70 lines
1.8 KiB
C
70 lines
1.8 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef __ECAT_SLV_H__
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#define __ECAT_SLV_H__
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#include "options.h"
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#include "esc.h"
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/**
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* This function is called when to get input values
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*/
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void cb_get_inputs();
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/**
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* This function is called when to set outputs values
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*/
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void cb_set_outputs();
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/** Set the watchdog count value
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*
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* @param[in] watchdogcnt = new watchdog count value
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*/
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void APP_setwatchdog (int watchdogcnt);
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#define DIG_PROCESS_INPUTS_FLAG 0x01
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#define DIG_PROCESS_OUTPUTS_FLAG 0x02
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#define DIG_PROCESS_WD_FLAG 0x04
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#define DIG_PROCESS_APP_HOOK_FLAG 0x08
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/** Implements the watch-dog counter to count if we should make a state change
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* due to missing incoming SM2 events. Updates local I/O and run the application
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* in the following order, call read EtherCAT outputs, execute user provided
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* application hook and call write EtherCAT inputs.
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*
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* @param[in] flags = User input what to execute
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*/
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void DIG_process (uint8_t flags);
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/**
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* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
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* control what interrupts that should be served and re-activated with
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* event mask argument
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*
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* @param[in] event_mask = Event mask for interrupts to serve and re-activate
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* after served
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*/
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void ecat_slv_worker (uint32_t event_mask);
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/**
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* Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
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* application
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*/
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void ecat_slv_poll (void);
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/**
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* Poll all events in a free-run application
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*/
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void ecat_slv (void);
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/**
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* Initialize the slave stack
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*
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* @param[in] config = User input how to configure the stack
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*/
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void ecat_slv_init (esc_cfg_t * config);
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#endif /* __ECAT_SLV_H__ */
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