91 lines
2.0 KiB
C
91 lines
2.0 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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#include <cc.h>
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#include <kern.h>
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#include <xmc4.h>
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#include <bsp.h>
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#include "esc_hw.h"
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#include "esc.h"
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#include "ecat_slv.h"
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#include "config.h"
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#include "utypes.h"
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/* Application variables */
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_Objects Obj;
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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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Obj.Buttons.Button1 = gpio_get(GPIO_BUTTON1);
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}
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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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{
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gpio_set(GPIO_LED1, Obj.LEDgroup0.LED0);
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gpio_set(GPIO_LED2, Obj.LEDgroup1.LED1);
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}
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void safe_out(void)
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{
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rprintp("safe out\n");
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return;
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}
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void cb_state_change (uint8_t * as, uint8_t * an)
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{
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if (*as == SAFEOP_TO_OP)
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{
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/* Enable watchdog interrupt */
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ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
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}
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}
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/* Setup of DC */
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uint16_t dc_checker(void)
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{
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/* Indicate we run DC */
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ESCvar.dcsync = 1;
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/* Fetch the sync counter limit SDO10F1*/
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ESCvar.synccounterlimit = Obj.ErrorSettings.SyncErrorCounterLimit;
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return 0;
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}
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/* Configuration parameters for SOES
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* SM and Mailbox parameters comes from the
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* generated config.h
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*/
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int main(void)
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{
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static esc_cfg_t config =
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{
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.user_arg = NULL,
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.use_interrupt = 1,
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.watchdog_cnt = INT32_MAX, /* Use HW SM watchdog instead */
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = cb_state_change,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = ESC_interrupt_enable,
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.esc_hw_interrupt_disable = ESC_interrupt_disable,
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.esc_hw_eep_handler = ESC_eep_handler,
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.esc_check_dc_handler = NULL
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};
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rprintf("Hello Main\n");
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ecat_slv_init(&config);
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return 0;
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}
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