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 2)
+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
@@ -20,13 +20,13 @@ Feature list:
  - 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
 

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/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_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/esc_hw.c

@@ -1,312 +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
- * ESC hardware layer functions.
- *
- * Function to read and write commands to the ESC. Used to read/write ESC
- * registers and memory.
- */
-#include <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"
-
-
-#define ESCADDR(x)   (((uint8_t *) ECAT0_BASE) + x)
-
-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;
-
-static const eru_cfg_t cfg = {
-    .base = ERU1_BASE,
-    .channel = 2,
-    .in_a = 0,
-    .in_b = 3,
-    .exicon = ERU_EXICON_PE_ENABLED |
-              ERU_EXICON_LD_ENABLED |
-              ERU_EXICON_RE_ENABLED |
-              ERU_EXICON_OCS(2) |
-              ERU_EXICON_SS(1),
-    .exocon = ERU_EXOCON_ISS(0) |
-              ERU_EXOCON_GP(1) |
-              ERU_EXOCON_IPEEN(0),
-    .irq = IRQ_ERU1_SR7,
-    .isr = sync0_isr,
-    .arg = NULL,
-};
-
-static const scu_ecat_cfg_t port_control =
-{
-   .con = {0},
-   .conp0 = {
-      .rxd[0] = ECAT_PORT0_CTRL_RXDO0,
-      .rxd[1] = ECAT_PORT0_CTRL_RXDO1,
-      .rxd[2] = ECAT_PORT0_CTRL_RXDO2,
-      .rxd[3] = ECAT_PORT0_CTRL_RXDO3,
-      .rx_clk = ECAT_PORT0_CTRL_RX_CLK,
-      .rx_dv = ECAT_PORT0_CTRL_RX_DV,
-      .rx_err = ECAT_PORT0_CTRL_RX_ERR,
-      .link = ECAT_PORT0_CTRL_LINK,
-      .tx_clk = ECAT_PORT0_CTRL_TX_CLK,
-      .tx_shift = ECAT_PORT0_CTRL_TX_SHIFT
-   },
-   .conp1 = {
-      .rxd[0] = ECAT_PORT1_CTRL_RXDO0,
-      .rxd[1] = ECAT_PORT1_CTRL_RXDO1,
-      .rxd[2] = ECAT_PORT1_CTRL_RXDO2,
-      .rxd[3] = ECAT_PORT1_CTRL_RXDO3,
-      .rx_clk = ECAT_PORT1_CTRL_RX_CLK,
-      .rx_dv = ECAT_PORT1_CTRL_RX_DV,
-      .rx_err = ECAT_PORT1_CTRL_RX_ERR,
-      .link = ECAT_PORT1_CTRL_LINK,
-      .tx_clk = ECAT_PORT1_CTRL_TX_CLK,
-      .tx_shift = ECAT_PORT1_CTRL_TX_SHIFT
-   }
-};
-
-/* EtherCAT module clock ungating and deassert reset API (Enables ECAT) */
-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);
-}
-
-/* EtherCAT module clock gating and assert reset API (Disables ECAT)*/
-void ESC_disable(void)
-{
-   scu_put_peripheral_in_reset (SCU_PERIPHERAL_ECAT0);
-   scu_gate_clock_to_peripheral (SCU_PERIPHERAL_ECAT0);
-}
-
-/** 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)
-{
-   if(use_all_interrupts == 0)
-   {
-      ESCvar.ALevent = etohs ((uint16_t)ecat0->AL_EVENT_REQ);
-   }
-   memcpy (buf, ESCADDR(address), len);
-}
-
-/** 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)
-{
-   if(use_all_interrupts == 0)
-   {
-      ESCvar.ALevent = etohs ((uint16_t)ecat0->AL_EVENT_REQ);
-   }
-   memcpy (ESCADDR(address), buf, len);
-}
-
-/** ESC reset hardware.
- */
-void ESC_reset (void)
-{
-  /* disable ESC to force reset */
-  ESC_disable ();
-  /* initialize EEPROM emulation */
-  EEP_init ();
-}
-
-/** ESC interrupt enable function by the Slave stack in IRQ mode.
- *
- * @param[in]   mask     = of interrupts to enable
- */
-void ESC_interrupt_enable (uint32_t mask)
-{
-   if(ESCREG_ALEVENT_DC_SYNC0 & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_SYNC0;
-      int_enable(cfg.irq);
-   }
-   if(ESCREG_ALEVENT_DC_SYNC1 & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_SYNC1;
-      UASSERT(0,EARG);
-   }
-   if(ESCREG_ALEVENT_DC_LATCH & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_LATCH;
-      UASSERT(0,EARG);
-   }
-   ecat0->AL_EVENT_MASK |= mask;
-}
-
-/** ESC interrupt disable function by the Slave stack in IRQ mode.
- *
- * @param[in]   mask     = interrupts to disable
- */
-void ESC_interrupt_disable (uint32_t mask)
-{
-   if(ESCREG_ALEVENT_DC_SYNC0 & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_SYNC0;
-      int_disable(cfg.irq);
-   }
-   if(ESCREG_ALEVENT_DC_SYNC1 & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_SYNC1;
-      UASSERT(0,EARG);
-   }
-   if(ESCREG_ALEVENT_DC_LATCH & mask)
-   {
-      mask &= ~ESCREG_ALEVENT_DC_LATCH;
-      UASSERT(0,EARG);
-   }
-
-   ecat0->AL_EVENT_MASK &= ~mask;
-}
-
-/** ESC emulated EEPROM handler
- */
-void ESC_eep_handler(void)
-{
-   EEP_process ();
-   EEP_hw_process();
-}
-
-/** SYNC0 ISR handler
- *
- * @param[in]   arg     = NOT USED
- */
-static void sync0_isr (void * arg)
-{
-   DIG_process(DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
-   read_ack = ecat0->DC_SYNC0_STAT;
-}
-
-/** PDI ISR handler
- *
- * @param[in]   arg     = NOT USED
- */
-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));
-
-   if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
-   {
-      if(ESCvar.dcsync == 0)
-      {
-         DIG_process(DIG_PROCESS_OUTPUTS_FLAG | DIG_PROCESS_APP_HOOK_FLAG |
-               DIG_PROCESS_INPUTS_FLAG);
-      }
-      else
-      {
-         DIG_process(DIG_PROCESS_OUTPUTS_FLAG);
-      }
-   }
-
-#if 1
-   if(ESCvar.ALevent & (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-         | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP))
-   {
-      /* Mask interrupts while servicing them */
-      ecat0->AL_EVENT_MASK &= ~(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-            | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
-
-      extern flags_t * ecat_events;
-      flags_set(ecat_events, EVENT_ISR);
-      //sem_signal(ecat_isr_sem);
-   }
-#endif
-}
-
-#if 0
-/* Function for PDI ISR serving task */
-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);
-   }
-}
-#endif
-/** ESC and CPU related HW init
- *
- * @param[in]   arg     = esc_cfg provided by the application
- */
-void ESC_init (const esc_cfg_t * config)
-{
-   eep_config_t ecat_config;
-
-   ESC_reset();
-
-   scu_configure_ethercat_signals(&port_control);
-
-   /* read config from emulated EEPROM */
-   memset(&ecat_config, 0, sizeof(eep_config_t));
-   EEP_read (0, (uint8_t *) &ecat_config, sizeof(eep_config_t));
-
-   ESC_enable();
-
-   /* words 0x0-0x3 */
-   ecat0->EEP_DATA[0U] = ecat_config.dword[0U];
-   ecat0->EEP_DATA[1U] = ecat_config.dword[1U];
-   ecat0->EEP_CONT_STAT |= (uint16_t)(BIT(10)); /* ESI EEPROM Reload */
-
-   /* words 0x4-0x7 */
-   ecat0->EEP_DATA[0U] = ecat_config.dword[2U];
-   ecat0->EEP_DATA[1U] = ecat_config.dword[3U];
-   ecat0->EEP_CONT_STAT |= (uint16_t)(BIT(10)); /* ESI EEPROM Reload */
-
-   while (ecat0->EEP_CONT_STAT & BIT(12)) /* ESI EEPROM loading status */
-   {
-     /* Wait until the EEPROM_Loaded signal is active */
-   }
-
-   /* Configure CPU interrupts */
-   if(config->use_interrupt != 0)
-   {
-//      ecat_isr_sem = sem_create(0);
-//      task_spawn ("soes_isr", isr_run, 9, 2048, NULL);
-
-      use_all_interrupts = 0;
-      ecat0->AL_EVENT_MASK = 0;
-      ecat0->AL_EVENT_MASK = (ESCREG_ALEVENT_SMCHANGE |
-                              ESCREG_ALEVENT_EEP |
-                              ESCREG_ALEVENT_CONTROL |
-                              ESCREG_ALEVENT_SM0 |
-                              ESCREG_ALEVENT_SM1);
-
-      int_connect (IRQ_ECAT0_SR0, ecat_isr, NULL);
-      int_enable (IRQ_ECAT0_SR0);
-
-//      /* Activate for running external sync IRQ */
-//      scu_put_peripheral_in_reset (SCU_PERIPHERAL_ERU1);
-//      scu_ungate_clock_to_peripheral (SCU_PERIPHERAL_ERU1);
-//      scu_release_peripheral_from_reset (SCU_PERIPHERAL_ERU1);
-//
-//      eru_configure(&cfg);
-//      /* Let the stack decide when to enable */
-//      int_disable(cfg.irq);
-   }
-}
-
-

applications/rtl_lwip_eoe/esc_hw.h

@@ -1,179 +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
- * ESC hardware specifoc EEPROM emulation functions.
- */
-
-#ifndef __esc_hw__
-#define __esc_hw__
-
-#include <kern.h>
-/* ================================================================================ */
-/* ================                  ECAT [ECAT0]                  ================ */
-/* ================================================================================ */
-
-#define EVENT_PERIODIC  BIT(0)
-#define EVENT_TX        BIT(1)
-#define EVENT_ISR       BIT(2)
-
-
-/**
-  * @brief EtherCAT 0 (ECAT)
-  */
-typedef struct esc_registers
-{                                    /*!< (@ 0x54010000) ECAT Structure                                         */
-   uint8_t   TYPE;                              /*!< (@ 0x54010000) Type of EtherCAT Controller                            */
-   uint8_t   REVISION;                          /*!< (@ 0x54010001) Revision of EtherCAT Controller                        */
-   uint16_t  BUILD;                             /*!< (@ 0x54010002) Build Version                                          */
-   uint8_t   FMMU_NUM;                          /*!< (@ 0x54010004) FMMUs Supported                                        */
-   uint8_t   SYNC_MANAGER;                      /*!< (@ 0x54010005) SyncManagers Supported                                 */
-   uint8_t   RAM_SIZE;                          /*!< (@ 0x54010006) RAM Size                                               */
-   uint8_t   PORT_DESC;                         /*!< (@ 0x54010007) Port Descriptor                                        */
-   uint16_t  FEATURE;                           /*!< (@ 0x54010008) ESC Features Supported                                 */
-   uint16_t  RESERVED[3];
-   uint16_t  STATION_ADR;                       /*!< (@ 0x54010010) Configured Station Address                             */
-   uint16_t  STATION_ALIAS;                     /*!< (@ 0x54010012) Configured Station Alias                               */
-   uint32_t  RESERVED1[3];
-   uint8_t   WR_REG_ENABLE;                     /*!< (@ 0x54010020) Write Register Enable                                  */
-   uint8_t   WR_REG_PROTECT;                    /*!< (@ 0x54010021) Write Register Protection                              */
-   uint16_t  RESERVED2[7];
-   uint8_t   ESC_WR_ENABLE;                     /*!< (@ 0x54010030) ESC Write Enable                                       */
-   uint8_t   ESC_WR_PROTECT;                    /*!< (@ 0x54010031) ESC Write Protection                                   */
-   uint16_t  RESERVED3[7];
-   union
-   {
-      uint8_t   ESC_RESET_ECAT_READMode;         /*!< (@ 0x54010040) ESC Reset ECAT [READ Mode]                             */
-      uint8_t   ESC_RESET_ECAT_WRITEMode;        /*!< (@ 0x54010040) ESC Reset ECAT [WRITE Mode]                            */
-   };
-   union {
-   uint8_t   ESC_RESET_PDI_READMode;          /*!< (@ 0x54010041) ESC Reset PDI [READ Mode]                              */
-   uint8_t   ESC_RESET_PDI_WRITEMode;         /*!< (@ 0x54010041) ESC Reset PDI [WRITE Mode]                             */
-   };
-   uint16_t  RESERVED4[95];
-   uint32_t  ESC_DL_CONTROL;                    /*!< (@ 0x54010100) ESC DL Control                                         */
-   uint32_t  RESERVED5;
-   uint16_t  PHYSICAL_RW_OFFSET;                /*!< (@ 0x54010108) Physical Read/Write Offset                             */
-   uint16_t  RESERVED6[3];
-   uint16_t  ESC_DL_STATUS;                     /*!< (@ 0x54010110) ESC DL Status                                          */
-   uint16_t  RESERVED7[7];
-   uint16_t  AL_CONTROL;                        /*!< (@ 0x54010120) AL Control                                             */
-   uint16_t  RESERVED8[7];
-   uint16_t  AL_STATUS;                         /*!< (@ 0x54010130) AL Status                                              */
-   uint16_t  RESERVED9;
-   uint16_t  AL_STATUS_CODE;                    /*!< (@ 0x54010134) AL Status Code                                         */
-   uint16_t  RESERVED10;
-   uint8_t   RUN_LED;                           /*!< (@ 0x54010138) RUN LED Override                                       */
-   uint8_t   ERR_LED;                           /*!< (@ 0x54010139) RUN ERR Override                                       */
-   uint16_t  RESERVED11[3];
-   uint8_t   PDI_CONTROL;                       /*!< (@ 0x54010140) PDI Control                                            */
-   uint8_t   ESC_CONFIG;                        /*!< (@ 0x54010141) ESC Configuration                                      */
-   uint16_t  RESERVED12[7];
-   uint8_t   PDI_CONFIG;                        /*!< (@ 0x54010150) PDI Control                                            */
-   uint8_t   SYNC_LATCH_CONFIG;                 /*!< (@ 0x54010151) Sync/Latch[1:0] PDI Configuration                      */
-   uint16_t  PDI_EXT_CONFIG;                    /*!< (@ 0x54010152) PDI Synchronous Microcontroller extended Configuration */
-   uint32_t  RESERVED13[43];
-   uint16_t  EVENT_MASK;                        /*!< (@ 0x54010200) ECAT Event Mask                                        */
-   uint16_t  RESERVED14;
-   uint32_t  AL_EVENT_MASK;                     /*!< (@ 0x54010204) PDI AL Event Mask                                      */
-   uint32_t  RESERVED15[2];
-   uint16_t  EVENT_REQ;                         /*!< (@ 0x54010210) ECAT Event Request                                     */
-   uint16_t  RESERVED16[7];
-   uint32_t  AL_EVENT_REQ;                      /*!< (@ 0x54010220) AL Event Request                                       */
-   uint32_t  RESERVED17[55];
-   uint16_t  RX_ERR_COUNT0;                     /*!< (@ 0x54010300) RX Error Counter Port 0                                */
-   uint16_t  RX_ERR_COUNT1;                     /*!< (@ 0x54010302) RX Error Counter Port 1                                */
-   uint32_t  RESERVED18;
-   uint8_t   FWD_RX_ERR_COUNT0;                 /*!< (@ 0x54010308) Forwarded RX Error Counter Port 0                      */
-   uint8_t   FWD_RX_ERR_COUNT1;                 /*!< (@ 0x54010309) Forwarded RX Error Counter Port 1                      */
-   uint16_t  RESERVED19;
-   uint8_t   PROC_ERR_COUNT;                    /*!< (@ 0x5401030C) ECAT Processing Unit Error Counter                     */
-   uint8_t   PDI_ERR_COUNT;                     /*!< (@ 0x5401030D) PDI Error Counter                                      */
-   uint16_t  RESERVED20;
-   uint8_t   LOST_LINK_COUNT0;                  /*!< (@ 0x54010310) Lost Link Counter Port 0                               */
-   uint8_t   LOST_LINK_COUNT1;                  /*!< (@ 0x54010311) Lost Link Counter Port 1                               */
-   uint16_t  RESERVED21[119];
-   uint16_t  WD_DIVIDE;                         /*!< (@ 0x54010400) Watchdog Divider                                       */
-   uint16_t  RESERVED22[7];
-   uint16_t  WD_TIME_PDI;                       /*!< (@ 0x54010410) Watchdog Time PDI                                      */
-   uint16_t  RESERVED23[7];
-   uint16_t  WD_TIME_PDATA;                     /*!< (@ 0x54010420) Watchdog Time Process Data                             */
-   uint16_t  RESERVED24[15];
-   uint16_t  WD_STAT_PDATA;                     /*!< (@ 0x54010440) Watchdog Status Process Data                           */
-   uint8_t   WD_COUNT_PDATA;                    /*!< (@ 0x54010442) Watchdog Counter Process Data                          */
-   uint8_t   WD_COUNT_PDI;                      /*!< (@ 0x54010443) Watchdog Counter PDI                                   */
-   uint32_t  RESERVED25[47];
-   uint8_t   EEP_CONF;                          /*!< (@ 0x54010500) EEPROM Configuration                                   */
-   uint8_t   EEP_STATE;                         /*!< (@ 0x54010501) EEPROM PDI Access State                                */
-   uint16_t  EEP_CONT_STAT;                     /*!< (@ 0x54010502) EEPROM Control/Status                                  */
-   uint32_t  EEP_ADR;                           /*!< (@ 0x54010504) EEPROM Address                                         */
-   uint32_t  EEP_DATA[2];                       /*!< (@ 0x54010508) EEPROM Read/Write data                                 */
-   uint16_t  MII_CONT_STAT;                     /*!< (@ 0x54010510) MII Management Control/Status                          */
-   uint8_t   MII_PHY_ADR;                       /*!< (@ 0x54010512) PHY Address                                            */
-   uint8_t   MII_PHY_REG_ADR;                   /*!< (@ 0x54010513) PHY Register Address                                   */
-   uint16_t  MII_PHY_DATA;                      /*!< (@ 0x54010514) PHY Data                                               */
-   uint8_t   MII_ECAT_ACS_STATE;                /*!< (@ 0x54010516) MII ECAT ACS STATE                                     */
-   uint8_t   MII_PDI_ACS_STATE;                 /*!< (@ 0x54010517) MII PDI ACS STATE                                      */
-   uint32_t  RESERVED26[250];
-   uint32_t  DC_RCV_TIME_PORT0;                 /*!< (@ 0x54010900) Receive Time Port 0                                    */
-   uint32_t  DC_RCV_TIME_PORT1;                 /*!< (@ 0x54010904) Receive Time Port 1                                    */
-   uint32_t  RESERVED27[2];
-   union
-   {
-      uint32_t  READMode_DC_SYS_TIME[2];         /*!< (@ 0x54010910) System Time read access                                */
-      uint32_t  DC_SYS_TIME_WRITEMode;           /*!< (@ 0x54010910) System Time [WRITE Mode]                               */
-   };
-   uint32_t  RECEIVE_TIME_PU[2];                /*!< (@ 0x54010918) Local time of the beginning of a frame                 */
-   uint32_t  DC_SYS_TIME_OFFSET[2];             /*!< (@ 0x54010920) Difference between local time and System Time          */
-   uint32_t  DC_SYS_TIME_DELAY;                 /*!< (@ 0x54010928) System Time Delay                                      */
-   uint32_t  DC_SYS_TIME_DIFF;                  /*!< (@ 0x5401092C) System Time Difference                                 */
-   uint16_t  DC_SPEED_COUNT_START;              /*!< (@ 0x54010930) Speed Counter Start                                    */
-   uint16_t  DC_SPEED_COUNT_DIFF;               /*!< (@ 0x54010932) Speed Counter Diff                                     */
-   uint8_t   DC_SYS_TIME_FIL_DEPTH;             /*!< (@ 0x54010934) System Time Difference Filter Depth                    */
-   uint8_t   DC_SPEED_COUNT_FIL_DEPTH;          /*!< (@ 0x54010935) Speed Counter Filter Depth                             */
-   uint16_t  RESERVED28[37];
-   uint8_t   DC_CYC_CONT;                       /*!< (@ 0x54010980) Cyclic Unit Control                                    */
-   uint8_t   DC_ACT;                            /*!< (@ 0x54010981) Activation register                                    */
-   uint16_t  DC_PULSE_LEN;                      /*!< (@ 0x54010982) Pulse Length of SyncSignals                            */
-   uint8_t   DC_ACT_STAT;                       /*!< (@ 0x54010984) Activation Status                                      */
-   uint8_t   RESERVED29[9];
-   uint8_t   DC_SYNC0_STAT;                     /*!< (@ 0x5401098E) SYNC0 Status                                           */
-   uint8_t   DC_SYNC1_STAT;                     /*!< (@ 0x5401098F) SYNC1 Status                                           */
-   uint32_t  DC_CYC_START_TIME[2];              /*!< (@ 0x54010990) Start Time Cyclic Operation                            */
-   uint32_t  DC_NEXT_SYNC1_PULSE[2];            /*!< (@ 0x54010998) System time of next SYNC1 pulse in ns                  */
-   uint32_t  DC_SYNC0_CYC_TIME;                 /*!< (@ 0x540109A0) SYNC0 Cycle Time                                       */
-   uint32_t  DC_SYNC1_CYC_TIME;                 /*!< (@ 0x540109A4) SYNC1 Cycle Time                                       */
-   uint8_t   DC_LATCH0_CONT;                    /*!< (@ 0x540109A8) Latch0 Control                                         */
-   uint8_t   DC_LATCH1_CONT;                    /*!< (@ 0x540109A9) Latch1 Control                                         */
-   uint32_t  RESERVED30;
-   uint8_t   DC_LATCH0_STAT;                    /*!< (@ 0x540109AE) Latch0 Status                                          */
-   uint8_t   DC_LATCH1_STAT;                    /*!< (@ 0x540109AF) Latch1 Status                                          */
-   uint32_t  DC_LATCH0_TIME_POS[2];             /*!< (@ 0x540109B0) Register captures System time at the positive
-                                                         edge of the Latch0 signal                                             */
-   uint32_t  DC_LATCH0_TIME_NEG[2];             /*!< (@ 0x540109B8) Register captures System time at the negative
-                                                         edge of the Latch0 signal                                             */
-   uint32_t  DC_LATCH1_TIME_POS[2];             /*!< (@ 0x540109C0) Register captures System time at the positive
-                                                         edge of the Latch1 signal                                             */
-   uint32_t  DC_LATCH1_TIME_NEG[2];             /*!< (@ 0x540109C8) Register captures System time at the negative
-                                                         edge of the Latch1 signal                                             */
-   uint32_t  RESERVED31[8];
-   uint32_t  DC_ECAT_CNG_EV_TIME;               /*!< (@ 0x540109F0) EtherCAT Buffer Change Event Time                      */
-   uint32_t  RESERVED32;
-   uint32_t  DC_PDI_START_EV_TIME;              /*!< (@ 0x540109F8) PDI Buffer Start Event Time                            */
-   uint32_t  DC_PDI_CNG_EV_TIME;                /*!< (@ 0x540109FC) PDI Buffer Change Event Time                           */
-   uint32_t  RESERVED33[256];
-   uint32_t  ID;                                /*!< (@ 0x54010E00) ECAT0 Module ID                                        */
-   uint32_t  RESERVED34;
-   uint32_t  STATUS;                            /*!< (@ 0x54010E08) ECAT0 Status                                           */
-} esc_registers_t;
-
-void EEP_hw_process (void);
-void ESC_eep_handler(void);
-void ESC_interrupt_enable (uint32_t mask);
-void ESC_interrupt_disable (uint32_t mask);
-
-#endif
-

applications/rtl_lwip_eoe/esc_hw_eep.c

@@ -1,311 +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
- * ESC hardware specific EEPROM emulation functions.
- */
-
-#include <cc.h>
-#include <fce.h>
-#include <string.h>
-#include <drivers/nor/nor.h>
-#include "esc.h"
-#include "esc_hw_eep.h"
-
-extern const uint8_t _binary_sii_eeprom_bin_start;
-extern const uint8_t _binary_sii_eeprom_bin_end;
-
-#define SII_EE_DEFLT (&_binary_sii_eeprom_bin_start)
-#define SII_EE_DEFLT_SIZE (uint32_t)(&_binary_sii_eeprom_bin_end - &_binary_sii_eeprom_bin_start)
-
-#define EEP_DEFAULT_BTN_INIT()   { }
-#define EEP_DEFAULT_BTN_STATE()  0
-
-#define EEP_BUSY_LED_INIT()      { }
-#define EEP_BUSY_LED_ON()        { }
-#define EEP_BUSY_LED_OFF()       { }
-
-#if EEP_BYTES_PER_BLOCK > EEP_BYTES_PER_SECTOR
-#error EEP_BYTES_PER_BLOCK needs to fit into EEP_BYTES_PER_SECTOR
-#endif
-
-/** CRC engine configuration */
-static const fce_kernel_cfg_t fce_config =
-{
-   .crc_kernel_addr = FCE_KE0_BASE,
-   .kernel_cfg = 0,
-   .seed = 0xffffffff
-};
-
-static uint8_t eep_buf[EEP_EMU_BYTES];
-static uint8_t eep_buf_dirty;
-static uint32_t eep_last_write;
-
-static uint8_t eep_write_req;
-static eep_block_t *eep_curr_block;
-static eep_block_t *eep_next_block;
-
-static uint32_t *eep_write_src;
-static uint32_t *eep_write_dst;
-static uint32_t eep_write_page;
-
-static eep_block_t eep_write_buf;
-
-static drv_t * drv;
-
-static void init_flash_data(void);
-static void find_latest_block(eep_block_t *addr);
-static eep_block_t *get_next_block(eep_block_t *block);
-static eep_block_t *cleanup_unused_sect(eep_block_t *block);
-
-static int32_t is_sector_empty(uint32_t *addr);
-
-
-/** Initialize EEPROM emulation (load default data, validate checksums, ...).
- *
- */
-void EEP_init (void)
-{
-   /* initialize write buffer */
-   memset(&eep_write_buf, 0, EEP_BYTES_PER_BLOCK);
-
-   /* Initialize the FCE Configuration */
-   fce_init(&fce_config);
-
-   drv = dev_find_driver ("/pflash");
-   ASSERT (drv != NULL);
-
-   /* try to find latest block in both sectors */
-   eep_curr_block = NULL;
-   if (!EEP_DEFAULT_BTN_STATE()) {
-      find_latest_block((eep_block_t *) EEP_SECTOR_A);
-      find_latest_block((eep_block_t *) EEP_SECTOR_B);
-   }
-
-   EEP_BUSY_LED_ON();
-
-   /* no valid block found -> initialize flash with default data */
-   if (eep_curr_block == NULL) {
-      init_flash_data();
-   }
-
-   /* cleanup unused block */
-   cleanup_unused_sect(eep_curr_block);
-
-   /* copy data from block to emu buffer */
-   memcpy(eep_buf, eep_curr_block->data, EEP_EMU_BYTES);
-
-   /* initialize state variables */
-   eep_buf_dirty = 0;
-   eep_last_write = 0;
-   eep_write_req = 0;
-   eep_next_block = NULL;
-}
-
-/** EEPROM emulation controller side periodic task.
- *
- */
-void EEP_hw_process (void)
-{
-   /* check for dirty buffer and set write */
-   if (eep_buf_dirty) {
-      int32_t idle_time = ((int32_t) ESCvar.Time) - ((int32_t) eep_last_write);
-      if (idle_time > EEP_IDLE_TIMEOUT) {
-         eep_buf_dirty = 0;
-         eep_write_req = 1;
-      }
-   }
-
-   /* check for write process */
-   if (eep_next_block != NULL) {
-      /* write flash page */
-      nor_write(drv, EEP_FLASH_SECTOR_OFFSET((uint32_t)eep_write_dst),
-            EEP_BYTES_PER_PAGE, (const uint8_t *)eep_write_src);
-      eep_write_src += (EEP_BYTES_PER_PAGE / sizeof(*eep_write_src));
-      eep_write_dst += (EEP_BYTES_PER_PAGE / sizeof(*eep_write_dst));
-
-      /* update counter */
-      eep_write_page++;
-
-      /* check for finished job */
-      if (eep_write_page >= EEP_PAGES_PER_BLOCK) {
-         /* update block pointer and reset write state */
-         eep_curr_block = eep_next_block;
-         eep_next_block = NULL;
-      }
-
-      return;
-   }
-
-   /* start write of new block */
-   if (eep_write_req) {
-      EEP_BUSY_LED_ON();
-
-      /* get next block */
-      eep_next_block = get_next_block(eep_curr_block);
-
-      /* copy data */
-      memcpy(eep_write_buf.data, eep_buf, EEP_EMU_BYTES);
-
-      /* setup header */
-      eep_write_buf.header.seq = eep_curr_block->header.seq + 1;
-      eep_write_buf.header.crc = fce_crc32 (&fce_config,
-            (const uint32_t *)eep_write_buf.data, EEP_DATA_BYTES);
-
-      /* initialize write position */
-      eep_write_src = (uint32_t *) &eep_write_buf;
-      eep_write_dst = (uint32_t *) eep_next_block;
-      eep_write_page = 0;
-
-      /* reset write request */
-      eep_write_req = 0;
-   }
-}
-
-/** EEPROM read function
- *
- * @param[in]   addr     = EEPROM byte address
- * @param[out]  data     = pointer to buffer of output data
- * @param[in]   count    = number of bytes to read
- * @return 0 on OK, 1 on error
- */
-int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t count)
-{
-   if (addr >= EEP_EMU_BYTES) {
-      return 1;
-   }
-
-   /* read data from ram buffer */
-   memcpy(data, eep_buf + addr, count);
-
-   return 0;
-}
-
-/** EEPROM write function
- *
- * @param[in]   addr     = EEPROM byte address
- * @param[out]  data     = pointer to buffer of input data
- * @param[in]   count    = number of bytes to write
- * @return 0 on OK, 1 on error
- */
-int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t count)
-{
-   if (addr >= EEP_EMU_BYTES) {
-      return 1;
-   }
-
-   /* write data to ram buffer */
-   memcpy(eep_buf + addr, data, count);
-
-   /* mark buffer as dirty */
-   eep_buf_dirty = 1;
-   eep_write_req = 0;
-   eep_last_write = ESCvar.Time;
-
-   return 0;
-}
-
-static void init_flash_data(void)
-{
-   uint32_t i;
-   const uint32_t *src;
-   uint32_t dst;
-
-   /* erase both sectors */
-   nor_erase(drv, EEP_FLASH_SECTOR_OFFSET(EEP_SECTOR_A), EEP_BYTES_PER_SECTOR);
-   nor_erase(drv, EEP_FLASH_SECTOR_OFFSET(EEP_SECTOR_B), EEP_BYTES_PER_SECTOR);
-
-   /* copy default data to write buffer */
-
-   memcpy(eep_write_buf.data, SII_EE_DEFLT, (SII_EE_DEFLT_SIZE < EEP_EMU_BYTES) ? SII_EE_DEFLT_SIZE : EEP_EMU_BYTES);
-   /*
-    * memcpy(eep_write_buf.data, SII_EE_DEFLT, (SII_EE_DEFLT_SIZE < EEP_EMU_BYTES) ? SII_EE_DEFLT_SIZE : EEP_EMU_BYTES);
-    */
-   /* setup header data */
-   eep_write_buf.header.seq = 0;
-   eep_write_buf.header.crc = fce_crc32 (&fce_config,
-         (const uint32_t *)eep_write_buf.data, EEP_DATA_BYTES);
-
-   /* write pages */
-   src = (const uint32_t *) &eep_write_buf;
-   dst = EEP_SECTOR_A;
-   for (i = 0; i < EEP_PAGES_PER_BLOCK; i++) {
-
-      nor_write(drv, EEP_FLASH_SECTOR_OFFSET(dst), EEP_BYTES_PER_PAGE,
-            (const uint8_t *)src);
-
-      src += (EEP_BYTES_PER_PAGE / sizeof(*src));
-      dst += EEP_BYTES_PER_PAGE;
-   }
-
-   /* set current block */
-   eep_curr_block = (eep_block_t *) EEP_SECTOR_A;
-}
-
-static void find_latest_block(eep_block_t *addr)
-{
-   uint32_t blk, crc;
-
-   for (blk = 0; blk < EPP_BLOCKS_PER_SECT; blk++, addr++) {
-      /* check crc, skip invalid blocks */
-      crc = fce_crc32 (&fce_config, (const uint32_t *) addr->data,
-            EEP_DATA_BYTES);
-      if (addr->header.crc != crc) {
-         continue;
-      }
-
-      /* check sequence number and update last pointer */
-      if (eep_curr_block == NULL || (addr->header.seq - eep_curr_block->header.seq) > 0) {
-         eep_curr_block = addr;
-      }
-   }
-}
-
-static eep_block_t *get_next_block(eep_block_t *block)
-{
-   /* simple case: new block fits in current sector */
-   uint32_t sect_offset = ((uint32_t)block) & (EEP_BYTES_PER_SECTOR - 1);
-   if ((sect_offset + EEP_BYTES_PER_BLOCK) < EEP_BYTES_PER_SECTOR) {
-      return block + 1;
-   }
-
-   /* use other sector */
-   return cleanup_unused_sect(block);
-}
-
-static eep_block_t *cleanup_unused_sect(eep_block_t *block)
-{
-   /* get other sector */
-   uint32_t sect_addr = (((uint32_t)block) & ~(EEP_BYTES_PER_SECTOR - 1));
-
-   if (sect_addr == EEP_SECTOR_A) {
-      sect_addr = EEP_SECTOR_B;
-   } else {
-      sect_addr = EEP_SECTOR_A;
-   }
-
-   /* check if sector is empty, erase if not */
-   if (!is_sector_empty((uint32_t *)sect_addr)) {
-      nor_erase(drv, EEP_FLASH_SECTOR_OFFSET(sect_addr), EEP_BYTES_PER_SECTOR);
-   }
-
-   return (eep_block_t *) sect_addr;
-}
-
-static int32_t is_sector_empty(uint32_t *addr)
-{
-   uint32_t i;
-
-   /* check for all bytes erased */
-   for (i=0; i<EEP_BYTES_PER_SECTOR; i+=sizeof(uint32_t), addr++) {
-      if (*addr != 0) {
-        return 0;
-      }
-   }
-   return 1;
-}
-
-

applications/rtl_lwip_eoe/esc_hw_eep.h

@@ -1,54 +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
- * ESC hardware specifoc EEPROM emulation functions.
- */
-
-#ifndef __esc_hw_eep__
-#define __esc_hw_eep__
-
-#include <bsp.h>
-#include <cc.h>
-#include "esc_eep.h"
-
-/* idle timeout in ns before actual flash write will be issued */
-#define EEP_IDLE_TIMEOUT	100000000
-
-
-/* Pages per emulated EEPROM block */
-#define EEP_BYTES_PER_SECTOR  XMC4_EEPROM_SECTOR_SIZE_BYTES
-#define EEP_BYTES_PER_PAGE    XMC4_PAGE_SIZE_BYTES
-#define EEP_PAGES_PER_BLOCK   16
-
-/* block header */
-typedef struct CC_PACKED
-{
-   int32_t seq;
-   uint32_t crc;
-} eep_header_t;
-
-/* calculate resulting sizes */
-#define EEP_BYTES_PER_BLOCK	(EEP_PAGES_PER_BLOCK * EEP_BYTES_PER_PAGE)
-#define EPP_BLOCKS_PER_SECT	(EEP_BYTES_PER_SECTOR / EEP_BYTES_PER_BLOCK)
-#define EEP_DATA_BYTES		   (EEP_BYTES_PER_BLOCK - sizeof(eep_header_t))
-
-/* eeprom size increments in steps of 0x80 bytes */
-#define EEP_EMU_BYTES         (EEP_DATA_BYTES & ~0x7f)
-
-/* block structure */
-typedef struct CC_PACKED
-{
-   eep_header_t header;
-   uint8_t data[EEP_DATA_BYTES];
-} eep_block_t;
-
-/* periodic task */
-void EEP_hw_process (void);
-
-#endif
-
-

applications/rtl_lwip_eoe/main.c

@@ -1,19 +1,22 @@
+
 #include <kern.h>
 #include <xmc4.h>
 #include <bsp.h>
+#include "esc.h"
 #include "esc_eoe.h"
-#include "slave.h"
 #include "esc_hw.h"
-#include "config.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 tmr_t * ecat_timer;
 static uint8_t mac_address[6] = {0x1E, 0x30, 0x6C, 0xA2, 0x45, 0x5E};
 
 static void appl_get_buffer (eoe_pbuf_t * ebuf);
@@ -23,88 +26,69 @@ 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);
 
-flags_t * ecat_events;
+/* Application variables */
+_Objects    Obj;
 
-/**
- * This function gets input values and updates Rb.Button1
- */
-void cb_get_Button1()
+extern sem_t * ecat_isr_sem;
+
+struct netif * net_add_interface (err_t (*netif_fn) (struct netif * netif))
 {
-   Rb.Button1.B = gpio_get(GPIO_BUTTON1);
+   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;
 }
 
-/**
- * This function gets input values and updates Rb.Button2
- */
-void cb_get_Button2()
+void cb_get_inputs (void)
 {
-   Rb.Button2.B = gpio_get(GPIO_BUTTON2);
+   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;
+   }
 }
 
-/**
- * This function sets output values according to Wb.LEDgroup1
- */
-void cb_set_LEDgroup1()
+void cb_set_outputs (void)
 {
-   gpio_set(GPIO_LED1_B, Wb.LEDgroup1.LED);
+   gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0);
+   gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1);
 }
 
-/**
- * This function sets output values according to Wb.LEDgroup2
- */
-void cb_set_LEDgroup2()
+void cb_state_change (uint8_t * as, uint8_t * an)
 {
-   gpio_set(GPIO_LED2_B, Wb.LEDgroup2.LED);
-}
+   if (*as == SAFEOP_TO_OP)
+   {
+      /* Enable watchdog interrupt */
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
+   }
 
-/**
- * This function sets output values according to Wb.LEDgroup3
- */
-void cb_set_LEDgroup3()
-{
-   gpio_set(GPIO_LED3_B, Wb.LEDgroup3.LED);
-}
-
-/**
- * This function sets output values according to Wb.LEDgroup4
- */
-void cb_set_LEDgroup4()
-{
-   gpio_set(GPIO_LED4_B, Wb.LEDgroup4.LED);
-}
-
-/**
- * This function sets output values according to Wb.LEDgroup5
- */
-void cb_set_LEDgroup5()
-{
-   gpio_set(GPIO_LED5_B, Wb.LEDgroup5.LED5);
-   gpio_set(GPIO_LED6_B, Wb.LEDgroup5.LED678 & 0x1);
-   gpio_set(GPIO_LED7_B, Wb.LEDgroup5.LED678 & 0x2);
-   gpio_set(GPIO_LED8_B, Wb.LEDgroup5.LED678 & 0x4);
-}
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex)
-{
-
-}
-
-/**
- * This function is called after a SDO write of the object Cb.variableRW.
- */
-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)
-{
    /* Clean up data if we have been in INIT state */
    if ((*as == INIT_TO_PREOP) && (*an == ESCinit))
    {
@@ -123,50 +107,6 @@ void pre_state_change_hook (uint8_t * as, uint8_t * an)
    }
 }
 
-
-/* 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,
-};
-/* 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 = 1000,
-   .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 = pre_state_change_hook,
-   .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 = ESC_interrupt_enable,
-   .esc_hw_interrupt_disable = ESC_interrupt_disable,
-   .esc_hw_eep_handler = ESC_eep_handler
-};
-
 /* Callback to allocate a buffer */
 static void appl_get_buffer (eoe_pbuf_t * ebuf)
 {
@@ -281,7 +221,7 @@ static void appl_handle_recv_buffer (uint8_t port, eoe_pbuf_t * ebuf)
          }
          else
          {
-            flags_set(ecat_events, EVENT_TX);
+            sem_signal(ecat_isr_sem);
          }
       }
       /* Normal procedure to pass the Ethernet frame to lwIP to handle */
@@ -332,7 +272,7 @@ static err_t transmit_frame (struct netif *netif, struct pbuf *p)
    {
       /* Create a pbuf ref to keep the buf alive until it is sent over EoE */
       pbuf_ref(p);
-      flags_set(ecat_events, EVENT_TX);
+      sem_signal(ecat_isr_sem);
    }
    return ERR_OK;
 }
@@ -355,27 +295,54 @@ err_t eoe_netif_init (struct netif * netif)
    return ERR_OK;
 }
 
-/* Periodic EtherCAT timer */
-static void soes_timer (tmr_t * timer, void * arg)
+/* 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)
 {
-   flags_t * ev = arg;
-   flags_set(ev, EVENT_PERIODIC);
+   sem_signal(ecat_isr_sem);
 }
 
-/* Main EtherCAT loop */
-void main_run(void * arg)
+int main (void)
 {
-   uint32_t mask = EVENT_ISR | EVENT_TX | EVENT_PERIODIC;
-   uint32_t flags;
+   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);
-   /* Create periodic events to run the EtherCAT stack and application  */
-   ecat_events = flags_create (0);
-   ecat_timer = tmr_create (tick_from_ms (1), soes_timer, ecat_events, TMR_CYCL);
-   tmr_start (ecat_timer);
    /* Set up dummy IF */
    found_if = net_add_interface(eoe_netif_init);
    if(found_if == NULL)
@@ -384,55 +351,11 @@ void main_run(void * arg)
    }
    /* Init EoE */
    EOE_config(&eoe_config);
-   EOE_init();
-   /* Init EtherCAT slave stack */
-   ecat_slv_init(&config);
-   for(;;)
-   {
-      if(config.use_interrupt != 0)
-      {
-         /* Wait for incoming event from application or EtherCAT stack */
-         flags_wait_any (ecat_events, mask, &flags);
-         /* Cyclic event */
-         if(flags & EVENT_PERIODIC)
-         {
-            DIG_process(DIG_PROCESS_WD_FLAG);
-            ecat_slv_poll();
-            ESC_eoeprocess_tx();
-            flags_clr(ecat_events, EVENT_PERIODIC);
-         }
-         /* Low prio interrupt from the ESC */
-         if(flags & EVENT_ISR)
-         {
-            ecat_slv_poll();
-            ESC_eoeprocess_tx();
-            flags_clr(ecat_events, EVENT_ISR);
-            ESC_interrupt_enable(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-                  | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
 
-         }
-         /* The TCP/IP stack have posted a TX job */
-         if(flags & EVENT_TX)
-         {
-            ESC_eoeprocess_tx();
-            flags_clr(ecat_events, EVENT_TX);
-         }
-      }
-      else
-      {
-         ecat_slv();
-         ESC_eoeprocess_tx();
-      }
-   }
-}
+   rprintf ("Hello world\n");
+   ecat_slv_init (&config);
 
-/* Start the main application loop */
-int main(void)
-{
-   rprintf("Hello Main\n");
-   task_spawn ("soes", main_run, 4, 2048, NULL);
+   /* The stack is run from interrupt and a worker thread in esc_hw.c */
 
    return 0;
 }
-
-

applications/rtl_lwip_eoe/slave.h

@@ -1,99 +0,0 @@
-#ifndef __SLAVE_H__
-#define __SLAVE_H__
-
-#include "utypes.h"
-#include "esc.h"
-
-/**
- * This function gets input values and updates Rb.Button1
- */
-void cb_get_Button1();
-
-/**
- * This function gets input values and updates Rb.Button2
- */
-void cb_get_Button2();
-
-/**
- * This function sets output values according to Wb.LEDgroup1
- */
-void cb_set_LEDgroup1();
-
-/**
- * This function sets output values according to Wb.LEDgroup2
- */
-void cb_set_LEDgroup2();
-
-/**
- * This function sets output values according to Wb.LEDgroup3
- */
-void cb_set_LEDgroup3();
-
-/**
- * This function sets output values according to Wb.LEDgroup4
- */
-void cb_set_LEDgroup4();
-
-/**
- * This function sets output values according to Wb.LEDgroup5
- */
-void cb_set_LEDgroup5();
-
-/**
- * This function is called after a SDO write of the object Cb.Parameters.
- */
-void cb_post_write_Parameters(int subindex);
-
-/**
- * This function is called after a SDO write of the object Cb.variableRW.
- */
-void cb_post_write_variableRW(int subindex);
-
-#define DIG_PROCESS_INPUTS_FLAG     0x01
-#define DIG_PROCESS_OUTPUTS_FLAG    0x02
-#define DIG_PROCESS_WD_FLAG         0x04
-#define DIG_PROCESS_APP_HOOK_FLAG   0x08
-/** Implements the watch-dog counter to count if we should make a state change
- * due to missing incoming SM2 events. Updates local I/O and run the application
- * in the following order, call read EtherCAT outputs, execute user provided
- * application hook and call write EtherCAT inputs.
- *
- * @param[in]   flags     = User input what to execute
- */
-void DIG_process (uint8_t flags);
-
-/**
- * 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
- *
- * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
- *                           after served
- */
-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
- */
-void ecat_slv_poll (void);
-
-/**
- * Poll all events in a free-run application
- */
-void ecat_slv (void);
-
-/**
- * Initialize the slave stack
- *
- * @param[in]   config     = User input how to configure the stack
- */
-void ecat_slv_init (esc_cfg_t * config);
-
-#endif /* __SLAVE_H__ */

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/slave_objectlist.c

@@ -1,310 +0,0 @@
-#ifndef SOES_V1
-#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[] = "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[] = "LEDgroup1";
-static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "LED";
-static const char acName1601[] = "LEDgroup2";
-static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "LED";
-static const char acName1602[] = "LEDgroup3";
-static const char acName1602_00[] = "Max SubIndex";
-static const char acName1602_01[] = "LED";
-static const char acName1603[] = "LEDgroup4";
-static const char acName1603_00[] = "Max SubIndex";
-static const char acName1603_01[] = "LED";
-static const char acName1604[] = "LEDgroup5";
-static const char acName1604_00[] = "Max SubIndex";
-static const char acName1604_01[] = "LED5";
-static const char acName1604_02[] = "LED678";
-static const char acName1A00[] = "Button1";
-static const char acName1A00_00[] = "Max SubIndex";
-static const char acName1A00_01[] = "B";
-static const char acName1A01[] = "Button2";
-static const char acName1A01_00[] = "Max SubIndex";
-static const char acName1A01_01[] = "B";
-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[] = "PDO Mapping";
-static const char acName1C12_04[] = "PDO Mapping";
-static const char acName1C12_05[] = "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 acName1C13_02[] = "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[] = "Button1";
-static const char acName6005_00[] = "Max SubIndex";
-static const char acName6005_01[] = "B";
-static const char acName6006[] = "Button2";
-static const char acName6006_00[] = "Max SubIndex";
-static const char acName6006_01[] = "B";
-static const char acName7005[] = "LEDgroup1";
-static const char acName7005_00[] = "Max SubIndex";
-static const char acName7005_01[] = "LED";
-static const char acName7006[] = "LEDgroup2";
-static const char acName7006_00[] = "Max SubIndex";
-static const char acName7006_01[] = "LED";
-static const char acName7007[] = "LEDgroup3";
-static const char acName7007_00[] = "Max SubIndex";
-static const char acName7007_01[] = "LED";
-static const char acName7008[] = "LEDgroup4";
-static const char acName7008_00[] = "Max SubIndex";
-static const char acName7008_01[] = "LED";
-static const char acName7009[] = "LEDgroup5";
-static const char acName7009_00[] = "Max SubIndex";
-static const char acName7009_01[] = "LED5";
-static const char acName7009_02[] = "LED678";
-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, "xmc48_slave"},
-};
-const _objd SDO1009[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
-};
-const _objd SDO100A[] =
-{
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 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, 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, 0x70050120, 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 SDO1602[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70070108, NULL},
-};
-const _objd SDO1603[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70080108, NULL},
-};
-const _objd SDO1604[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70090108, NULL},
-  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_02, 0x70090208, 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 SDO1A01[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60060120, 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, 5, NULL},
-  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
-  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
-  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
-  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
-  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
-};
-const _objd SDO1C13[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
-  {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, 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.Button1.B},
-};
-const _objd SDO6006[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName6006_01, 0, &Rb.Button2.B},
-};
-const _objd SDO7005[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7005_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName7005_01, 0, &Wb.LEDgroup1.LED},
-};
-const _objd SDO7006[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7006_01, 0, &Wb.LEDgroup2.LED},
-};
-const _objd SDO7007[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7007_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7007_01, 0, &Wb.LEDgroup3.LED},
-};
-const _objd SDO7008[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7008_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7008_01, 0, &Wb.LEDgroup4.LED},
-};
-const _objd SDO7009[] =
-{
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7009_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7009_01, 0, &Wb.LEDgroup5.LED5},
-  {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7009_02, 0, &Wb.LEDgroup5.LED678},
-};
-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},
-  {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
-  {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
-  {0x1604, OTYPE_RECORD, 2, 0, acName1604, SDO1604},
-  {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
-  {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
-  {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 2, 0, acName1C13, SDO1C13},
-  {0x1C32, OTYPE_RECORD, 32, 0, acName1C32, SDO1C32},
-  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
-  {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
-  {0x7005, OTYPE_RECORD, 1, 0, acName7005, SDO7005},
-  {0x7006, OTYPE_RECORD, 1, 0, acName7006, SDO7006},
-  {0x7007, OTYPE_RECORD, 1, 0, acName7007, SDO7007},
-  {0x7008, OTYPE_RECORD, 1, 0, acName7008, SDO7008},
-  {0x7009, OTYPE_RECORD, 2, 0, acName7009, SDO7009},
-  {0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
-  {0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
-  {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
-};
-#endif

applications/rtl_lwip_eoe/utypes.h

@@ -1,121 +1,50 @@
 #ifndef __UTYPES_H__
 #define __UTYPES_H__
 
-#include <cc.h>
+#include "cc.h"
+
+
+/* Object dictionary storage */
 
-/* Inputs */
-CC_PACKED_BEGIN
 typedef struct
 {
-   CC_PACKED_BEGIN   
+   /* Inputs */
    struct
    {
-      uint8_t B;
-   } CC_PACKED Button1;
-   CC_PACKED_END
-   CC_PACKED_BEGIN   
-   struct
-   {
-      uint32_t B;
-   } CC_PACKED Button2;
-   CC_PACKED_END
-} CC_PACKED _Rbuffer;
-CC_PACKED_END
+      uint8_t Button1;
+   } Buttons;
 
-/* Outputs */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint32_t LED;
-   } CC_PACKED LEDgroup1;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED;
-   } CC_PACKED LEDgroup2;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED;
-   } CC_PACKED LEDgroup3;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED;
-   } CC_PACKED LEDgroup4;
-   CC_PACKED_END
-   CC_PACKED_BEGIN
-   struct
-   {
-      uint8_t LED5;
-      uint8_t LED678;
-   } CC_PACKED LEDgroup5;
-   CC_PACKED_END
-} CC_PACKED _Wbuffer;
-CC_PACKED_END
 
-/* Parameters */
-CC_PACKED_BEGIN
-typedef struct
-{
-   CC_PACKED_BEGIN
+   /* Outputs */
+   struct
+   {
+      uint8_t LED0;
+   } LEDgroup0;
+
+   struct
+   {
+      uint8_t LED1;
+   } LEDgroup1;
+
+
+   /* Parameters */
    struct
    {
       uint32_t Multiplier;
-   } CC_PACKED Parameters;
-   CC_PACKED_END
+   } Parameters;
+
    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
+   /* Manufacturer specific data */
 
-extern _Rbuffer Rb;
-extern _Wbuffer Wb;
-extern _Cbuffer Cb;
-extern _Mbuffer Mb;
+   /* 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.c

@@ -1,334 +0,0 @@
-#ifndef SOES_V1
-#include <stddef.h>
-#include "utypes.h"
-#include "esc.h"
-#include "esc_coe.h"
-#include "esc_foe.h"
-#include "config.h"
-#include "slave.h"
-
-/* 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;
-_Mbuffer    Mb;
-
-/* Private variables */
-static volatile int watchdog;
-
-/** Mandatory: 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)
-{
-   int result = 1;
-
-   if(ESCvar.pre_object_download_hook)
-   {
-      result = (ESCvar.pre_object_download_hook)(index, subindex);
-   }
-
-   return result;
-}
-
-/** 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)
-   {
-   /* 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;
-   }
-   }
-}
-
-/** 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");
-
-   if(ESCvar.safeoutput_override != NULL)
-   {
-      (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.
- */
-void TXPDO_update (void)
-{
-   if(ESCvar.txpdo_override != NULL)
-   {
-      (ESCvar.txpdo_override)();
-   }
-   else
-   {
-      ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
-   }
-}
-
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   if(ESCvar.rxpdo_override != NULL)
-   {
-      (ESCvar.rxpdo_override)();
-   }
-   else
-   {
-      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 (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))
-      {
-         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 if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
-      {
-         CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
-      }
-   }
-
-   /* Handle Outputs */
-   if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
-   {
-      if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
-         (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
-      {
-         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();
-      }
-      else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
-      {
-         RXPDO_update();
-      }
-   }
-
-   /* 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)
-      {
-         (ESCvar.application_hook)();
-      }
-   }
-
-   /* Handle Inputs */
-   if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
-   {
-      if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
-      {
-         /* Update inputs */
-         cb_get_Buttons();
-         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
- */
-void ecat_slv_worker (uint32_t event_mask)
-{
-   do
-   {
-      /* Check the state machine */
-      ESC_state();
-      /* Check the SM activation event */
-      ESC_sm_act_event();
-
-      /* Check mailboxes */
-      while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
-      {
-         ESC_coeprocess();
-         ESC_foeprocess();
-         ESC_xoeprocess();
-      }
-
-      /* Call emulated eeprom handler if set */
-      if (ESCvar.esc_hw_eep_handler != NULL)
-      {
-         (ESCvar.esc_hw_eep_handler)();
-      }
-
-      CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
-
-   }while(ESCvar.ALevent & 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.
- */
-void ecat_slv_poll (void)
-{
-   /* 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();
-   }
-
-   /* Call emulated eeprom handler if set */
-   if (ESCvar.esc_hw_eep_handler != NULL)
-   {
-      (ESCvar.esc_hw_eep_handler)();
-   }
-}
-
-void ecat_slv (void)
-{
-   ecat_slv_poll();
-   DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-         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;
-
-   /* Call stack configuration */
-   ESC_config (config);
-   /* Call HW init */
-   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();
-}
-#endif

applications/rtl_xmc4_irq/slave.h

@@ -1,74 +0,0 @@
-#ifndef __SLAVE_H__
-#define __SLAVE_H__
-
-#include "utypes.h"
-#include "esc.h"
-
-/**
- * This function gets input values and updates Rb.Buttons
- */
-void cb_get_Buttons();
-
-/**
- * This function sets output values according to Wb.LEDgroup0
- */
-void cb_set_LEDgroup0();
-
-/**
- * This function sets output values according to Wb.LEDgroup1
- */
-void cb_set_LEDgroup1();
-
-/**
- * This function is called after a SDO write of the object Cb.variableRW.
- */
-void cb_post_write_variableRW(int subindex);
-
-#define DIG_PROCESS_INPUTS_FLAG     0x01
-#define DIG_PROCESS_OUTPUTS_FLAG    0x02
-#define DIG_PROCESS_WD_FLAG         0x04
-#define DIG_PROCESS_APP_HOOK_FLAG   0x08
-/** Implements the watch-dog counter to count if we should make a state change
- * due to missing incoming SM2 events. Updates local I/O and run the application
- * in the following order, call read EtherCAT outputs, execute user provided
- * application hook and call write EtherCAT inputs.
- *
- * @param[in]   flags     = User input what to execute
- */
-void DIG_process (uint8_t flags);
-
-/**
- * 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
- *
- * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
- *                           after served
- */
-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
- */
-void ecat_slv_poll (void);
-
-/**
- * Poll all events in a free-run application
- */
-void ecat_slv (void);
-
-/**
- * Initialize the slave stack
- *
- * @param[in]   config     = User input how to configure the stack
- */
-void ecat_slv_init (esc_cfg_t * config);
-
-#endif /* __SLAVE_H__ */

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/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/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.c

@@ -1,326 +0,0 @@
-#ifndef SOES_V1
-#include <stddef.h>
-#include "utypes.h"
-#include "esc.h"
-#include "esc_coe.h"
-#include "esc_foe.h"
-#include "config.h"
-#include "k2gice.h"
-
-/* 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;
-_Mbuffer    Mb;
-
-/* Private variables */
-static volatile int watchdog;
-
-/** Mandatory: 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)
-{
-   int result = 1;
-
-   if(ESCvar.pre_object_download_hook)
-   {
-      result = (ESCvar.pre_object_download_hook)(index, subindex);
-   }
-
-   return result;
-}
-
-/** 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)
-   {
-   /* Handle post-write of parameter values */
-   default:
-   {
-      if(ESCvar.post_object_download_hook != NULL)
-      {
-         (ESCvar.post_object_download_hook)(index, subindex);
-      }
-      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");
-
-   if(ESCvar.safeoutput_override != NULL)
-   {
-      (ESCvar.safeoutput_override)();
-   }
-   else
-   {
-      // Set safe values for Wb.LED
-      Wb.LED = 0;
-   }
-}
-
-/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
- */
-void TXPDO_update (void)
-{
-   if(ESCvar.txpdo_override != NULL)
-   {
-      (ESCvar.txpdo_override)();
-   }
-   else
-   {
-      ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
-   }
-}
-
-/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
- */
-void RXPDO_update (void)
-{
-   if(ESCvar.rxpdo_override != NULL)
-   {
-      (ESCvar.rxpdo_override)();
-   }
-   else
-   {
-      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 (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))
-      {
-         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 if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
-      {
-         CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
-      }
-   }
-
-   /* Handle Outputs */
-   if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
-   {
-      if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
-         (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
-      {
-         RXPDO_update();
-         CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
-         if(ESCvar.dcsync > 0)
-         {
-            CC_ATOMIC_ADD(ESCvar.synccounter, 1);
-         }
-         /* Set outputs */
-         cb_set_LED();
-      }
-      else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
-      {
-         RXPDO_update();
-      }
-   }
-
-   /* 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)
-      {
-         (ESCvar.application_hook)();
-      }
-   }
-
-   /* Handle Inputs */
-   if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
-   {
-      if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
-      {
-         /* Update inputs */
-         cb_get_BUTTON();
-         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
- */
-void ecat_slv_worker (uint32_t event_mask)
-{
-   do
-   {
-      /* Check the state machine */
-      ESC_state();
-      /* Check the SM activation event */
-      ESC_sm_act_event();
-
-      /* Check mailboxes */
-      while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
-      {
-         ESC_coeprocess();
-         ESC_foeprocess();
-         ESC_xoeprocess();
-      }
-
-      /* Call emulated eeprom handler if set */
-      if (ESCvar.esc_hw_eep_handler != NULL)
-      {
-         (ESCvar.esc_hw_eep_handler)();
-      }
-
-      CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
-
-   }while(ESCvar.ALevent & 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.
- */
-void ecat_slv_poll (void)
-{
-   /* 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();
-   }
-
-   /* Call emulated eeprom handler if set */
-   if (ESCvar.esc_hw_eep_handler != NULL)
-   {
-      (ESCvar.esc_hw_eep_handler)();
-   }
-}
-
-void ecat_slv (void)
-{
-   ecat_slv_poll();
-   DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-         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;
-
-   /* Call stack configuration */
-   ESC_config (config);
-   /* Call HW init */
-   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();
-}
-#endif

applications/tiesc_k2gice/k2gice.esx

@@ -1,229 +1,248 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Slave fileVersion="1" id="k2gice" productCode="0x1234">
-  <Name>k2gice</Name>
+<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>k2gice_n</Name>
+    <Name>am335xice_n</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="0x20" DefaultSize="0" StartAddress="0x1180">Inputs</Sm>
+  <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="128" Start="0x1000"/>
-    <Standard Length="128" Start="0x1000"/>
+    <Bootstrap Length="512" Start="0x1000"/>
+    <Standard Length="512" Start="0x1000"/>
   </Mailbox>
   <Eeprom>
     <ByteSize>2048</ByteSize>
     <ConfigData>800CE08800000000</ConfigData>
-    <BootStrap>0010800080108000</BootStrap>
+    <BootStrap>0010000200120002</BootStrap>
   </Eeprom>
   <Dictionary>
-    <Item>
-      <Name>Device Type</Name>
+    <Item Managed="true">
       <Index>0x1000</Index>
+      <Name>Device Type</Name>
       <DataType>UNSIGNED32</DataType>
       <DefaultValue>0x00001389</DefaultValue>
     </Item>
     <Item Managed="true">
-      <Name>Device Name</Name>
       <Index>0x1008</Index>
+      <Name>Device Name</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>k2gice</DefaultValue>
+      <Length>6</Length>
     </Item>
     <Item>
-      <Name>Hardware Version</Name>
       <Index>0x1009</Index>
+      <Name>Hardware Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
     </Item>
     <Item>
-      <Name>Software Version</Name>
       <Index>0x100A</Index>
+      <Name>Software Version</Name>
       <DataType>VISIBLE_STRING</DataType>
       <DefaultValue>1.0</DefaultValue>
+      <Length>3</Length>
     </Item>
     <Item Managed="true">
-      <Name>Identity Object</Name>
       <Index>0x1018</Index>
+      <Name>Identity Object</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>4</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Vendor ID</Name>
         <Index>0x01</Index>
+        <Name>Vendor ID</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0x1337</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Product Code</Name>
         <Index>0x02</Index>
+        <Name>Product Code</Name>
         <DataType>UNSIGNED32</DataType>
-        <DefaultValue>0x1234</DefaultValue>
+        <DefaultValue>0x4291ce</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Revision Number</Name>
         <Index>0x03</Index>
+        <Name>Revision Number</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Serial Number</Name>
         <Index>0x04</Index>
+        <Name>Serial Number</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0x00000000</DefaultValue>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>LED</Name>
       <Index>0x1600</Index>
+      <Name>LED</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>LED</Name>
         <Index>0x01</Index>
+        <Name>LED</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0x70000020</DefaultValue>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>BUTTON</Name>
       <Index>0x1A00</Index>
+      <Name>BUTTON</Name>
       <DataType>RECORD</DataType>
       <SubItem>
-        <Name>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>BUTTON</Name>
         <Index>0x01</Index>
+        <Name>BUTTON</Name>
         <DataType>UNSIGNED32</DataType>
         <DefaultValue>0x60000020</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>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>4</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Communications Type SM0</Name>
         <Index>0x01</Index>
+        <Name>Communications Type SM0</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Communications Type SM1</Name>
         <Index>0x02</Index>
+        <Name>Communications Type SM1</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>2</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Communications Type SM2</Name>
         <Index>0x03</Index>
+        <Name>Communications Type SM2</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>3</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>Communications Type SM3</Name>
         <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>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>PDO Mapping</Name>
         <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>Max SubIndex</Name>
         <Index>0x00</Index>
+        <Name>Max SubIndex</Name>
         <DataType>UNSIGNED8</DataType>
         <DefaultValue>1</DefaultValue>
       </SubItem>
       <SubItem>
-        <Name>PDO Mapping</Name>
         <Index>0x01</Index>
+        <Name>PDO Mapping</Name>
         <DataType>UNSIGNED16</DataType>
         <DefaultValue>0x1A00</DefaultValue>
       </SubItem>
     </Item>
     <Item Managed="true">
-      <Name>BUTTON</Name>
       <Index>0x6000</Index>
+      <Access>RO</Access>
+      <Name>BUTTON</Name>
       <DataType>UNSIGNED32</DataType>
       <DefaultValue>0</DefaultValue>
-      <Access>RO</Access>
+      <PdoMapping>TX</PdoMapping>
       <Variable>BUTTON</Variable>
       <VariableType>Input</VariableType>
     </Item>
     <Item Managed="true">
-      <Name>LED</Name>
       <Index>0x7000</Index>
+      <Access>RO</Access>
+      <Name>LED</Name>
       <DataType>UNSIGNED32</DataType>
       <DefaultValue>0</DefaultValue>
-      <Access>RO</Access>
+      <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>
-    <Container>LED</Container>
     <Name>LED</Name>
     <Entry>
-      <Index>0x7000</Index>
-      <SubIndex>0</SubIndex>
+      <Index>0x1</Index>
+      <MappedIndex>0x7000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
       <Variable>LED</Variable>
     </Entry>
   </RxPdo>
   <TxPdo>
     <Index>0x1A00</Index>
-    <Container>BUTTON</Container>
     <Name>BUTTON</Name>
     <Entry>
-      <Index>0x6000</Index>
-      <SubIndex>0</SubIndex>
+      <Index>0x1</Index>
+      <MappedIndex>0x6000</MappedIndex>
+      <MappedSubIndex>0x00</MappedSubIndex>
       <Variable>BUTTON</Variable>
     </Entry>
   </TxPdo>
@@ -231,12 +250,14 @@
     <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>
+</Slave>

applications/tiesc_k2gice/k2gice.xml

@@ -8,13 +8,13 @@
     <Groups>
       <Group>
         <Type>k2gice_t</Type>
-        <Name LcId="1033">k2gice_n</Name>
+        <Name LcId="1033">am335xice_n</Name>
       </Group>
     </Groups>
     <Devices>
       <Device Physics="YY">
-        <Type ProductCode="#x1234" RevisionNo="0">k2gice</Type>
-        <Name LcId="1033">k2gice</Name>
+        <Type ProductCode="#x4291ce" RevisionNo="0">k2gice</Type>
+        <Name LcId="1033">k2gice_n</Name>
         <GroupType>k2gice_t</GroupType>
         <Profile>
           <ProfileNo>5001</ProfileNo>
@@ -312,7 +312,7 @@
                   <SubItem>
                     <Name>Product Code</Name>
                     <Info>
-                      <DefaultValue>#x1234</DefaultValue>
+                      <DefaultValue>#x4291ce</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -475,6 +475,7 @@
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
                 </Flags>
               </Object>
               <Object>
@@ -487,6 +488,7 @@
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
                 </Flags>
               </Object>
             </Objects>
@@ -495,16 +497,16 @@
         <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="#x20" Enable="1" StartAddress="#x1180">Inputs</Sm>
+        <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>0</SubIndex>
+            <SubIndex>#x0</SubIndex>
             <BitLen>32</BitLen>
             <Name>LED</Name>
             <DataType>UDINT</DataType>
@@ -515,19 +517,19 @@
           <Name>BUTTON</Name>
           <Entry>
             <Index>#x6000</Index>
-            <SubIndex>0</SubIndex>
+            <SubIndex>#x0</SubIndex>
             <BitLen>32</BitLen>
             <Name>BUTTON</Name>
             <DataType>UDINT</DataType>
           </Entry>
         </TxPdo>
         <Mailbox DataLinkLayer="true">
-          <CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
+          <CoE CompleteAccess="false" PdoUpload="false" SdoInfo="true"/>
         </Mailbox>
         <Eeprom>
           <ByteSize>2048</ByteSize>
-          <ConfigData>800CE08800000000</ConfigData>
-          <BootStrap>0010800080108000</BootStrap>
+          <ConfigData>800EE08800000000</ConfigData>
+          <BootStrap>0010000200120002</BootStrap>
         </Eeprom>
       </Device>
     </Devices>

applications/tiesc_k2gice/k2gice_objectlist.c

@@ -1,4 +1,3 @@
-#ifndef SOES_V1
 #include "esc_coe.h"
 #include "utypes.h"
 #include <stddef.h>
@@ -12,13 +11,9 @@
 #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[] = "Max SubIndex";
 static const char acName1018_01[] = "Vendor ID";
@@ -44,31 +39,29 @@ 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 acName6000_0[] = "BUTTON";
 static const char acName7000[] = "LED";
-static const char acName7000_0[] = "LED";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000_0, 0x00001389, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
 };
 const _objd SDO1008[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008_0, 0, "k2gice"},
+  {0x0, DTYPE_VISIBLE_STRING, 48, ATYPE_RO, acName1008, 0, "k2gice"},
 };
 const _objd SDO1009[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009_0, 0, HW_REV},
+  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
 };
 const _objd SDO100A[] =
 {
-  {0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A_0, 0, SW_REV},
+  {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, 0x1234, 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},
 };
@@ -102,11 +95,11 @@ const _objd SDO1C13[] =
 };
 const _objd SDO6000[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName6000_0, 0, &Rb.BUTTON},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.BUTTON},
 };
 const _objd SDO7000[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName7000_0, 0, &Wb.LED},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.LED},
 };
 
 const _objectlist SDOobjects[] =
@@ -125,4 +118,3 @@ const _objectlist SDOobjects[] =
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };
-#endif

applications/tiesc_k2gice/main.c

@@ -1,38 +1,39 @@
-#include "k2gice.h"
 #include "esc_hw.h"
-#include "config.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
- * of Rb.Buttons
  */
-void cb_get_BUTTON()
+void cb_get_inputs()
 {
     volatile uint8_t io_input;
-    Board_readRotarySwitch(&io_input);
-    Rb.BUTTON = 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
+ * This function writes physical output values from the corresponding members
  */
-void cb_set_LED()
+void cb_set_outputs()
 {
     volatile uint8_t io_output;
-    io_output = Wb.LED;
+    io_output = Obj.LED;
     Board_setDigOutput(io_output);
 }
 
-
 /* Called from stack when stopping outputs */
 void user_safeoutput (void)
 {
-   memset(&Wb, 0, (sizeof(Wb)));
+   memset(&Obj.LED, 0, (sizeof(Obj.LED)));
    Board_setDigOutput(0);
 }
 
@@ -44,16 +45,8 @@ static esc_cfg_t config =
 {
    .user_arg = NULL,
    .use_interrupt = 1,
-   .watchdog_cnt = 9999,
-   .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},
+   .watchdog_cnt = 9998,
+   .set_defaults_hook = NULL,
    .pre_state_change_hook = NULL,
    .post_state_change_hook = NULL,
    .application_hook = NULL,
@@ -64,7 +57,8 @@ static esc_cfg_t config =
    .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_hw_eep_handler = ESC_eep_handler,
+   .esc_check_dc_handler = NULL
 };
 
 int MainInit(void)

applications/tiesc_k2gice/utypes.h

@@ -1,41 +1,31 @@
 #ifndef __UTYPES_H__
 #define __UTYPES_H__
 
-#include <cc.h>
+#include "cc.h"
+
+
+/* Object dictionary storage */
 
-/* Inputs */
-CC_PACKED_BEGIN
 typedef struct
 {
+   /* Inputs */
    uint32_t BUTTON;
-} CC_PACKED _Rbuffer;
-CC_PACKED_END
 
-/* Outputs */
-CC_PACKED_BEGIN
-typedef struct
-{
+   /* Outputs */
    uint32_t LED;
-} CC_PACKED _Wbuffer;
-CC_PACKED_END
 
-/* Parameters */
-CC_PACKED_BEGIN
-typedef struct
-{
-} CC_PACKED _Cbuffer;
-CC_PACKED_END
+   /* Parameters */
 
-/* Manufacturer specific data */
-CC_PACKED_BEGIN
-typedef struct
-{
-} CC_PACKED _Mbuffer;
-CC_PACKED_END
+   /* Manufacturer specific data */
 
-extern _Rbuffer Rb;
-extern _Wbuffer Wb;
-extern _Cbuffer Cb;
-extern _Mbuffer Mb;
+   /* 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

@@ -1,316 +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");
-
-   // 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/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
+  )

soes/CMakeLists.txt

@@ -11,6 +11,9 @@ add_library (soes
   esc_eoe.h
   esc_eep.c
   esc_eep.h
+  ecat_slv.c
+  ecat_slv.h
+  options.h
   ${HAL_SOURCES}
   )
 

soes/ecat_slv.c

@@ -1,80 +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 "esc_eoe.h"
-#include "config.h"
-#include "slave.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 0x8000:
-   {
-      cb_post_write_Parameters(subindex);
-      break;
-   }
-   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)
 {
@@ -84,23 +139,9 @@ void APP_safeoutput (void)
    {
       (ESCvar.safeoutput_override)();
    }
-   else
-   {
-      // Set safe values for Wb.LEDgroup1
-      Wb.LEDgroup1.LED = 0;
-      // Set safe values for Wb.LEDgroup2
-      Wb.LEDgroup2.LED = 0;
-      // Set safe values for Wb.LEDgroup3
-      Wb.LEDgroup3.LED = 0;
-      // Set safe values for Wb.LEDgroup4
-      Wb.LEDgroup4.LED = 0;
-      // Set safe values for Wb.LEDgroup5
-      Wb.LEDgroup5.LED5 = 0;
-      Wb.LEDgroup5.LED678 = 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)
 {
@@ -110,11 +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)
 {
@@ -124,11 +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.
  */
@@ -137,21 +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))
       {
@@ -167,47 +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_LEDgroup1();
-         cb_set_LEDgroup2();
-         cb_set_LEDgroup3();
-         cb_set_LEDgroup4();
-         cb_set_LEDgroup5();
+         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)
       {
@@ -221,14 +247,13 @@ void DIG_process (uint8_t flags)
       if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
       {
          /* Update inputs */
-         cb_get_Button1();
-         cb_get_Button2();
+         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
@@ -246,10 +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)
       {
@@ -263,18 +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.
@@ -294,10 +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)
@@ -306,6 +334,9 @@ void ecat_slv_poll (void)
    }
 }
 
+/*
+ * Poll all events in a free-run application
+ */
 void ecat_slv (void)
 {
    ecat_slv_poll();
@@ -313,16 +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;
 
@@ -339,14 +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

@@ -1,18 +1,29 @@
-#ifndef __K2GICE_H__
-#define __K2GICE_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.BUTTON
+ * This function is called when to get input values
  */
-void cb_get_BUTTON();
+void cb_get_inputs();
 
 /**
- * This function sets output values according to Wb.LED
+* This function is called when to set outputs values
  */
-void cb_set_LED();
+void cb_set_outputs();
+
+/** Set the watchdog count value
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
+ */
+void APP_setwatchdog (int watchdogcnt);
 
 #define DIG_PROCESS_INPUTS_FLAG     0x01
 #define DIG_PROCESS_OUTPUTS_FLAG    0x02
@@ -37,12 +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
@@ -61,4 +66,4 @@ void ecat_slv (void);
  */
 void ecat_slv_init (esc_cfg_t * config);
 
-#endif /* __K2GICE_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
@@ -94,7 +136,7 @@ uint32_t ESC_ALeventread (void)
 void ESC_SMack (uint8_t n)
 {
    uint8_t dummy;
-   ESC_read (ESCREG_SM0ACTIVATE + (n << 3), &dummy, 1);
+   ESC_read ((uint16_t)(ESCREG_SM0ACTIVATE + (n << 3)), &dummy, 1);
 }
 
 /** Read SM Status register 0x805(+ offset to SyncManager n) and save the
@@ -106,7 +148,7 @@ void ESC_SMstatus (uint8_t n)
 {
    _ESCsm2 *sm;
    sm = (_ESCsm2 *)&ESCvar.SM[n];
-   ESC_read (ESCREG_SM0STATUS + (n << 3), &(sm->Status), 1);
+   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).
@@ -117,7 +159,18 @@ void ESC_SMwritepdi (uint8_t n)
 {
    _ESCsm2 *sm;
    sm = (_ESCsm2 *)&ESCvar.SM[n];
-   ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1);
+   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.
@@ -128,8 +181,13 @@ void ESC_SMenable (uint8_t n)
 {
    _ESCsm2 *sm;
    sm = (_ESCsm2 *)&ESCvar.SM[n];
-   sm->ActPDI &= ~ESCREG_SMENABLE_BIT;
+   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.
  *
@@ -141,6 +199,11 @@ void ESC_SMdisable (uint8_t 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.
  *
@@ -208,51 +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
@@ -310,11 +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);
@@ -327,6 +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;
@@ -344,7 +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];
 
@@ -360,6 +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;
@@ -388,6 +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.
@@ -404,9 +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);
@@ -429,9 +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);
@@ -477,7 +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;
@@ -591,7 +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;
@@ -678,23 +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 */
@@ -717,7 +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
@@ -757,15 +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);
          }
       }
    }
@@ -788,7 +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);
    }
 }
 
@@ -802,8 +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;
 
@@ -910,6 +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.
  *
@@ -948,7 +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)
@@ -971,7 +1147,6 @@ void ESC_state (void)
       {
          /* get station address */
          ESC_address ();
-         COE_initDefaultSyncMgrPara ();
          an = ESC_startmbx (ac);
          break;
       }
@@ -1029,8 +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)
          {
@@ -1073,6 +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:
@@ -1086,6 +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)
@@ -1110,8 +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.
@@ -1121,29 +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
@@ -54,6 +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
@@ -95,6 +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
@@ -102,12 +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
@@ -119,15 +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
@@ -137,9 +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
@@ -148,7 +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
@@ -195,6 +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
@@ -219,6 +296,8 @@
 #define APPSTATE_INPUT                 0x01
 #define APPSTATE_OUTPUT                0x02
 
+#define PREALLOC_BUFFER_SIZE  (PREALLOC_FACTOR * MBXSIZE)
+
 typedef struct sm_cfg
 {
    uint16_t cfg_sma;
@@ -233,23 +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
@@ -344,31 +435,43 @@ 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;
@@ -386,11 +489,16 @@ typedef struct
    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;
 
    uint8_t toggle;
 
+   int sm2mappings;
+   int sm3mappings;
 
    uint8_t SMtestresult;
    uint32_t PrevTime;
@@ -398,9 +506,10 @@ typedef struct
    /* 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_BEGIN
@@ -470,7 +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;
@@ -482,7 +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;
@@ -584,19 +693,19 @@ 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        sizeof(_EOEh)
+#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);
@@ -606,6 +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);
@@ -632,6 +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.c

@@ -20,12 +20,12 @@
 #define EOE_HTONL(x) (x)
 #define EOE_NTOHL(x) (x)
 #else
-#define EOE_HTONS(x) ((((x) & 0x00ffUL) << 8) | (((x) & 0xff00UL) >> 8))
+#define EOE_HTONS(x) ((((x) & 0x00ffU) << 8) | (((x) & 0xff00U) >> 8))
 #define EOE_NTOHS(x) EOE_HTONS(x)
-#define EOE_HTONL(x) ((((x) & 0x000000ffUL) << 24) | \
-                     (((x) & 0x0000ff00UL) <<  8) | \
-                     (((x) & 0x00ff0000UL) >>  8) | \
-                     (((x) & 0xff000000UL) >> 24))
+#define EOE_HTONL(x) ((((x) & 0x000000ffU) << 24) | \
+                     (((x) & 0x0000ff00U) <<  8) | \
+                     (((x) & 0x00ff0000U) >>  8) | \
+                     (((x) & 0xff000000U) >> 24))
 #define EOE_NTOHL(x) EOE_HTONL(x)
 #endif /* #if defined(EC_BIG_ENDIAN) */
 
@@ -47,37 +47,37 @@
 /** Header frame info 1 */
 #define EOE_HDR_FRAME_TYPE_OFFSET      0
 #define EOE_HDR_FRAME_TYPE             (0xF << 0)
-#define EOE_HDR_FRAME_TYPE_SET(x)      (((x) & 0xF) << 0)
+#define EOE_HDR_FRAME_TYPE_SET(x)      ((uint16_t)(((x) & 0xF) << 0))
 #define EOE_HDR_FRAME_TYPE_GET(x)      (((x) >> 0) & 0xF)
 #define EOE_HDR_FRAME_PORT_OFFSET      4
 #define EOE_HDR_FRAME_PORT             (0xF << 4)
-#define EOE_HDR_FRAME_PORT_SET(x)      (((x) & 0xF) << 4)
+#define EOE_HDR_FRAME_PORT_SET(x)      ((uint16_t)(((x) & 0xF) << 4))
 #define EOE_HDR_FRAME_PORT_GET(x)      (((x) >> 4) & 0xF)
 #define EOE_HDR_LAST_FRAGMENT_OFFSET   8
 #define EOE_HDR_LAST_FRAGMENT          (0x1 << 8)
-#define EOE_HDR_LAST_FRAGMENT_SET(x)   (((x) & 0x1) << 8)
+#define EOE_HDR_LAST_FRAGMENT_SET(x)   ((uint16_t)(((x) & 0x1) << 8))
 #define EOE_HDR_LAST_FRAGMENT_GET(x)   (((x) >> 8) & 0x1)
 #define EOE_HDR_TIME_APPEND_OFFSET     9
 #define EOE_HDR_TIME_APPEND            (0x1 << 9)
-#define EOE_HDR_TIME_APPEND_SET(x)     (((x) & 0x1) << 9)
+#define EOE_HDR_TIME_APPEND_SET(x)     ((uint16_t)(((x) & 0x1) << 9))
 #define EOE_HDR_TIME_APPEND_GET(x)     (((x) >> 9) & 0x1)
 #define EOE_HDR_TIME_REQUEST_OFFSET    10
 #define EOE_HDR_TIME_REQUEST           (0x1 << 10)
-#define EOE_HDR_TIME_REQUEST_SET(x)    (((x) & 0x1) << 10)
+#define EOE_HDR_TIME_REQUEST_SET(x)    ((uint16_t)(((x) & 0x1) << 10))
 #define EOE_HDR_TIME_REQUEST_GET(x)    (((x) >> 10) & 0x1)
 
 /** Header frame info 2 */
 #define EOE_HDR_FRAG_NO_OFFSET         0
 #define EOE_HDR_FRAG_NO                (0x3F << 0)
-#define EOE_HDR_FRAG_NO_SET(x)         (((x) & 0x3F) << 0)
+#define EOE_HDR_FRAG_NO_SET(x)         ((uint16_t)(((x) & 0x3F) << 0))
 #define EOE_HDR_FRAG_NO_GET(x)         (((x) >> 0) & 0x3F)
 #define EOE_HDR_FRAME_OFFSET_OFFSET    6
 #define EOE_HDR_FRAME_OFFSET           (0x3F << 6)
-#define EOE_HDR_FRAME_OFFSET_SET(x)    (((x) & 0x3F) << 6)
+#define EOE_HDR_FRAME_OFFSET_SET(x)    ((uint16_t)(((x) & 0x3F) << 6))
 #define EOE_HDR_FRAME_OFFSET_GET(x)    (((x) >> 6) & 0x3F)
 #define EOE_HDR_FRAME_NO_OFFSET        12
 #define EOE_HDR_FRAME_NO               (0xF << 12)
-#define EOE_HDR_FRAME_NO_SET(x)        (((x) & 0xF) << 12)
+#define EOE_HDR_FRAME_NO_SET(x)        ((uint16_t)(((x) & 0xF) << 12))
 #define EOE_HDR_FRAME_NO_GET(x)        (((x) >> 12) & 0xF)
 
 /** EOE param */
@@ -108,6 +108,8 @@
 #define EOE_DNS_NAME_LENGTH  32
 /** Ethernet address length not including VLAN */
 #define EOE_ETHADDR_LENGTH    6
+/** IPv4 address length */
+#define EOE_IP4_LENGTH        4U /* sizeof(uint32_t) */
 
 /** EOE ip4 address in network order */
 struct eoe_ip4_addr {
@@ -133,18 +135,18 @@ typedef struct
    /** Current RX fragment number */
    uint8_t rxfragmentno;
    /** Complete RX frame size of current frame */
-   uint16_t rxframesize;
+   uint32_t rxframesize;
    /** Current RX data offset in frame */
-   uint16_t rxframeoffset;
+   uint32_t rxframeoffset;
    /** Current RX frame number */
    uint16_t rxframeno;
 
    /** Current TX fragment number */
    uint8_t txfragmentno;
    /** Complete TX frame size of current frame */
-   uint16_t txframesize;
+   uint32_t txframesize;
    /** Current TX data offset in frame */
-   uint16_t txframeoffset;
+   uint32_t txframeoffset;
 } _EOEvar;
 
 /** EoE IP request structure */
@@ -215,7 +217,7 @@ static void EOE_ip_byte_to_uint32 (uint8_t * byte_ip, eoe_ip4_addr_t * ip)
  * @param[out] mac   = variable to store mac in, should fit EOE_ETHADDR_LENGTH
  * @return 0= if we succeed, -1 if not set
  */
-int EOE_get_mac(uint8_t port, uint8_t mac[])
+int EOE_ecat_get_mac(uint8_t port, uint8_t mac[])
 {
    int ret = -1;
    int port_ix;
@@ -504,7 +506,7 @@ static void EOE_get_ip (void)
    uint16_t frameinfo1;
    uint8_t port;
    uint8_t  flags;
-   uint8_t  data_offset;
+   uint32_t  data_offset;
    int port_ix;
 
    req_eoembx = (_EOE *) &MBX[0];
@@ -516,15 +518,15 @@ static void EOE_get_ip (void)
    if(port  > EOE_NUMBER_OF_PORTS)
    {
       DPRINT("Invalid port\n");
+      frameinfo1 = EOE_HDR_FRAME_PORT_SET(port);
+      frameinfo1 |= EOE_INIT_RESP;
+      frameinfo1 |= EOE_HDR_LAST_FRAGMENT;
       /* Return error response on given port */
-      EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) |
-            EOE_INIT_RESP |
-            EOE_HDR_LAST_FRAGMENT),
+      EOE_no_data_response(frameinfo1,
             EOE_RESULT_UNSPECIFIED_ERROR);
       return;
    }
 
-
    /* Refresh settings if needed */
    if(eoe_cfg->load_eth_settings != NULL)
    {
@@ -538,10 +540,10 @@ static void EOE_get_ip (void)
       eoembx = (_EOE *) &MBX[mbxhandle * ESC_MBXSIZE];
       eoembx->mbxheader.mbxtype = MBXEOE;
       MBXcontrol[mbxhandle].state = MBXstate_outreq;
-      eoembx->eoeheader.frameinfo1 =
-            htoes(EOE_HDR_FRAME_TYPE_SET(EOE_GET_IP_PARAM_RESP) |
-                  EOE_HDR_FRAME_PORT_SET(port) |
-                  EOE_HDR_LAST_FRAGMENT);
+      frameinfo1 = EOE_HDR_FRAME_PORT_SET(port);
+      frameinfo1 |= EOE_HDR_FRAME_TYPE_SET(EOE_GET_IP_PARAM_RESP);
+      frameinfo1 |= EOE_HDR_LAST_FRAGMENT;
+      eoembx->eoeheader.frameinfo1 = htoes(frameinfo1);
       eoembx->eoeheader.frameinfo2 = 0;
 
       /* include mac in get ip request */
@@ -552,55 +554,60 @@ static void EOE_get_ip (void)
          memcpy(&eoembx->data[data_offset] ,
                nic_ports[port_ix].mac.addr,
                EOE_ETHADDR_LENGTH);
+         /* Add size of mac address */
+         data_offset += EOE_ETHADDR_LENGTH;
+
       }
-      /* Add size of mac address */
-      data_offset += EOE_ETHADDR_LENGTH;
       /* include ip in get ip request */
       if(nic_ports[port_ix].ip_set)
       {
          flags |= EOE_PARAM_IP_INCLUDE;
          EOE_ip_uint32_to_byte(&nic_ports[port_ix].ip,
                &eoembx->data[data_offset]);
+         /* Add size of uint32 IP address */
+         data_offset += EOE_IP4_LENGTH;
       }
-      /* Add size of uint32 IP address */
-      data_offset += 4;
+
       /* include subnet in get ip request */
       if(nic_ports[port_ix].subnet_set)
       {
          flags |= EOE_PARAM_SUBNET_IP_INCLUDE;
          EOE_ip_uint32_to_byte(&nic_ports[port_ix].subnet,
                &eoembx->data[data_offset]);
+         /* Add size of uint32 IP address */
+         data_offset += EOE_IP4_LENGTH;
       }
-      /* Add size of uint32 IP address */
-      data_offset += 4;
+
       /* include default gateway in get ip request */
       if(nic_ports[port_ix].default_gateway_set)
       {
          flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE;
          EOE_ip_uint32_to_byte(&nic_ports[port_ix].default_gateway,
                &eoembx->data[data_offset]);
+         /* Add size of uint32 IP address */
+         data_offset += EOE_IP4_LENGTH;
       }
-      /* Add size of uint32 IP address */
-      data_offset += 4;
       /* include dns ip in get ip request */
       if(nic_ports[port_ix].dns_ip_set)
       {
          flags |= EOE_PARAM_DNS_IP_INCLUDE;
          EOE_ip_uint32_to_byte(&nic_ports[port_ix].dns_ip,
                &eoembx->data[data_offset]);
+         /* Add size of uint32 IP address */
+         data_offset += EOE_IP4_LENGTH;
       }
-      /* Add size of uint32 IP address */
-      data_offset += 4;
+
       /* include dns name in get ip request */
       if(nic_ports[port_ix].dns_name_set)
       {
+         /* TwinCAT include EOE_DNS_NAME_LENGTH chars even if name is shorter */
          flags |= EOE_PARAM_DNS_NAME_INCLUDE;
          memcpy(&eoembx->data[data_offset],
                nic_ports[port_ix].dns_name,
                EOE_DNS_NAME_LENGTH);
+         /* Add size of dns name length */
+         data_offset += EOE_DNS_NAME_LENGTH;
       }
-      /* Add size of dns name length */
-      data_offset += EOE_DNS_NAME_LENGTH;
 
       eoembx->data[0] = flags;
       eoembx->mbxheader.length = htoes (ESC_EOEHSIZE + data_offset);
@@ -612,11 +619,10 @@ static void EOE_get_ip (void)
 static void EOE_set_ip (void)
 {
    _EOE *eoembx;
-   uint16_t eoedatasize;
+   uint32_t eoedatasize, data_offset;
    uint16_t frameinfo1;
    uint8_t port;
    uint8_t  flags;
-   uint8_t  data_offset;
    uint16_t result;
    int port_ix;
 
@@ -631,10 +637,10 @@ static void EOE_set_ip (void)
    {
       DPRINT("Invalid port\n");
       /* Return error response on given port */
-      EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) |
-            EOE_INIT_RESP |
-            EOE_HDR_LAST_FRAGMENT),
-            EOE_RESULT_UNSPECIFIED_ERROR);
+      frameinfo1 = EOE_HDR_FRAME_PORT_SET(port);
+      frameinfo1 |= EOE_INIT_RESP;
+      frameinfo1 |= EOE_HDR_LAST_FRAGMENT;
+      EOE_no_data_response(frameinfo1, EOE_RESULT_UNSPECIFIED_ERROR);
       return;
    }
 
@@ -646,55 +652,55 @@ static void EOE_set_ip (void)
             &eoembx->data[data_offset],
             EOE_ETHADDR_LENGTH);
       nic_ports[port_ix].mac_set = 1;
+      /* Add size of mac address */
+      data_offset += EOE_ETHADDR_LENGTH;
    }
-   /* Add size of mac address */
-   data_offset += EOE_ETHADDR_LENGTH;
    /* ip included in set ip request? */
    if(flags & EOE_PARAM_IP_INCLUDE)
    {
       EOE_ip_byte_to_uint32(&eoembx->data[data_offset],
             &nic_ports[port_ix].ip);
       nic_ports[port_ix].ip_set = 1;
+      /* Add size of uint32 IP address */
+      data_offset += EOE_IP4_LENGTH;
    }
-   /* Add size of uint32 IP address */
-   data_offset += 4;
    /* subnet included in set ip request? */
    if(flags & EOE_PARAM_SUBNET_IP_INCLUDE)
    {
       EOE_ip_byte_to_uint32(&eoembx->data[data_offset],
             &nic_ports[port_ix].subnet);
       nic_ports[port_ix].subnet_set = 1;
+      /* Add size of uint32 IP address */
+      data_offset += EOE_IP4_LENGTH;
    }
-   /* Add size of uint32 IP address */
-   data_offset += 4;
    /* default gateway included in set ip request? */
    if(flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE)
    {
       EOE_ip_byte_to_uint32(&eoembx->data[data_offset],
             &nic_ports[port_ix].default_gateway);
       nic_ports[port_ix].default_gateway_set = 1;
+      /* Add size of uint32 IP address */
+      data_offset += EOE_IP4_LENGTH;
    }
-   /* Add size of uint32 IP address */
-   data_offset += 4;
    /* dns ip included in set ip request? */
    if(flags & EOE_PARAM_DNS_IP_INCLUDE)
    {
       EOE_ip_byte_to_uint32(&eoembx->data[data_offset],
             &nic_ports[port_ix].dns_ip);
       nic_ports[port_ix].dns_ip_set = 1;
+      /* Add size of uint32 IP address */
+      data_offset += EOE_IP4_LENGTH;
    }
-   /* Add size of uint32 IP address */
-   data_offset += 4;
    /* dns name included in set ip request? */
    if(flags & EOE_PARAM_DNS_NAME_INCLUDE)
    {
-      uint16_t dns_len = MIN((eoedatasize - data_offset), EOE_DNS_NAME_LENGTH);
+      uint32_t dns_len = MIN((eoedatasize - data_offset), EOE_DNS_NAME_LENGTH);
       memcpy(nic_ports[port_ix].dns_name,
             &eoembx->data[data_offset],
             dns_len);
       nic_ports[port_ix].dns_name_set = 1;
+      data_offset += dns_len; /* expected 1- EOE_DNS_NAME_LENGTH; */
    }
-   data_offset += EOE_DNS_NAME_LENGTH;
 
    if(data_offset > eoedatasize)
    {
@@ -706,17 +712,17 @@ static void EOE_set_ip (void)
        * you typically set the IP for the TCP/IP stack */
       if(eoe_cfg->store_ethernet_settings != NULL)
       {
-         result = eoe_cfg->store_ethernet_settings();
+         result = (uint16_t)eoe_cfg->store_ethernet_settings();
       }
       else
       {
          result = EOE_RESULT_NO_IP_SUPPORT;
       }
    }
-   EOE_no_data_response((EOE_HDR_FRAME_PORT_SET(port) |
-         EOE_INIT_RESP |
-         EOE_HDR_LAST_FRAGMENT),
-         result);
+   frameinfo1 = EOE_HDR_FRAME_PORT_SET(port);
+   frameinfo1 |= EOE_INIT_RESP;
+   frameinfo1 |= EOE_HDR_LAST_FRAGMENT;
+   EOE_no_data_response(frameinfo1, result);
 }
 
 /** EoE receive fragment handler.
@@ -725,14 +731,14 @@ static void EOE_receive_fragment (void)
 {
    _EOE *eoembx;
    eoembx = (_EOE *) &MBX[0];
-   uint16_t eoedatasize = etohs(eoembx->mbxheader.length) - ESC_EOEHSIZE;
+   uint32_t eoedatasize = etohs(eoembx->mbxheader.length) - ESC_EOEHSIZE;
    uint16_t frameinfo1 = etohs(eoembx->eoeheader.frameinfo1);
    uint16_t frameinfo2 = etohs(eoembx->eoeheader.frameinfo2);
 
    /* Capture error case */
    if(EOEvar.rxfragmentno != EOE_HDR_FRAG_NO_GET(frameinfo2))
    {
-      DPRINT("Unexpected fragment number %d, expected: %d\n",
+      DPRINT("Unexpected fragment number %"PRIu32", expected: %"PRIu32"\n",
             EOE_HDR_FRAG_NO_GET(frameinfo2), EOEvar.rxfragmentno);
       /* Clean up existing saved data */
       if(EOEvar.rxfragmentno != 0)
@@ -757,22 +763,28 @@ static void EOE_receive_fragment (void)
          EOEvar.rxframeoffset = 0;
          EOEvar.rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
       }
+      else
+      {
+         DPRINT("Receive buffer is invalid\n");
+         EOE_init_rx ();
+         return;
+      }
    }
    /* In frame fragment received */
    else
    {
-      uint16_t offset = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
+      uint32_t offset = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
       /* Validate received fragment */
       if(EOEvar.rxframeno != EOE_HDR_FRAME_NO_GET(frameinfo2))
       {
-         DPRINT("Unexpected frame number %d, expected: %d\n",
+         DPRINT("Unexpected frame number %"PRIu32", expected: %"PRIu32"\n",
                EOE_HDR_FRAME_NO_GET(frameinfo2), EOEvar.rxframeno);
          EOE_init_rx ();
          return;
       }
       else if(EOEvar.rxframeoffset != offset)
       {
-         DPRINT("Unexpected frame offset %d, expected: %d\n",
+         DPRINT("Unexpected frame offset %"PRIu32", expected: %"PRIu32"\n",
                offset, EOEvar.rxframeoffset);
          EOE_init_rx ();
          return;
@@ -790,8 +802,7 @@ static void EOE_receive_fragment (void)
    }
    else
    {
-      DPRINT("Size of data exceed available buffer size\n",
-            EOEvar.rxframeoffset);
+      DPRINT("Size of data exceed available buffer size\n");
       EOE_init_rx ();
       return;
    }
@@ -801,7 +812,7 @@ static void EOE_receive_fragment (void)
       /* Remove time stamp, TODO support for time stamp? */
       if(EOE_HDR_TIME_APPEND_GET(frameinfo1))
       {
-         EOEvar.rxframeoffset -= 4;
+         EOEvar.rxframeoffset -= 4U;
       }
       EOEvar.rxebuf.len =  EOEvar.rxframeoffset;
       eoe_cfg->handle_recv_buffer(EOE_HDR_FRAME_PORT_GET(frameinfo1),
@@ -819,7 +830,7 @@ static void EOE_send_fragment ()
    _EOE *eoembx;
    uint8_t mbxhandle;
    int len;
-   int len_to_send;
+   uint32_t len_to_send;
    uint16_t frameinfo1;
    uint16_t frameinfo2;
    static uint8_t frameno = 0;
@@ -831,7 +842,7 @@ static void EOE_send_fragment ()
       len = eoe_cfg->fetch_send_buffer(0, &EOEvar.txebuf);
       if(len > 0)
       {
-         EOEvar.txframesize = len;
+         EOEvar.txframesize = (uint32_t)len;
       }
       else
       {
@@ -843,7 +854,7 @@ static void EOE_send_fragment ()
    mbxhandle = ESC_claimbuffer ();
    if (mbxhandle)
    {
-      len_to_send = EOEvar.txframesize - EOEvar.txframeoffset;
+      len_to_send = (EOEvar.txframesize - EOEvar.txframeoffset);
       if((len_to_send + ESC_EOEHSIZE + ESC_MBXHSIZE) > ESC_MBXSIZE)
       {
          /* Adjust to len in whole 32 octet blocks to fit specification*/
@@ -861,23 +872,26 @@ static void EOE_send_fragment ()
          frameinfo1 = 0;
       }
 
+      uint16_t tempframe2;
       /* Set fragment number */
       frameinfo2 = EOE_HDR_FRAG_NO_SET(EOEvar.txfragmentno);
 
       /* Set complete size for fragment 0 or offset for in frame fragments */
       if(EOEvar.txfragmentno > 0)
       {
-         frameinfo2 |= (EOE_HDR_FRAME_OFFSET_SET((EOEvar.txframeoffset >> 5)));
+         tempframe2 = EOE_HDR_FRAME_OFFSET_SET((EOEvar.txframeoffset >> 5));
+         frameinfo2 |= tempframe2;
       }
       else
       {
-         frameinfo2 |=
-               (EOE_HDR_FRAME_OFFSET_SET(((EOEvar.txframesize + 31) >> 5)));
+         tempframe2 = EOE_HDR_FRAME_OFFSET_SET(((EOEvar.txframesize + 31) >> 5));
+         frameinfo2 |= tempframe2;
          frameno++;
       }
 
       /* Set frame number */
-      frameinfo2 = frameinfo2 | EOE_HDR_FRAME_NO_SET(frameno);
+      tempframe2 = EOE_HDR_FRAME_NO_SET(frameno);
+      frameinfo2 |= tempframe2;
 
       eoembx = (_EOE *) &MBX[mbxhandle * ESC_MBXSIZE];
       eoembx->mbxheader.length = htoes (len_to_send + ESC_EOEHSIZE);
@@ -899,7 +913,11 @@ static void EOE_send_fragment ()
       else
       {
          EOEvar.txframeoffset += len_to_send;
-         EOEvar.txfragmentno += 1;
+         EOEvar.txfragmentno++;
+      }
+      if(eoe_cfg->fragment_sent_event != NULL)
+      {
+         eoe_cfg->fragment_sent_event();
       }
    }
 }

soes/esc_eoe.h

@@ -43,6 +43,8 @@ typedef struct eoe_cfg
    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[]);