64 lines
1.4 KiB
C
64 lines
1.4 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 <kern.h>
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#include "esc.h"
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#include "esc_hw.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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void cb_get_inputs (void)
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{
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Obj.IN1 = 1;
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Obj.IN2 = 2;
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Obj.IN3 = 3;
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Obj.IN4 = 4;
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}
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void cb_set_outputs (void)
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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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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 = NULL,
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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 = dc_checker
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};
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rprintf ("Hello world\n");
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ecat_slv_init (&config);
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return 0;
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}
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