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SOES/soes/esc.h

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for esc.h
*/
#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
#define ESCREG_ALEVENT_SM_MASK 0x0310
#define ESCREG_ALEVENT_SMCHANGE 0x0010
#define ESCREG_ALEVENT_CONTROL 0x0001
#define ESCREG_ALEVENT_DC_LATCH 0x0002
#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
#define ESCREG_ALEVENT_SM3 0x0800
#define ESCREG_WDSTATUS 0x0440
#define ESCREG_EECONTSTAT 0x0502
#define ESCREG_EEDATA 0x0508
#define ESCREG_SM0 0x0800
#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)
#define ESCREG_SM0ACTIVATE (ESCREG_SM0 + 6)
#define ESCREG_SM0PDI (ESCREG_SM0 + 7)
#define ESCREG_SM1 (ESCREG_SM0 + 0x08)
#define ESCREG_SM2 (ESCREG_SM0 + 0x10)
#define ESCREG_SM3 (ESCREG_SM0 + 0x18)
#define ESCREG_LOCALTIME 0x0910
#define ESCREG_LOCALTIME_OFFSET 0x0920
#define ESCREG_SYNC_ACT 0x0981
#define ESCREG_SYNC_ACT_ACTIVATED 0x01
#define ESCREG_SYNC_SYNC0_EN 0x02
#define ESCREG_SYNC_SYNC1_EN 0x04
#define ESCREG_SYNC_AUTO_ACTIVATED 0x08
#define ESCREG_SYNC0_CYCLE_TIME 0x09A0
#define ESCREG_SYNC1_CYCLE_TIME 0x09A4
#define ESCREG_SMENABLE_BIT 0x01
#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
#define SYNCTYPE_SUPPORT_DCSYNC0 0x04
#define SYNCTYPE_SUPPORT_DCSYNC1 0x08
#define SYNCTYPE_SUPPORT_SUBCYCLE 0x10
#define ESCinit 0x01
#define ESCpreop 0x02
#define ESCboot 0x03
#define ESCsafeop 0x04
#define ESCop 0x08
#define ESCerror 0x10
#define INIT_TO_INIT 0x11
#define INIT_TO_PREOP 0x21
#define INIT_TO_BOOT 0x31
#define INIT_TO_SAFEOP 0x41
#define INIT_TO_OP 0x81
#define PREOP_TO_INIT 0x12
#define PREOP_TO_PREOP 0x22
#define PREOP_TO_BOOT 0x32
#define PREOP_TO_SAFEOP 0x42
#define PREOP_TO_OP 0x82
#define BOOT_TO_INIT 0x13
#define BOOT_TO_PREOP 0x23
#define BOOT_TO_BOOT 0x33
#define BOOT_TO_SAFEOP 0x43
#define BOOT_TO_OP 0x83
#define SAFEOP_TO_INIT 0x14
#define SAFEOP_TO_PREOP 0x24
#define SAFEOP_TO_BOOT 0x34
#define SAFEOP_TO_SAFEOP 0x44
#define SAFEOP_TO_OP 0x84
#define OP_TO_INIT 0x18
#define OP_TO_PREOP 0x28
#define OP_TO_BOOT 0x38
#define OP_TO_SAFEOP 0x48
#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
#define ALERR_NOVALIDFIRMWARE 0x0014
#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
#define MBXERR_INVALIDCHANNEL 0x0003
#define MBXERR_SERVICENOTSUPPORTED 0x0004
#define MBXERR_INVALIDHEADER 0x0005
#define MBXERR_SIZETOOSHORT 0x0006
#define MBXERR_NOMOREMEMORY 0x0007
#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
#define MBXstate_outclaim 0x02
#define MBXstate_outreq 0x03
#define MBXstate_outpost 0x04
#define MBXstate_backup 0x05
#define MBXstate_again 0x06
#define COE_DEFAULTLENGTH 0x0AU
#define COE_HEADERSIZE 0x0AU
#define COE_SEGMENTHEADERSIZE 0x03U
#define COE_SDOREQUEST 0x02
#define COE_SDORESPONSE 0x03
#define COE_SDOINFORMATION 0x08
#define COE_COMMAND_SDOABORT 0x80
#define COE_COMMAND_UPLOADREQUEST 0x40
#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
#define COE_COMPLETEACCESS 0x10
#define COE_TOGGLEBIT 0x10
#define COE_INFOERROR 0x07
#define COE_GETODLISTRESPONSE 0x02
#define COE_GETODRESPONSE 0x04
#define COE_ENTRYDESCRIPTIONRESPONSE 0x06
#define COE_VALUEINFO_ACCESS 0x01
#define COE_VALUEINFO_OBJECT 0x02
#define COE_VALUEINFO_MAPPABLE 0x04
#define COE_VALUEINFO_TYPE 0x08
#define COE_VALUEINFO_DEFAULT 0x10
#define COE_VALUEINFO_MINIMUM 0x20
#define COE_VALUEINFO_MAXIMUM 0x40
#define COE_MINIMUM_LENGTH 8
#define MBXERR 0x00
#define MBXAOE 0x01
#define MBXEOE 0x02
#define MBXCOE 0x03
#define MBXFOE 0x04
#define MBXODL 0x10
#define MBXOD 0x20
#define MBXED 0x30
#define MBXSEU 0x40
#define MBXSED 0x50
#define SMRESULT_ERRSM0 0x01
#define SMRESULT_ERRSM1 0x02
#define SMRESULT_ERRSM2 0x04
#define SMRESULT_ERRSM3 0x08
#define FOE_ERR_NOTDEFINED 0x8000
#define FOE_ERR_NOTFOUND 0x8001
#define FOE_ERR_ACCESS 0x8002
#define FOE_ERR_DISKFULL 0x8003
#define FOE_ERR_ILLEGAL 0x8004
#define FOE_ERR_PACKETNO 0x8005
#define FOE_ERR_EXISTS 0x8006
#define FOE_ERR_NOUSER 0x8007
#define FOE_ERR_BOOTSTRAPONLY 0x8008
#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
#define FOE_OP_DATA 3
#define FOE_OP_ACK 4
#define FOE_OP_ERR 5
#define FOE_OP_BUSY 6
#define FOE_READY 0
#define FOE_WAIT_FOR_ACK 1
#define FOE_WAIT_FOR_FINAL_ACK 2
#define FOE_WAIT_FOR_DATA 3
#define EOE_RESULT_SUCCESS 0x0000
#define EOE_RESULT_UNSPECIFIED_ERROR 0x0001
#define EOE_RESULT_UNSUPPORTED_FRAME_TYPE 0x0002
#define EOE_RESULT_NO_IP_SUPPORT 0x0201
#define EOE_RESULT_NO_DHCP_SUPPORT 0x0202
#define EOE_RESULT_NO_FILTER_SUPPORT 0x0401
#define APPSTATE_IDLE 0x00
#define APPSTATE_INPUT 0x01
#define APPSTATE_OUTPUT 0x02
#define PREALLOC_BUFFER_SIZE (PREALLOC_FACTOR * MBXSIZE)
typedef struct sm_cfg
{
uint16_t cfg_sma;
uint16_t cfg_sml;
uint16_t cfg_sme;
uint8_t cfg_smc;
uint8_t cfg_smact;
}sm_cfg_t;
typedef struct esc_cfg
{
void * user_arg;
int use_interrupt;
int watchdog_cnt;
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);
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
{
uint8_t state;
} _App;
// Attention! this struct is always little-endian
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
#if defined(EC_LITTLE_ENDIAN)
uint8_t Mode:2;
uint8_t Direction:2;
uint8_t IntECAT:1;
uint8_t IntPDI:1;
uint8_t WTE:1;
uint8_t R1:1;
uint8_t IntW:1;
uint8_t IntR:1;
uint8_t R2:1;
uint8_t MBXstat:1;
uint8_t BUFstat:2;
uint8_t R3:2;
uint8_t ECsm:1;
uint8_t ECrep:1;
uint8_t ECr4:4;
uint8_t EClatchEC:1;
uint8_t EClatchPDI:1;
uint8_t PDIsm:1;
uint8_t PDIrep:1;
uint8_t PDIr5:6;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t R1:1;
uint8_t WTE:1;
uint8_t IntPDI:1;
uint8_t IntECAT:1;
uint8_t Direction:2;
uint8_t Mode:2;
uint8_t R3:2;
uint8_t BUFstat:2;
uint8_t MBXstat:1;
uint8_t R2:1;
uint8_t IntR:1;
uint8_t IntW:1;
uint8_t EClatchPDI:1;
uint8_t EClatchEC:1;
uint8_t ECr4:4;
uint8_t ECrep:1;
uint8_t ECsm:1;
uint8_t PDIr5:6;
uint8_t PDIrep:1;
uint8_t PDIsm:1;
#endif
} _ESCsm;
CC_PACKED_END
/* Attention! this struct is always little-endian */
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
uint8_t Command;
uint8_t Status;
uint8_t ActESC;
uint8_t ActPDI;
} _ESCsm2;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t PSA;
uint16_t Length;
uint8_t Command;
} _ESCsmCompact;
CC_PACKED_END
typedef struct
{
/* Configuration input is saved so the user variable may go out-of-scope */
int use_interrupt;
sm_cfg_t mb[2];
sm_cfg_t mbboot[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);
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;
uint32_t activembxsize;
sm_cfg_t * activemb0;
sm_cfg_t * activemb1;
uint16_t ESC_SM2_sml;
uint16_t ESC_SM3_sml;
uint8_t dcsync;
uint16_t synccounterlimit;
uint16_t ALstatus;
uint16_t ALcontrol;
uint16_t ALerror;
uint16_t DLstatus;
uint16_t address;
uint8_t mbxcnt;
uint8_t mbxincnt;
uint8_t mbxoutpost;
uint8_t mbxbackup;
uint8_t xoe;
uint8_t txcue;
uint8_t mbxfree;
uint8_t segmented;
void *data;
uint16_t entries;
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;
_ESCsm SM[4];
/* Volatile since it may be read from ISR */
volatile int watchdogcnt;
volatile uint32_t Time;
volatile uint32_t ALevent;
volatile int8_t synccounter;
volatile _App App;
uint8_t mbxdata[PREALLOC_BUFFER_SIZE];
} _ESCvar;
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t length;
uint16_t address;
#if defined(EC_LITTLE_ENDIAN)
uint8_t channel:6;
uint8_t priority:2;
uint8_t mbxtype:4;
uint8_t mbxcnt:4;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t priority:2;
uint8_t channel:6;
uint8_t mbxcnt:4;
uint8_t mbxtype:4;
#endif
} _MBXh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh header;
uint8_t b[0];
} _MBX;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t numberservice;
} _COEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
#if defined(EC_LITTLE_ENDIAN)
uint8_t opcode:7;
uint8_t incomplete:1;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t incomplete:1;
uint8_t opcode:7;
#endif
uint8_t reserved;
uint16_t fragmentsleft;
} _INFOh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
uint16_t type;
uint16_t detail;
} _MBXerr;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED CC_ALIGNED(4)
{
_MBXh mbxheader;
_COEh coeheader;
uint8_t command;
uint16_t index;
uint8_t subindex;
uint32_t size;
} _COEsdo;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED CC_ALIGNED(4)
{
_MBXh mbxheader;
_COEh coeheader;
_INFOh infoheader;
uint16_t index;
uint16_t datatype;
uint8_t maxsub;
uint8_t objectcode;
char name;
} _COEobjdesc;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_COEh coeheader;
_INFOh infoheader;
uint16_t index;
uint8_t subindex;
uint8_t valueinfo;
uint16_t datatype;
uint16_t bitlength;
uint16_t access;
char name;
} _COEentdesc;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint8_t opcode;
uint8_t reserved;
union
{
uint32_t password;
uint32_t packetnumber;
uint32_t errorcode;
};
} _FOEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_FOEh foeheader;
union
{
char filename[0];
uint8_t data[0];
char errortext[0];
};
} _FOE;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
uint16_t frameinfo1;
union
{
uint16_t frameinfo2;
uint16_t result;
};
} _EOEh;
CC_PACKED_END
CC_PACKED_BEGIN
typedef struct CC_PACKED
{
_MBXh mbxheader;
_EOEh eoeheader;
uint8_t data[0];
} _EOE;
CC_PACKED_END
/* state definition in mailbox
* 0 : idle
* 1 : claimed for inbox
* 2 : claimed for outbox
* 3 : request post outbox
* 4 : outbox posted not send
* 5 : backup outbox
* 6 : mailbox needs to be transmitted again
*/
typedef struct
{
uint8_t state;
} _MBXcontrol;
/* Stack reference to application configuration of the ESC */
#define ESC_MBXSIZE (ESCvar.activembxsize)
#define ESC_MBX0_sma (ESCvar.activemb0->cfg_sma)
#define ESC_MBX0_sml (ESCvar.activemb0->cfg_sml)
#define ESC_MBX0_sme (ESCvar.activemb0->cfg_sme)
#define ESC_MBX0_smc (ESCvar.activemb0->cfg_smc)
#define ESC_MBX1_sma (ESCvar.activemb1->cfg_sma)
#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 (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 ((uint32_t)sizeof(_MBXh))
#define ESC_MBXDSIZE (ESC_MBXSIZE - ESC_MBXHSIZE)
#define ESC_FOEHSIZE (uint32_t)sizeof(_FOEh)
#define ESC_FOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_FOEHSIZE))
#define ESC_EOEHSIZE ((uint32_t)sizeof(_EOEh))
#define ESC_EOE_DATA_SIZE (ESC_MBXSIZE - (ESC_MBXHSIZE +ESC_EOEHSIZE))
void ESC_config (esc_cfg_t * cfg);
void ESC_ALerror (uint16_t errornumber);
void ESC_ALeventwrite (uint32_t event);
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);
uint8_t ESC_startmbx (uint8_t state);
void ESC_stopmbx (void);
void MBX_error (uint16_t error);
uint8_t ESC_mbxprocess (void);
void ESC_xoeprocess (void);
uint8_t ESC_startinput (uint8_t state);
void ESC_stopinput (void);
uint8_t ESC_startoutput (uint8_t state);
void ESC_stopoutput (void);
void ESC_state (void);
void ESC_sm_act_event (void);
/* From hardware file */
void ESC_read (uint16_t address, void *buf, uint16_t len);
void ESC_write (uint16_t address, void *buf, uint16_t len);
void ESC_init (const esc_cfg_t * cfg);
void ESC_reset (void);
/* From application */
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
#define CC_ATOMIC_SET(var,val) (var = val)
#endif
#ifndef CC_ATOMIC_GET
#define CC_ATOMIC_GET(var) (var)
#endif
#ifndef CC_ATOMIC_ADD
#define CC_ATOMIC_ADD(var,val) (var += val)
#endif
#ifndef CC_ATOMIC_SUB
#define CC_ATOMIC_SUB(var,val) (var -= val)
#endif
#ifndef CC_ATOMIC_AND
#define CC_ATOMIC_AND(var,val) (var &= val)
#endif
#ifndef CC_ATOMIC_OR
#define CC_ATOMIC_OR(var,val) (var |= val)
#endif
#endif
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