142 lines
3.2 KiB
C
142 lines
3.2 KiB
C
/*
|
|
* 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 "ecat_slv.h"
|
|
#include "utypes.h"
|
|
#include "bsp.h"
|
|
#include "bootstrap.h"
|
|
|
|
/* 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);
|
|
extern void soes (void *arg);
|
|
extern void my_cyclic_callback (void * arg);
|
|
|
|
/* task_spawn ("led_run", led_run, 15, 512, NULL); */
|
|
task_spawn ("led_error", led_error, 15, 512, NULL);
|
|
task_spawn ("t_StatsPrint", my_cyclic_callback, 20, 1024, (void *)NULL);
|
|
task_spawn ("soes", soes, 8, 1024, NULL);
|
|
|
|
return (0);
|
|
}
|