81 lines
1.7 KiB
C
81 lines
1.7 KiB
C
#include "esc_hw.h"
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#include "ecat_slv.h"
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#include "options.h"
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#include "utypes.h"
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#include <string.h>
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#include "tiescutils.h"
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#include <examples/board/include/board_i2cLed.h>
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#include <examples/board/include/board_rotary_switch.h>
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/* Application variables */
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_Objects Obj;
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/**
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* This function reads physical input values and assigns the corresponding members
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*/
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void cb_get_inputs()
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{
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volatile uint8_t io_input;
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Board_readRotarySwitch((uint8_t *)&io_input);
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Obj.BUTTON = io_input;
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}
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/**
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* This function writes physical output values from the corresponding members
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*/
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void cb_set_outputs()
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{
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volatile uint8_t io_output;
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io_output = Obj.LED;
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Board_setDigOutput(io_output);
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}
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/* Called from stack when stopping outputs */
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void user_safeoutput (void)
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{
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memset(&Obj.LED, 0, (sizeof(Obj.LED)));
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Board_setDigOutput(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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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 = 9998,
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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 = NULL,
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.application_hook = NULL,
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.safeoutput_override = user_safeoutput,
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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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int MainInit(void)
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{
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ecat_slv_init(&config);
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return 0;
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}
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void MainLoop(void)
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{
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ecat_slv_poll();
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DIG_process(DIG_PROCESS_WD_FLAG);
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}
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int main()
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{
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common_main();
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return 0;
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}
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