOAD                  0x4
 
-/* read/write size */
-#define EEP_READ_SIZE       8
-#define EEP_WRITE_SIZE      2
+/* write size */
+#define EEP_WRITE_SIZE                  2
+
+/* EEPROm word offset */
+#define EEP_CONFIG_ALIAS_WORD_OFFSET    4
 
 /* CONSTAT register content */
 typedef struct CC_PACKED
@@ -69,6 +71,80 @@ typedef union eep_config
 /* periodic task */
 void EEP_process (void);
 
+/**
+ * Application Notes: EEPROM emulation
+ *
+ * NOTE: Special handling needed when 4 Byte read is supported.
+ *
+ * Ref. ET1100 Datasheet sec2_registers_3i0, chapter 2.45.1,
+ * "EEPROM emulation with 32 bit EEPROM data register (0x0502[6]=0)".
+ *
+ * For a Reload command, fill the EEPROM Data register with the
+ * values shown in the chapter 2.45.1 before acknowledging
+ * the command. These values are automatically transferred to the
+ * designated registers after the Reload command is acknowledged.
+ *
+ * NOTE: When 4 Byte read is supported, EEP_process will only load
+ * config alias on reload.
+ *
+ * NOTE: EEP_process support implementing a custom reload function
+ * for both 4 Byte and 8 Byte read support.
+ *
+ * NOTE: Code snippet for custom reload function when 4 Byte read is supported.
+ *
+ * void reload_ptr(eep_stat_t *stat)
+ * {
+ *     eep_config_t ee_cfg;
+ *
+ *     // Read configuration area
+ *     EEP_read(0, &ee_cfg, sizeof(ee_cfg);
+ *
+ *     // Check CRC
+ *     if(is_crc_ok(&ee_cfg) == true)
+ *     {
+ *        // Write config alias to EEPROM data registers.
+ *        // Will be loaded to 0x12:13 on command ack.
+ *        ESC_write(ESCREG_EEDATA,
+ *             &ee_cfg.configured_station_alias,
+ *             sizeof(configured_station_alias));
+ *     }
+ *     else
+ *     {
+ *        // Indicate CRC error
+ *        stat->contstat.bits.csumErr = 1;
+ *        stat->contstat.bits.ackErr = 1;
+ *     }
+ * }
+ * NOTE: Code snippet for custom reload function when 8 Byte read is supported.
+ *
+ * void reload_ptr(eep_stat_t *stat)
+ * {
+ *     eep_config_t ee_cfg;
+ *
+ *     // Read configuration area
+ *     EEP_read(0, &ee_cfg, sizeof(ee_cfg);
+ *
+ *     // Check CRC
+ *     if(is_crc_ok(&ee_cfg) == true)
+ *     {
+ *         // Load EEPROM data at requested EEPROM address
+ *         EEP_read (stat->addr * sizeof(uint16_t), eep_buf, 8U);
+ *         // Write loaded data to EEPROM data registers
+ *         ESC_write(ESCREG_EEDATA, eep_buf, 8U);
+ *     }
+ *     else
+ *     {
+ *        // Indicate CRC error
+ *        stat->contstat.bits.csumErr = 1;
+ *        stat->contstat.bits.ackErr = 1;
+ *     }
+ * }
+ */
+
+/* Set eep internal variables */
+void EEP_set_read_size (uint16_t read_size);
+void EEP_set_reload_function_pointer (void (*reload_ptr)(eep_stat_t *stat));
+
 /* From hardware file */
 void EEP_init (void);
 int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);

soes/esc_eoe.h

@@ -0,0 +1,68 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for esc_eoe.c
+ */
+
+#ifndef __esc_eoe__
+#define __esc_eoe__
+
+#include <cc.h>
+
+typedef struct eoe_pbuf
+{
+   /** Pointer to frame buffer type used by a TCP/IP stack. (Not mandatory) */
+   void * pbuf;
+   /** Pointer to frame buffer to send or read from */
+   uint8_t * payload;
+   /** Length of data in frame buffer */
+   size_t len;
+} eoe_pbuf_t;
+
+typedef struct eoe_cfg
+{
+   /** Callback function to get a frame buffer for storage of received frame */
+   void (*get_buffer) (eoe_pbuf_t * ebuf);
+   /** Callback function to free a frame buffer */
+   void (*free_buffer) (eoe_pbuf_t * ebuf);
+   /** Callback function to read local settings and update EtherCAT variables
+    *  to be delivered to the EtherCAT Master
+    */
+   int  (*load_eth_settings) (void);
+   /** Callback function to read settings provided by the EtherCAT master
+    * and store to local settings.
+    */
+   int  (*store_ethernet_settings) (void);
+   /** Callback to frame receive function in TCP(IP stack,
+    *  caller should free the buffer
+    * */
+   void (*handle_recv_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
+   /** Callback to fetch a buffer to send */
+   int (*fetch_send_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
+   /** Callback to notify the application fragment sent */
+   void (*fragment_sent_event) (void);
+} eoe_cfg_t;
+
+int EOE_ecat_get_mac (uint8_t port, uint8_t mac[]);
+int EOE_ecat_get_ip (uint8_t port, uint32_t * ip);
+int EOE_ecat_get_subnet (uint8_t port, uint32_t * subnet);
+int EOE_ecat_get_gateway (uint8_t port, uint32_t * default_gateway);
+int EOE_ecat_get_dns_ip (uint8_t port, uint32_t * dns_ip);
+int EOE_ecat_get_dns_name (uint8_t port, char * dns_name);
+int EOE_ecat_set_mac (uint8_t port, uint8_t mac[]);
+int EOE_ecat_set_ip (uint8_t port, uint32_t ip);
+int EOE_ecat_set_subnet (uint8_t port, uint32_t subnet);
+int EOE_ecat_set_gateway (uint8_t port, uint32_t default_gateway);
+int EOE_ecat_set_dns_ip (uint8_t port, uint32_t dns_ip);
+int EOE_ecat_set_dns_name (uint8_t port, char * dns_name);
+
+void EOE_config (eoe_cfg_t * cfg);
+void EOE_init (void);
+void ESC_eoeprocess (void);
+void ESC_eoeprocess_tx (void);
+
+#endif

soes/esc_foe.c

@@ -26,20 +26,16 @@
 
 /** Variable holding current filename read at FOE Open.
  */
-char foe_file_name[FOE_FN_MAX + 1];
+static char foe_file_name[FOE_FN_MAX + 1];
 
 
-/** Main FoE configuration pointer data array. Structure i allocated and filled
- * by the application defining what preferences it require.
+/** Main FoE configuration pointer data array. Structure is allocated and filled
+ * by the application defining what preferences it requires.
  */
 static foe_cfg_t * foe_cfg;
-/** Collection of files possible to receive by FoE. Structure i allocated and
- * filled by the application defining what preferences it require.
- */
-static foe_writefile_cfg_t * foe_files;
 /** Pointer to current file configuration item used by FoE.
  */
-static foe_writefile_cfg_t * foe_file;
+static foe_file_cfg_t * foe_file;
 /** Main FoE status data array. Structure gets filled with current status
  * variables during FoE usage.
  */
@@ -54,7 +50,7 @@ static _FOEvar FOEvar;
  * @return 0= if we succeed, FOE_ERR_NOTFOUND something wrong with filename or
  * password
  */
-int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
+static uint32_t FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
 {
    uint32_t i;
 
@@ -73,10 +69,21 @@ int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
    /* Figure out what file they're talking about. */
    for (i = 0; i < foe_cfg->n_files; i++)
    {
-      if ((0 == strncmp (foe_file_name, foe_files[i].name, num_chars)) &&
-          (pass == foe_files[i].filepass))
+      if (0 == strncmp (foe_file_name, foe_cfg->files[i].name, num_chars))
       {
-         foe_file = &foe_files[i];
+         if (pass != foe_cfg->files[i].filepass)
+         {
+            return FOE_ERR_NORIGHTS;
+         }
+
+         if (op == FOE_OP_WRQ &&
+             (foe_cfg->files[i].write_only_in_boot) &&
+             (ESCvar.ALstatus != ESCboot))
+         {
+            return FOE_ERR_NOTINBOOTSTRAP;
+         }
+
+         foe_file = &foe_cfg->files[i];
          foe_file->address_offset = 0;
          foe_file->total_size = 0;
          switch (op)
@@ -84,13 +91,13 @@ int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
             case FOE_OP_RRQ:
             {
                FOEvar.fposition = 0;
-               FOEvar.fend = foe_files[i].max_data;
+               FOEvar.fend = foe_cfg->files[i].max_data;
                return 0;
             }
             case FOE_OP_WRQ:
             {
                FOEvar.fposition = 0;
-               FOEvar.fend = foe_files[i].max_data;
+               FOEvar.fend = foe_cfg->files[i].max_data;
                return 0;
             }
          }
@@ -111,14 +118,14 @@ int FOE_fopen (char *name, uint8_t num_chars, uint32_t pass, uint8_t op)
 
  * @return Number of copied bytes.
  */
-uint16_t FOE_fread (uint8_t * data, uint16_t maxlength)
+static uint32_t FOE_fread (uint8_t * data, uint32_t maxlength)
 {
-   uint16_t ncopied = 0;
+   uint32_t ncopied = 0;
 
    while (maxlength && (FOEvar.fend - FOEvar.fposition))
    {
       maxlength--;
-      *(data++) = fbuffer[FOEvar.fposition++];
+      *(data++) = foe_cfg->fbuffer[FOEvar.fposition++];
       ncopied++;
    }
 
@@ -137,9 +144,9 @@ uint16_t FOE_fread (uint8_t * data, uint16_t maxlength)
 
  * @return Number of copied bytes.
  */
-uint16_t FOE_fwrite (uint8_t *data, uint16_t length)
+static uint32_t FOE_fwrite (uint8_t *data, uint32_t length)
 {
-    uint16_t ncopied = 0;
+    uint32_t ncopied = 0;
     uint32_t failed = 0;
 
     DPRINT("FOE_fwrite\n");
@@ -150,17 +157,24 @@ uint16_t FOE_fwrite (uint8_t *data, uint16_t length)
        foe_cfg->fbuffer[FOEvar.fbufposition++] = *(data++);
        if(FOEvar.fbufposition >= foe_cfg->buffer_size)
        {
-          failed = foe_file->write_function (foe_file, foe_cfg->fbuffer);
+          failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
           FOEvar.fbufposition = 0;
           foe_file->address_offset += foe_cfg->buffer_size;
        }
        FOEvar.fposition++;
-       ncopied++;
+       if(failed)
+       {
+          DPRINT("Failed FOE_fwrite ncopied=%"PRIu32"\n", ncopied);
+       }
+       else
+       {
+          ncopied++;
+       }
     }
 
     foe_file->total_size += ncopied;
 
-    DPRINT("FOE_fwrite END with : %d\n",ncopied);
+    DPRINT("FOE_fwrite END with : %"PRIu32"\n",ncopied);
     return ncopied;
 }
 
@@ -170,25 +184,16 @@ uint16_t FOE_fwrite (uint8_t *data, uint16_t length)
  *
  * @return Number of copied bytes on success, 0= if failed.
  */
-uint32_t FOE_fclose (void)
+static uint32_t FOE_fclose (void)
 {
-   uint32_t i;
    uint32_t failed = 0;
 
    DPRINT("FOE_fclose\n");
-   if (FOEvar.fbufposition)
-   {
+   
+   failed = foe_file->write_function (foe_file, foe_cfg->fbuffer, FOEvar.fbufposition);
+   foe_file->address_offset += FOEvar.fbufposition;
+   FOEvar.fbufposition = 0;
 
-      DPRINT("FOE_fclose EXTRA write\n");
-      for(i = FOEvar.fbufposition; i < foe_cfg->buffer_size; i++)
-      {
-         foe_cfg->fbuffer[FOEvar.fbufposition++] = foe_cfg->empty_write;
-      }
-      failed = foe_file->write_function (foe_file, foe_cfg->fbuffer);
-      FOEvar.fbufposition = 0;
-      foe_file->address_offset += foe_cfg->buffer_size;
-      DPRINT("FOE_fclose EXTRA write ended\n");
-   }
    return failed;
 }
 
@@ -209,7 +214,7 @@ void FOE_init ()
  *
  * @param[in] code   = abort code
  */
-void FOE_abort (uint32_t code)
+static void FOE_abort (uint32_t code)
 {
    _FOE *foembx;
    uint8_t mbxhandle;
@@ -229,7 +234,7 @@ void FOE_abort (uint32_t code)
       }
       /* Nothing we can do if we can't get an outbound mailbox. */
    }
-   DPRINT("FOE_abort: 0x%X\n", code);
+   DPRINT("FOE_abort: 0x%"PRIX32"\n", code);
    FOE_init ();
 }
 
@@ -244,21 +249,21 @@ void FOE_abort (uint32_t code)
  * @return Number of data bytes written or an error number. Error numbers
  * will be greater than FOE_DATA_SIZE.
  */
-int FOE_send_data_packet ()
+static uint32_t FOE_send_data_packet ()
 {
    _FOE *foembx;
-   uint16_t data_len;
+   uint32_t data_len;
    uint8_t mbxhandle;
 
    mbxhandle = ESC_claimbuffer ();
    if (mbxhandle)
    {
       foembx = (_FOE *) &MBX[mbxhandle * ESC_MBXSIZE];
-      data_len = FOE_fread (foembx->data, FOE_DATA_SIZE);
+      data_len = FOE_fread (foembx->data, ESC_FOE_DATA_SIZE);
       foembx->foeheader.opcode = FOE_OP_DATA;
       foembx->foeheader.packetnumber = htoel (FOEvar.foepacket);
       FOEvar.foepacket++;
-      foembx->mbxheader.length = htoes (data_len + FOEHSIZE);
+      foembx->mbxheader.length = htoes (data_len + ESC_FOEHSIZE);
       foembx->mbxheader.mbxtype = MBXFOE;
       /* Mark the outbound mailbox as filled. */
       MBXcontrol[mbxhandle].state = MBXstate_outreq;
@@ -275,7 +280,7 @@ int FOE_send_data_packet ()
 
  * @return 0= or error number.
  */
-int FOE_send_ack ()
+static uint32_t FOE_send_ack ()
 {
    _FOE *foembx;
    uint8_t mbxhandle;
@@ -308,12 +313,12 @@ int FOE_send_ack ()
  * On error we will send FOE Abort.
  *
  */
-void FOE_read ()
+static void FOE_read ()
 {
    _FOE *foembx;
-   uint32_t data_len;
    uint32_t password;
-   int res;
+   uint32_t res;
+   uint8_t data_len;
 
    if (FOEvar.foestate != FOE_READY)
    {
@@ -324,7 +329,7 @@ void FOE_read ()
    FOE_init ();
    foembx = (_FOE *) &MBX[0];
    /* Get the length of the file name in octets. */
-   data_len = etohs (foembx->mbxheader.length) - FOEHSIZE;
+   data_len = (uint8_t)(etohs (foembx->mbxheader.length) - ESC_FOEHSIZE);
    password = etohl (foembx->foeheader.password);
 
    res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_RRQ);
@@ -335,7 +340,7 @@ void FOE_read ()
        * Attempt to send the packet
        */
       res = FOE_send_data_packet ();
-      if (res <= (int)FOE_DATA_SIZE)
+      if (res <= ESC_FOE_DATA_SIZE)
       {
          FOEvar.foestate = FOE_WAIT_FOR_ACK;
       }
@@ -349,20 +354,13 @@ void FOE_read ()
       FOE_abort (res);
    }
 }
-#else
-void FOE_read()
-{
-   FOE_abort(FOE_ERR_NOTDEFINED);
-}
-#endif
 
-#ifdef FOE_READ_SUPPORTED
 /** FoE data ack handler. Will continue sending next frame until finished.
  * On error we will send FOE Abort.
  */
-void FOE_ack ()
+static void FOE_ack ()
 {
-   int res;
+   uint32_t res;
 
    /* Make sure we're able to take this. */
    if (FOEvar.foestate == FOE_WAIT_FOR_FINAL_ACK)
@@ -377,7 +375,7 @@ void FOE_ack ()
       return;
    }
    res = FOE_send_data_packet ();
-   if (res < (int) FOE_DATA_SIZE)
+   if (res < ESC_FOE_DATA_SIZE)
    {
       FOEvar.foestate = FOE_WAIT_FOR_FINAL_ACK;
    }
@@ -392,12 +390,12 @@ void FOE_ack ()
  * receive data. On error we will send FOE Abort.
  *
  */
-void FOE_write ()
+static void FOE_write ()
 {
    _FOE *foembx;
-   uint32_t data_len;
    uint32_t password;
-   int res;
+   uint32_t res;
+   uint8_t data_len;
 
    if (FOEvar.foestate != FOE_READY)
    {
@@ -407,12 +405,12 @@ void FOE_write ()
 
    FOE_init ();
    foembx = (_FOE *) &MBX[0];
-   data_len = etohs (foembx->mbxheader.length) - ESC_FOEHSIZE;
+   data_len = (uint8_t)(etohs (foembx->mbxheader.length) - ESC_FOEHSIZE);
    password = etohl (foembx->foeheader.password);
 
    /* Get an address we can write the file to, if possible. */
    res = FOE_fopen (foembx->filename, data_len, password, FOE_OP_WRQ);
-   DPRINT("FOE_write\n");
+   DPRINT("%s %sOK, file \"%s\"\n", __func__, (res == 0) ? "" : "N", foe_file_name);
    if (res == 0)
    {
       res = FOE_send_ack ();
@@ -430,16 +428,16 @@ void FOE_write ()
       FOE_abort (res);
    }
 }
-/** FoE data request handler. Validates and reads data until we're finsihed. Every
- * read frame follwed by an Ack frame. On error we will send FOE Abort.
+/** FoE data request handler. Validates and reads data until we're finished. Every
+ * read frame followed by an Ack frame. On error we will send FOE Abort.
  *
  */
-void FOE_data ()
+static void FOE_data ()
 {
    _FOE *foembx;
    uint32_t packet;
-   uint16_t data_len, ncopied;
-   int res;
+   uint32_t data_len, ncopied;
+   uint32_t res;
 
    if(FOEvar.foestate != FOE_WAIT_FOR_DATA)
    {
@@ -453,7 +451,9 @@ void FOE_data ()
 
    if (packet != FOEvar.foepacket)
    {
-      DPRINT("FOE_data packet error,packet: %d foeheader.packet: %d\n",packet,FOEvar.foepacket);
+      DPRINT("FOE_data packet error, packet: %"PRIu32", foeheader.packet: %"PRIu32"\n",
+            packet,
+            FOEvar.foepacket);
       FOE_abort (FOE_ERR_PACKETNO);
    }
    else if (data_len == 0)
@@ -481,7 +481,7 @@ void FOE_data ()
          DPRINT("FOE_data data_len == FOE_DATA_SIZE\n");
          if (ncopied != data_len)
          {
-            DPRINT("FOE_data only %d of %d copied\n",ncopied, data_len);
+            DPRINT("FOE_data only %"PRIu32" of %"PRIu32" copied\n",ncopied, data_len);
             FOE_abort (FOE_ERR_PROGERROR);
          }
          res = FOE_send_ack ();
@@ -508,11 +508,11 @@ void FOE_data ()
 }
 
 #ifdef FOE_READ_SUPPORTED
-/** FoE read request buys handler. Send an Ack of last frame again. On error
+/** FoE read request busy handler. Send an Ack of last frame again. On error
  * we will send FOE Abort.
  *
  */
-void FOE_busy ()
+static void FOE_busy ()
 {
    /* Only valid if we're servicing a read request. */
    if (FOEvar.foestate != FOE_WAIT_FOR_ACK)
@@ -532,7 +532,7 @@ void FOE_busy ()
 /** FoE error requesthandler. Send an FOE Abort.
  *
  */
-void FOE_error ()
+static void FOE_error ()
 {
    /* Master panic! abort the transfer. */
    FOE_abort (0);
@@ -543,14 +543,10 @@ void FOE_error ()
  *
  * @param[in] cfg       = Pointer to by the Application static declared
  * configuration variable holding application specific details.
- * @param[in] cfg_files = Pointer to by the Application static declared
- * configuration variable holding file specific details for files to be handled
- * by FoE
  */
-void FOE_config (foe_cfg_t * cfg, foe_writefile_cfg_t * cfg_files)
+void FOE_config (foe_cfg_t * cfg)
 {
    foe_cfg = cfg;
-   foe_files = cfg_files;
 }
 
 /** Main FoE function checking the status on current mailbox buffers carrying

soes/esc_foe.h

@@ -14,10 +14,10 @@
 #include <cc.h>
 
 /** Maximum number of characters allowed in a file name. */
-#define FOE_FN_MAX      15
+#define FOE_FN_MAX      31
 
-typedef struct foe_writefile_cfg foe_writefile_cfg_t;
-struct foe_writefile_cfg
+typedef struct foe_file_cfg foe_file_cfg_t;
+struct foe_file_cfg
 {
    /** Name of file to receive from master */
    const char * name;
@@ -31,22 +31,24 @@ struct foe_writefile_cfg
    uint32_t       total_size;
    /** FoE password */
    uint32_t       filepass;
+   /** This file can be written only in BOOT state. Intended for FW files */
+   uint8_t        write_only_in_boot;
+   /** for feature use */
+   uint32_t       padding:24;
    /** Pointer to application foe write function */
-   uint32_t       (*write_function) (foe_writefile_cfg_t * self, uint8_t * data);
+   uint32_t       (*write_function) (foe_file_cfg_t * self, uint8_t * data, size_t length);
 };
 
 typedef struct foe_cfg
 {
    /** Allocate static in caller func to fit buffer_size */
    uint8_t * fbuffer;
-   /** Write this to fill-up, ex. 0xFF for "non write" */
-   uint8_t   empty_write;
    /** Buffer size before we flush to destination */
    uint32_t  buffer_size;
    /** Number of files used in firmware update */
    uint32_t  n_files;
    /** Pointer to files configured to be used by FoE */
-   foe_writefile_cfg_t * files;
+   foe_file_cfg_t * files;
 } foe_cfg_t;
 
 typedef struct CC_PACKED
@@ -68,7 +70,7 @@ typedef struct CC_PACKED
 } _FOEvar;
 
 /* Initializes FoE state. */
-void FOE_config (foe_cfg_t * cfg, foe_writefile_cfg_t * cfg_files);
+void FOE_config (foe_cfg_t * cfg);
 void FOE_init (void);
 void ESC_foeprocess (void);
 

soes/hal/linux-lan9252/esc_hw.c

@@ -16,7 +16,7 @@
 #include <stdlib.h>
 #include <unistd.h>
 
-#define BIT(x)	1 << (x)
+#define BIT(x)                   (1U << (x))
 
 #define ESC_CMD_SERIAL_WRITE     0x02
 #define ESC_CMD_SERIAL_READ      0x03
@@ -59,15 +59,15 @@ static int lan9252 = -1;
 static void lan9252_write_32 (uint16_t address, uint32_t val)
 {
     uint8_t data[7];
-    int n;
+    ssize_t n;
 
     data[0] = ESC_CMD_SERIAL_WRITE;
-    data[1] = ((address >> 8) & 0xFF);
-    data[2] = (address & 0xFF);
-    data[3] = (val & 0xFF);
-    data[4] = ((val >> 8) & 0xFF);
-    data[5] = ((val >> 16) & 0xFF);
-    data[6] = ((val >> 24) & 0xFF);
+    data[1] = (uint8_t)((address >> 8) & 0xFF);
+    data[2] = (uint8_t)(address & 0xFF);
+    data[3] = (uint8_t)(val & 0xFF);
+    data[4] = (uint8_t)((val >> 8) & 0xFF);
+    data[5] = (uint8_t)((val >> 16) & 0xFF);
+    data[6] = (uint8_t)((val >> 24) & 0xFF);
 
     /* Write data */
     n = write (lan9252, data, sizeof(data));
@@ -80,17 +80,17 @@ static uint32_t lan9252_read_32 (uint32_t address)
    uint8_t data[2];
    uint8_t result[4];
    uint16_t lseek_addr;
-   int n;
+   ssize_t n;
 
    data[0] = ((address >>8) & 0xFF);
    data[1] = (address & 0xFF);
 
-	lseek_addr=((uint16_t)data[0] << 8) | data[1];
-	lseek (lan9252, lseek_addr, SEEK_SET);
+   lseek_addr=(uint16_t)((data[0] << 8) | data[1]);
+   lseek (lan9252, lseek_addr, SEEK_SET);
    n = read (lan9252, result, sizeof(result));
    (void)n;
 
-   return ((result[3] << 24) |
+   return (uint32_t)((result[3] << 24) |
            (result[2] << 16) |
            (result[1] << 8) |
             result[0]);
@@ -101,7 +101,9 @@ static void ESC_read_csr (uint16_t address, void *buf, uint16_t len)
 {
    uint32_t value;
 
-   value = (ESC_CSR_CMD_READ | ESC_CSR_CMD_SIZE(len) | address);
+   value = ESC_CSR_CMD_READ;
+   value |= (uint32_t)ESC_CSR_CMD_SIZE(len);
+   value |= address;
    lan9252_write_32(ESC_CSR_CMD_REG, value);
 
    do
@@ -120,7 +122,9 @@ static void ESC_write_csr (uint16_t address, void *buf, uint16_t len)
 
    memcpy((uint8_t*)&value, buf,len);
    lan9252_write_32(ESC_CSR_DATA_REG, value);
-   value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
+   value = ESC_CSR_CMD_WRITE;
+   value |= (uint32_t)ESC_CSR_CMD_SIZE(len);
+   value |= address;
    lan9252_write_32(ESC_CSR_CMD_REG, value);
 
    do
@@ -137,10 +141,10 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
    uint16_t byte_offset = 0;
    uint8_t fifo_cnt, first_byte_position, temp_len;
    uint8_t *buffer;
-   int i, array_size, size;
+   size_t i, array_size, size;
    float quotient,remainder;
    uint32_t temp;
-   int n;
+   ssize_t n;
 
    value = ESC_PRAM_CMD_ABORT;
    lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
@@ -150,7 +154,7 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
       value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
    }while(value & ESC_PRAM_CMD_BUSY);
 
-   value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
+   value = (uint32_t)(ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address));
    lan9252_write_32(ESC_PRAM_RD_ADDR_LEN_REG, value);
 
    value = ESC_PRAM_CMD_BUSY;
@@ -162,7 +166,7 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
    }while((value & ESC_PRAM_CMD_AVAIL) == 0);
 
    /* Fifo count */
-   fifo_cnt = ESC_PRAM_CMD_CNT(value);
+   fifo_cnt = (uint8_t)ESC_PRAM_CMD_CNT(value);
 
    /* Read first value from FIFO */
    value = lan9252_read_32(ESC_PRAM_RD_FIFO_REG);
@@ -172,27 +176,27 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
     * according to LAN9252 datasheet and MicroChip SDK code
     */
    first_byte_position = (address & 0x03);
-   temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
+   temp_len = ((4 - first_byte_position) > len) ? (uint8_t)len : (uint8_t)(4 - first_byte_position);
 
    memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
-   len -= temp_len;
-   byte_offset += temp_len;
+   len = (uint16_t)(len - temp_len);
+   byte_offset = (uint16_t)(byte_offset + temp_len);
 
    /* Continue reading until we have read len */
     if (len > 0){
 
-        quotient = len/4;
-        remainder = len%4;
+        quotient = (float)(len/4);
+        remainder = (float)(len%4);
         
         if (remainder == 0)
-            array_size = quotient;
+            array_size = (size_t)quotient;
         else
-            array_size = quotient+1;            
+            array_size = (size_t)quotient+1;
 
         size = 4*array_size;        
 
         buffer = (uint8_t *)malloc(size);
-        buffer[0] = size;
+        buffer[0] = (uint8_t)size;
         memset(buffer,0,size);    
 
         lseek (lan9252, ESC_PRAM_RD_FIFO_REG, SEEK_SET);        
@@ -203,13 +207,13 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
         {
         
             for (i=0; i<size; i=i+4) {
-                temp_len = (len > 4) ? 4: len;
+                temp_len = (len > 4) ? 4: (uint8_t)len;
 
-                temp = buffer[i] | (buffer[i+1] << 8) | (buffer[i+2] << 16) | (buffer[i+3] << 24);
+                temp = (uint32_t)(buffer[i] | (buffer[i+1] << 8) | (buffer[i+2] << 16) | (buffer[i+3] << 24));
                 memcpy(temp_buf + byte_offset ,&temp, temp_len);
                 fifo_cnt--;
-                len -= temp_len;
-                byte_offset += temp_len;
+                len = (uint16_t)(len - temp_len);
+                byte_offset = (uint16_t)(byte_offset + temp_len);
             }
         }
         free(buffer);
@@ -224,9 +228,9 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
    uint16_t byte_offset = 0;
    uint8_t fifo_cnt, first_byte_position, temp_len;
    uint8_t *buffer;
-   int i, array_size, size;
+   size_t i, array_size, size;
    float quotient,remainder;   
-   int n;
+   ssize_t n;
 
    value = ESC_PRAM_CMD_ABORT;
    lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
@@ -236,7 +240,7 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
       value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
    }while(value & ESC_PRAM_CMD_BUSY);
 
-   value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
+   value = (uint32_t)(ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address));
    lan9252_write_32(ESC_PRAM_WR_ADDR_LEN_REG, value);
 
    value = ESC_PRAM_CMD_BUSY;
@@ -248,37 +252,37 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
    }while((value & ESC_PRAM_CMD_AVAIL) == 0);
 
    /* Fifo count */
-   fifo_cnt = ESC_PRAM_CMD_CNT(value);
+   fifo_cnt = (uint8_t)ESC_PRAM_CMD_CNT(value);
 
    /* Find out first byte position and adjust the copy from that
     * according to LAN9252 datasheet
     */
    first_byte_position = (address & 0x03);
-   temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
+   temp_len = ((4 - first_byte_position) > len) ? (uint8_t)len : (uint8_t)(4 - first_byte_position);
 
    memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
 
    /* Write first value from FIFO */
    lan9252_write_32(ESC_PRAM_WR_FIFO_REG, value);
 
-   len -= temp_len;
-   byte_offset += temp_len;
+   len = (uint16_t)(len - temp_len);
+   byte_offset = (uint16_t)(byte_offset + temp_len);
    fifo_cnt--;
 
     if (len > 0){
 
         quotient = len/4;
-        remainder = len%4;
+        remainder = (float)(len%4);
         
         if (remainder == 0)
-            array_size = quotient;
+            array_size = (size_t)quotient;
         else
-            array_size = quotient+1;            
+            array_size = (size_t)quotient+1;
 
         size = 3+4*array_size;        
 
         buffer = (uint8_t *)malloc(size);
-        buffer[0] = size;
+        buffer[0] = (uint8_t)size;
         memset(buffer,0,size);
         
         buffer[0] = ESC_CMD_SERIAL_WRITE;
@@ -287,17 +291,17 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
         while(len > 0)
         {                        
             for (i=3; i<size; i=i+4) {           
-                temp_len = (len > 4) ? 4 : len;
+                temp_len = (len > 4) ? 4 : (uint8_t)len;
 
                 memcpy((uint8_t *)&value, (temp_buf + byte_offset), temp_len);
-                buffer[i] = (value & 0xFF);
-                buffer[i+1] = ((value >> 8) & 0xFF);
-                buffer[i+2] = ((value >> 16) & 0xFF);
-                buffer[i+3] = ((value >> 24) & 0xFF);                              
+                buffer[i] = (uint8_t)(value & 0xFF);
+                buffer[i+1] = (uint8_t)((value >> 8) & 0xFF);
+                buffer[i+2] = (uint8_t)((value >> 16) & 0xFF);
+                buffer[i+3] = (uint8_t)((value >> 24) & 0xFF);
 
                 fifo_cnt--;
-                len -= temp_len;
-                byte_offset += temp_len;               
+                len = (uint16_t)(len - temp_len);
+                byte_offset= (uint16_t)(byte_offset + temp_len);
             }
         }        
         n = write (lan9252, buffer, size);
@@ -351,9 +355,9 @@ void ESC_read (uint16_t address, void *buf, uint16_t len)
          ESC_read_csr(address, temp_buf, size);
 
          /* next address */
-         len -= size;
-         temp_buf += size;
-         address += size;
+         len = (uint16_t)(len - size);
+         temp_buf = (uint8_t *)(temp_buf + size);
+         address = (uint16_t)(address + size);
       }
    }
    /* To mimic the ET1100 always providing AlEvent on every read or write */
@@ -406,9 +410,9 @@ void ESC_write (uint16_t address, void *buf, uint16_t len)
          ESC_write_csr(address, temp_buf, size);
 
          /* next address */
-         len -= size;
-         temp_buf += size;
-         address += size;
+         len = (uint16_t)(len - size);
+         temp_buf = (uint8_t *)(temp_buf + size);
+         address = (uint16_t)(address + size);
       }
    }
 

soes/hal/raspberrypi-lan9252/esc_hw.c

@@ -0,0 +1,602 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * ESC hardware layer functions for LAN9252 through BCM2835 SPI on Raspberry PI.
+ *
+ * Function to read and write commands to the ESC. Used to read/write ESC
+ * registers and memory.
+ */
+#include "esc.h"
+#include "esc_hw.h"
+#include <string.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <bcm2835.h>
+
+#define BIT(x)	(1U << (x))
+
+#define ESC_CMD_SERIAL_WRITE     0x02
+#define ESC_CMD_SERIAL_READ      0x03
+
+#define ESC_CMD_RESET_CTL        0x01F8      // reset register
+#define ESC_CMD_HW_CFG           0x0074      // hardware configuration register
+#define ESC_CMD_BYTE_TEST        0x0064      // byte order test register
+#define ESC_CMD_ID_REV           0x0050      // chip ID and revision
+#define ESC_CMD_IRQ_CFG          0x0054      // interrupt configuration
+#define ESC_CMD_INT_EN           0x005C      // interrupt enable
+
+#define ESC_RESET_DIGITAL        0x00000001
+#define ESC_RESET_ETHERCAT       0x00000040
+#define ESC_RESET_CTRL_RST       (ESC_RESET_DIGITAL & ESC_RESET_ETHERCAT)
+#define ESC_HW_CFG_READY         0x08000000
+#define ESC_BYTE_TEST_OK         0x87654321
+
+#define ESC_PRAM_RD_FIFO_REG     0x0000
+#define ESC_PRAM_WR_FIFO_REG     0x0020
+#define ESC_PRAM_RD_ADDR_LEN_REG 0x0308
+#define ESC_PRAM_RD_CMD_REG      0x030C
+#define ESC_PRAM_WR_ADDR_LEN_REG 0x0310
+#define ESC_PRAM_WR_CMD_REG      0x0314
+
+#define ESC_PRAM_CMD_BUSY        0x80000000
+#define ESC_PRAM_CMD_ABORT       0x40000000
+#define ESC_PRAM_CMD_AVAIL       0x00000001
+#define ESC_PRAM_CMD_CNT(x)      (((x) >> 8) & 0x1F)
+#define ESC_PRAM_SIZE(x)         ((x) << 16)
+#define ESC_PRAM_ADDR(x)         ((x) << 0)
+
+#define ESC_CSR_DATA_REG         0x0300
+#define ESC_CSR_CMD_REG          0x0304
+
+#define ESC_CSR_CMD_BUSY         0x80000000
+#define ESC_CSR_CMD_READ         (0x80000000 | 0x40000000)
+#define ESC_CSR_CMD_WRITE        0x80000000
+#define ESC_CSR_CMD_SIZE(x)      ((x) << 16)
+
+/* bcm2835 spi single write */
+static void bcm2835_spi_write_32 (uint16_t address, uint32_t val)
+{
+   char data[7];
+
+   data[0] = ESC_CMD_SERIAL_WRITE;
+   data[1] = ((address >> 8) & 0xFF);
+   data[2] = (address & 0xFF);
+   data[3] = (val & 0xFF);
+   data[4] = ((val >> 8) & 0xFF);
+   data[5] = ((val >> 16) & 0xFF);
+   data[6] = ((val >> 24) & 0xFF);
+
+   /* Write data */
+   bcm2835_spi_transfern(data, 7);
+}
+
+/* bcm2835 spi single read */
+static uint32_t bcm2835_spi_read_32 (uint16_t address)
+{
+   char data[7];
+
+   data[0] = ESC_CMD_SERIAL_READ;
+   data[1] = ((address >> 8) & 0xFF);
+   data[2] = (address & 0xFF);
+
+   /* Read data */
+   bcm2835_spi_transfern(data, 7);
+
+   return ((data[6] << 24) |
+           (data[5] << 16) |
+           (data[4] << 8) |
+           data[3]);
+}
+
+/* ESC read CSR function */
+static void ESC_read_csr (uint16_t address, void *buf, uint16_t len)
+{
+   uint32_t value;
+
+   value = (ESC_CSR_CMD_READ | ESC_CSR_CMD_SIZE(len) | address);
+   bcm2835_spi_write_32(ESC_CSR_CMD_REG, value);
+
+   do
+   {
+      value = bcm2835_spi_read_32(ESC_CSR_CMD_REG);
+   } while(value & ESC_CSR_CMD_BUSY);
+
+   value = bcm2835_spi_read_32(ESC_CSR_DATA_REG);
+   memcpy(buf, (uint8_t *)&value, len);
+}
+
+/* ESC write CSR function */
+static void ESC_write_csr (uint16_t address, void *buf, uint16_t len)
+{
+   uint32_t value;
+
+   memcpy((uint8_t*)&value, buf,len);
+   bcm2835_spi_write_32(ESC_CSR_DATA_REG, value);
+   value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
+   bcm2835_spi_write_32(ESC_CSR_CMD_REG, value);
+
+   do
+   {
+      value = bcm2835_spi_read_32(ESC_CSR_CMD_REG);
+   } while(value & ESC_CSR_CMD_BUSY);
+}
+
+/* ESC read process data ram function */
+static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
+{
+   uint32_t value;
+   uint8_t * temp_buf = buf;
+   uint16_t quotient, remainder, byte_offset = 0;
+   uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
+   uint8_t *buffer = NULL;
+   int i, size;
+
+   bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, ESC_PRAM_CMD_ABORT);
+   do
+   {
+      value = bcm2835_spi_read_32(ESC_PRAM_RD_CMD_REG);
+   }while(value & ESC_PRAM_CMD_BUSY);
+
+   bcm2835_spi_write_32(ESC_PRAM_RD_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
+
+   bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, ESC_PRAM_CMD_BUSY);
+
+   /* Find out first byte position and adjust the copy from that
+    * according to LAN9252 datasheet and MicroChip SDK code
+    */
+   first_byte_position = (address & 0x03);
+
+   /* Transfer data */
+   while (len > 0)
+   {
+      /* Wait for read availabiliy */
+      if (byte_offset > 0)
+      {
+         quotient = len/4;
+         remainder = len - quotient*4;
+      }
+      else
+      {
+         quotient = (len + first_byte_position)/4;
+         remainder = (len + first_byte_position) - quotient*4;
+      }
+      if (remainder != 0)
+      {
+         quotient++;
+      }
+      fifo_range = MIN(quotient,16);
+      do
+      {
+         value = bcm2835_spi_read_32(ESC_PRAM_RD_CMD_REG);
+      }while(!(value & ESC_PRAM_CMD_AVAIL) || (ESC_PRAM_CMD_CNT(value) < fifo_range));
+
+      /* Fifo size */
+      fifo_size = ESC_PRAM_CMD_CNT(value);
+
+      /* Transfer data size */
+      size = 3+4*fifo_size;
+
+      /* Allocate buffer */
+      buffer = (uint8_t *)realloc(buffer, size);
+
+      /* Reset fifo count */
+      fifo_cnt = fifo_size;
+
+      /* Reset buffer */
+      memset(buffer,0,size);
+      buffer[0] = ESC_CMD_SERIAL_READ;
+      buffer[1] = ((ESC_PRAM_RD_FIFO_REG >>8) & 0xFF);
+      buffer[2] = ( ESC_PRAM_RD_FIFO_REG & 0xFF);
+
+      /* Transfer batch of data */
+      bcm2835_spi_transfern((char *)buffer, size);
+
+      i = 3;
+      while (fifo_cnt > 0 && len > 0)
+      {
+         value = buffer[i] | (buffer[i+1] << 8) | (buffer[i+2] << 16) | (buffer[i+3] << 24);
+
+         if (byte_offset > 0)
+         {
+            temp_len = (len > 4) ? 4: len;
+            memcpy(temp_buf + byte_offset ,&value, temp_len);
+         }
+         else
+         {
+            temp_len = (len > (4 - first_byte_position)) ? (4 - first_byte_position) : len;
+            memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
+         }
+
+         i += 4;
+         fifo_cnt--;
+         len -= temp_len;
+         byte_offset += temp_len;
+      }
+   }
+   free(buffer);
+}
+
+/* ESC write process data ram function */
+static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
+{
+   uint32_t value;
+   uint8_t * temp_buf = buf;
+   uint16_t quotient, remainder, byte_offset = 0;
+   uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
+   uint8_t *buffer = NULL;
+   int i, size;
+
+   bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, ESC_PRAM_CMD_ABORT);
+   do
+   {
+      value = bcm2835_spi_read_32(ESC_PRAM_WR_CMD_REG);
+   }while(value & ESC_PRAM_CMD_BUSY);
+
+   bcm2835_spi_write_32(ESC_PRAM_WR_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
+
+   bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, ESC_PRAM_CMD_BUSY);
+
+   /* Find out first byte position and adjust the copy from that
+    * according to LAN9252 datasheet and MicroChip SDK code
+    */
+   first_byte_position = (address & 0x03);
+
+   /* Transfer data */
+   while (len > 0)
+   {
+      /* Wait for write availabiliy */
+      if (byte_offset > 0)
+      {
+         quotient = len/4;
+         remainder = len - quotient*4;
+      }
+      else
+      {
+         quotient = (len + first_byte_position)/4;
+         remainder = (len + first_byte_position) - quotient*4;
+      }
+      if (remainder != 0)
+      {
+         quotient++;
+      }
+      fifo_range = MIN(quotient,16);
+      do
+      {
+         value = bcm2835_spi_read_32(ESC_PRAM_WR_CMD_REG);
+      }while(!(value & ESC_PRAM_CMD_AVAIL) || (ESC_PRAM_CMD_CNT(value) < fifo_range));
+
+      /* Fifo size */
+      fifo_size = ESC_PRAM_CMD_CNT(value);
+
+      /* Transfer data size */
+      size = 3+4*fifo_size;
+
+      /* Allocate buffer */
+      buffer = (uint8_t *)realloc(buffer, size);
+
+      /* Reset fifo count */
+      fifo_cnt = fifo_size;
+
+      /* Reset buffer */
+      memset(buffer,0,size);
+      buffer[0] = ESC_CMD_SERIAL_WRITE;
+      buffer[1] = ((ESC_PRAM_WR_FIFO_REG >> 8) & 0xFF);
+      buffer[2] = (ESC_PRAM_WR_FIFO_REG & 0xFF);
+
+      i = 3;
+      while (fifo_cnt > 0 && len > 0)
+      {
+         value = 0;
+         if (byte_offset > 0)
+         {
+            temp_len = (len > 4) ? 4: len;
+            memcpy(&value, (temp_buf + byte_offset), temp_len);
+         }
+         else
+         {
+            temp_len = (len > (4 - first_byte_position)) ? (4 - first_byte_position) : len;
+            memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
+         }
+
+         buffer[i] = (value & 0xFF);
+         buffer[i+1] = ((value >> 8) & 0xFF);
+         buffer[i+2] = ((value >> 16) & 0xFF);
+         buffer[i+3] = ((value >> 24) & 0xFF);
+
+         i += 4;
+         fifo_cnt--;
+         len -= temp_len;
+         byte_offset += temp_len;
+      }
+
+      /* Transfer batch of data */
+      bcm2835_spi_transfern((char *)buffer, size);
+   }
+   free(buffer);
+}
+
+/** ESC read function used by the Slave stack.
+ *
+ * @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
+ */
+void ESC_read (uint16_t address, void *buf, uint16_t len)
+{
+   /* Select Read function depending on address, process data ram or not */
+   if (address >= 0x1000)
+   {
+      ESC_read_pram(address, buf, len);
+   }
+   else
+   {
+      uint16_t size;
+      uint8_t *temp_buf = (uint8_t *)buf;
+
+      while(len > 0)
+      {
+         /* We write maximum 4 bytes at the time */
+         size = (len > 4) ? 4 : len;
+         /* Make size aligned to address according to LAN9252 datasheet
+          * Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
+          */
+         /* If we got an odd address size is 1 , 01b 11b is captured */
+         if(address & BIT(0))
+         {
+            size = 1;
+         }
+         /* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
+         else if (address & BIT(1))
+         {
+            size = (size & BIT(0)) ? 1 : 2;
+         }
+         /* size 3 not valid */
+         else if (size == 3)
+         {
+            size = 1;
+         }
+         /* else size is kept AS IS */
+         ESC_read_csr(address, temp_buf, size);
+
+         /* next address */
+         len -= size;
+         temp_buf += size;
+         address += size;
+      }
+   }
+   /* To mimic the ET1100 always providing AlEvent on every read or write */
+   ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
+   ESCvar.ALevent = etohs (ESCvar.ALevent);
+
+}
+
+/** ESC write function used by the Slave stack.
+ *
+ * @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
+ */
+void ESC_write (uint16_t address, void *buf, uint16_t len)
+{
+   /* Select Write function depending on address, process data ram or not */
+   if (address >= 0x1000)
+   {
+      ESC_write_pram(address, buf, len);
+   }
+   else
+   {
+      uint16_t size;
+      uint8_t *temp_buf = (uint8_t *)buf;
+
+      while(len > 0)
+      {
+         /* We write maximum 4 bytes at the time */
+         size = (len > 4) ? 4 : len;
+         /* Make size aligned to address according to LAN9252 datasheet
+          * Table 12-14 EtherCAT CSR Address VS size  and MicroChip SDK code
+          */
+         /* If we got an odd address size is 1 , 01b 11b is captured */
+         if(address & BIT(0))
+         {
+            size = 1;
+         }
+         /* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
+         else if (address & BIT(1))
+         {
+            size = (size & BIT(0)) ? 1 : 2;
+         }
+         /* size 3 not valid */
+         else if (size == 3)
+         {
+            size = 1;
+         }
+         /* else size is kept AS IS */
+         ESC_write_csr(address, temp_buf, size);
+
+         /* next address */
+         len -= size;
+         temp_buf += size;
+         address += size;
+      }
+   }
+
+   /* To mimic the ET1x00 always providing AlEvent on every read or write */
+   ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
+   ESCvar.ALevent = etohs (ESCvar.ALevent);
+}
+
+/* Un-used due to evb-lan9252-digio not havning any possability to
+ * reset except over SPI.
+ */
+void ESC_reset (void)
+{
+
+}
+
+void ESC_init (const esc_cfg_t * config)
+{
+   bool rpi4 = false, cs1 = false;
+   uint32_t value;
+   uint32_t counter = 0;
+   uint32_t timeout = 1000; // wait 100msec
+   const char * user_arg = (char *)config->user_arg;
+   size_t arg_len = strlen(user_arg)+1;
+   char * arg_str = (char *)calloc(arg_len, sizeof(char));
+   strncpy(arg_str,user_arg,arg_len);
+   char * delim = " ,.-";
+   char * token = strtok(arg_str,delim);
+
+   // parse user arguments
+   while (token != NULL)
+   {
+      if (strncmp(token,"cs1",3) == 0)
+      {
+         cs1 = true; // select CS1 pin
+      }
+      else if (strncmp(token,"rpi4",4) == 0)
+      {
+         rpi4 = true; // select clock divider for raspberry pi 4 or newer
+      }
+      token = strtok(NULL,delim);
+   }
+   free(arg_str);
+
+   // start initialization
+   if (bcm2835_init())
+   {
+      if (bcm2835_spi_begin())
+      {
+         // Set SPI bit order
+         bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
+         // Set SPI data mode BCM2835_SPI_MODE0 = 0, CPOL = 0, CPHA = 0,
+         // Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
+         bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
+         if (rpi4)
+         {
+            // Raspberry 4 due to a higher CPU speed this value is to change to: BCM2835_SPI_CLOCK_DIVIDER_32
+            bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_32);
+            DPRINT("bcm2835_spi_setClockDivider set to 32 \n");
+         }
+         else
+         {
+            // Set SPI clock speed BCM2835_SPI_CLOCK_DIVIDER_16 = 16, 16 = 64ns = 15.625MHz
+            bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_16);
+            DPRINT("bcm2835_spi_setClockDivider set to 16 \n");
+         }
+         if (cs1)
+         {
+            // Enable management of CS1 pin
+            bcm2835_spi_chipSelect(BCM2835_SPI_CS1);
+            // Enable CS1 and set polarity
+            bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS1, LOW);
+            DPRINT("bcm2835_spi_chipSelect set to CS1 \n");
+         }
+         else
+         {
+            // Enable management of CS0 pin
+            bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
+            // enable CS0 and set polarity
+            bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW);
+            DPRINT("bcm2835_spi_chipSelect set to CS0 \n");
+         }
+
+         // Reset the ecat core here due to evb-lan9252-digio not having any GPIO for that purpose.
+         bcm2835_spi_write_32(ESC_CMD_RESET_CTL,ESC_RESET_CTRL_RST);
+
+         // Wait until reset command has been executed
+         do
+         {
+            usleep(100);
+            counter++;
+            value = bcm2835_spi_read_32(ESC_CMD_RESET_CTL);
+         } while ((value & ESC_RESET_CTRL_RST) && (counter < timeout));
+
+         // Perform byte test
+         do
+         {
+            usleep(100);
+            counter++;
+            value = bcm2835_spi_read_32(ESC_CMD_BYTE_TEST);
+         } while ((value != ESC_BYTE_TEST_OK) && (counter < timeout));
+
+         // Check hardware is ready
+         do
+         {
+            usleep(100);
+            counter++;
+            value = bcm2835_spi_read_32(ESC_CMD_HW_CFG);
+         } while (!(value & ESC_HW_CFG_READY) && (counter < timeout));
+
+         // Check if timeout occured
+         if (counter < timeout)
+         {
+            // Read the chip identification and revision
+            value = bcm2835_spi_read_32(ESC_CMD_ID_REV);
+            DPRINT("Detected chip %x Rev %u \n", ((value >> 16) & 0xFFFF), (value & 0xFFFF));
+
+            // Set AL event mask
+            value = (ESCREG_ALEVENT_CONTROL |
+                     ESCREG_ALEVENT_SMCHANGE |
+                     ESCREG_ALEVENT_SM0 |
+                     ESCREG_ALEVENT_SM1 );
+            ESC_ALeventmaskwrite(value);
+         }
+         else
+         {
+            DPRINT("Timeout occurred during reset \n");
+            bcm2835_spi_end();
+            bcm2835_close();
+         }
+      }
+      else
+      {
+         DPRINT("bcm2835_spi_begin failed. Are you running as root?\n");
+         bcm2835_close();
+      }
+   }
+   else
+   {
+      DPRINT("bcm2835_init failed. Are you running as root?\n");
+   }
+}
+
+void ESC_interrupt_enable (uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+                            ESCREG_ALEVENT_SM2 |
+                            ESCREG_ALEVENT_SM3;
+   if (mask & user_int_mask)
+   {
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
+   }
+
+   // Set LAN9252 interrupt pin driver as push-pull active high
+   bcm2835_spi_write_32(ESC_CMD_IRQ_CFG, 0x00000111);
+
+   // Enable LAN9252 interrupt
+   bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000001);
+}
+
+void ESC_interrupt_disable (uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+                            ESCREG_ALEVENT_SM2 |
+                            ESCREG_ALEVENT_SM3;
+
+   if (mask & user_int_mask)
+   {
+      // Disable interrupt from SYNC0
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
+   }
+
+
+   // Disable LAN9252 interrupt
+   bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000000);
+}

soes/hal/raspberrypi-lan9252/esc_hw.h

@@ -0,0 +1,17 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+ /** \file
+ * \brief
+ * ESC hardware specifoc EEPROM emulation functions.
+ */
+
+#ifndef __esc_hw__
+#define __esc_hw__
+
+void ESC_interrupt_enable (uint32_t mask);
+void ESC_interrupt_disable (uint32_t mask);
+
+#endif

soes/hal/rt-kernel-twrk60/esc_hw.c

@@ -16,6 +16,8 @@
 #include <string.h>
 #include <gpio.h>
 
+#define MAX_READ_SIZE   128
+
 #define ESC_CMD_READ    0x02
 #define ESC_CMD_READWS  0x03
 #define ESC_CMD_WRITE   0x04
@@ -24,7 +26,7 @@
 #define ESC_NEXT        0x00
 
 static int et1100 = -1;
-static uint8_t read_termination[MAX(sizeof(Wb), 128)] = { 0 };
+static uint8_t read_termination[MAX_READ_SIZE] = { 0 };
 
 #define GPIO_ECAT_RESET    1 /* specific function to hold ESC reset on startup
                               * when emulating EEPROM
@@ -56,7 +58,7 @@ static void esc_address (uint16_t address, uint8_t command)
  */
 void ESC_read (uint16_t address, void *buf, uint16_t len)
 {
-   ASSERT(len <= sizeof(read_termination));
+   ASSERT(len <= MAX_READ_SIZE);
 
    /* Select device. */
    spi_select (et1100);
@@ -69,7 +71,7 @@ void ESC_read (uint16_t address, void *buf, uint16_t len)
     * Read (and write termination bytes).
     */
    spi_bidirectionally_transfer (et1100, buf, read_termination +
-                                 (sizeof(read_termination) - len), len);
+                                 (MAX_READ_SIZE - len), len);
 
    /* Un-select device. */
    spi_unselect (et1100);
@@ -122,5 +124,5 @@ void ESC_init (const esc_cfg_t * config)
 {
    const char * spi_name = (char *)config->user_arg;
    et1100 = open (spi_name, O_RDWR, 0);
-   read_termination[sizeof(read_termination) - 1] = 0xFF;
+   read_termination[MAX_READ_SIZE - 1] = 0xFF;
 }

soes/hal/rt-kernel-xmc4/esc_hw.c

@@ -10,21 +10,23 @@
  * Function to read and write commands to the ESC. Used to read/write ESC
  * registers and memory.
  */
-#include <kern.h>
+#include <kern/kern.h>
 #include <bsp.h>
 #include <xmc4.h>
 #include <eru.h>
 #include <string.h>
 #include "esc_hw.h"
-#include "slave.h"
 #include "esc_eep.h"
-
+#include "ecat_slv.h"
+#include "esc_hw_eep.h"
 
 #define ESCADDR(x)   (((uint8_t *) ECAT0_BASE) + x)
 
+/* Global sem to make it possible to kick worker from the application */
+sem_t * ecat_isr_sem;
+
 static volatile esc_registers_t * ecat0 = (esc_registers_t *)ECAT0_BASE;
 static int use_all_interrupts = 0;
-static sem_t * ecat_isr_sem;
 static void sync0_isr (void * arg);
 static volatile uint8_t read_ack;
 
@@ -81,6 +83,25 @@ void ESC_enable(void)
    scu_put_peripheral_in_reset (SCU_PERIPHERAL_ECAT0);
    scu_ungate_clock_to_peripheral (SCU_PERIPHERAL_ECAT0);
    scu_release_peripheral_from_reset (SCU_PERIPHERAL_ECAT0);
+
+   /* Used to perform PHY reset after ECAT module have been released as
+    * described in 16.3.2.3 final section;
+    * "In some case PHYs may be released from reset after releasing the ECAT
+    * module, the pin for nPHY_RESET can be used as an I/O and shell be
+    * switched later to the alternate output function".
+    * Works well with relax boards.
+    */
+   static const gpio_cfg_t gpio_cfg[] =
+   {
+      { ECAT0_PHY_RESET,
+        ECAT0_PHY_RESET_GPIO_AF,
+        GPIO_STRONG_SOFT,
+        GPIO_PAD_ENABLED,
+        GPIO_POWS_DISABLED,
+        GPIO_SW },
+   };
+   /* Re-configure the pin to correct alternate output function */
+   gpio_configure (gpio_cfg, NELEMENTS (gpio_cfg));
 }
 
 /* EtherCAT module clock gating and assert reset API (Disables ECAT)*/
@@ -175,7 +196,6 @@ void ESC_interrupt_disable (uint32_t mask)
       mask &= ~ESCREG_ALEVENT_DC_LATCH;
       UASSERT(0,EARG);
    }
-
    ecat0->AL_EVENT_MASK &= ~mask;
 }
 
@@ -193,6 +213,22 @@ void ESC_eep_handler(void)
  */
 static void sync0_isr (void * arg)
 {
+   /* Subtract the sync counter to check the pace compared to the SM IRQ */
+   if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
+   {
+      CC_ATOMIC_SUB(ESCvar.synccounter, 1);
+   }
+   /* Check so we're inside the limit */
+   if((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
+          (CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit))
+   {
+      if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
+      {
+         DPRINT("sync error = %d\n", ESCvar.synccounter);
+         ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_SYNCERROR);
+         CC_ATOMIC_SET(ESCvar.synccounter, 0);
+      }
+   }
    DIG_process(DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
    read_ack = ecat0->DC_SYNC0_STAT;
 }
@@ -203,13 +239,13 @@ static void sync0_isr (void * arg)
  */
 static void ecat_isr (void * arg)
 {
-
-   ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
-   ESCvar.Time = etohl (ESCvar.Time);
    CC_ATOMIC_SET(ESCvar.ALevent, etohl(ecat0->AL_EVENT_REQ));
+   CC_ATOMIC_SET(ESCvar.Time, etohl(ecat0->READMode_DC_SYS_TIME[0]));
 
-   if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
+   /* Handle SM2 & SM3 interrupt */
+   if(ESCvar.ALevent & (ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3))
    {
+      /* Is DC active or not */
       if(ESCvar.dcsync == 0)
       {
          DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG |
@@ -217,10 +253,16 @@ static void ecat_isr (void * arg)
       }
       else
       {
+         /* Add the sync counter to check the pace compared to the SM IRQ */
+         if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
+         {
+            CC_ATOMIC_ADD(ESCvar.synccounter, 1);
+         }
          DIG_process(DIG_PROCESS_OUTPUTS_FLAG);
       }
    }
 
+   /* Handle low prio interrupts */
    if(ESCvar.ALevent & (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
          | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP))
    {
@@ -229,16 +271,40 @@ static void ecat_isr (void * arg)
             | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
       sem_signal(ecat_isr_sem);
    }
+
+   /* SM watchdog */
+   if(ESCvar.ALevent & ESCREG_ALEVENT_WD)
+   {
+      uint16_t wd;
+      /* Ack the WD IRQ */
+      wd = ecat0->WD_STAT_PDATA;
+      /* Check if the WD have expired and if we're in OP */
+      if(((wd & 0x1) == 0)  &&
+         ((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
+      {
+         ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
+         ecat0->AL_EVENT_MASK &= ~ESCREG_ALEVENT_WD;
+      }
+   }
 }
 
-/* Function for PDI ISR serving task */
+/* Function for low prio PDI interrupts and flushing of EEPROM RAM buffer
+ * to flash.
+ */
 static void isr_run(void * arg)
 {
    while(1)
    {
       sem_wait(ecat_isr_sem);
-      ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-            | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
+      /* Do while to handle write of eeprom, the write to flash is delayed */
+      do
+      {
+         /* Update time, used by emulated eeprom handler to measure idle time */
+         CC_ATOMIC_SET(ESCvar.Time, etohl(ecat0->READMode_DC_SYS_TIME[0]));
+         ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
+               | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
+
+      }while(eep_write_pending);
    }
 }
 

soes/hal/rt-kernel-xmc4/esc_hw.h

@@ -11,7 +11,7 @@
 #ifndef __esc_hw__
 #define __esc_hw__
 
-#include <kern.h>
+#include <kern/kern.h>
 /* ================================================================================ */
 /* ================                  ECAT [ECAT0]                  ================ */
 /* ================================================================================ */

soes/hal/rt-kernel-xmc4/esc_hw_eep.c

@@ -63,6 +63,7 @@ static eep_block_t *cleanup_unused_sect(eep_block_t *block);
 
 static int32_t is_sector_empty(uint32_t *addr);
 
+uint8_t eep_write_pending;
 
 /** Initialize EEPROM emulation (load default data, validate checksums, ...).
  *
@@ -135,6 +136,7 @@ void EEP_hw_process (void)
          /* update block pointer and reset write state */
          eep_curr_block = eep_next_block;
          eep_next_block = NULL;
+         eep_write_pending = 0;
       }
 
       return;
@@ -204,6 +206,7 @@ int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t count)
    eep_buf_dirty = 1;
    eep_write_req = 0;
    eep_last_write = ESCvar.Time;
+   eep_write_pending = 1;
 
    return 0;
 }