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SOES/applications/tiesc_k2gice/k2gice.c

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#ifndef SOES_V1
#include <stddef.h>
#include "utypes.h"
#include "esc.h"
#include "esc_coe.h"
#include "esc_foe.h"
#include "config.h"
#include "k2gice.h"
/* Global variables used by the stack */
uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
_MBXcontrol MBXcontrol[MBXBUFFERS];
_ESCvar ESCvar;
/* Application variables */
_Rbuffer Rb;
_Wbuffer Wb;
_Cbuffer Cb;
_Mbuffer Mb;
/* Private variables */
static volatile int watchdog;
/** Mandatory: Function to pre-qualify the incoming SDO download.
*
* @param[in] index = index of SDO download request to check
* @param[in] sub-index = sub-index of SDO download request to check
* @return 1 if the SDO Download is correct. 0 If not correct.
*/
int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
{
int result = 1;
if(ESCvar.pre_object_download_hook)
{
result = (ESCvar.pre_object_download_hook)(index, subindex);
}
return result;
}
/** Mandatory: Hook called from the slave stack SDO Download handler to act on
* user specified Index and Sub-index.
*
* @param[in] index = index of SDO download request to handle
* @param[in] sub-index = sub-index of SDO download request to handle
*/
void ESC_objecthandler (uint16_t index, uint8_t subindex)
{
switch (index)
{
/* Handle post-write of parameter values */
default:
{
if(ESCvar.post_object_download_hook != NULL)
{
(ESCvar.post_object_download_hook)(index, subindex);
}
break;
}
}
}
/** Mandatory: Hook called from the slave stack ESC_stopoutputs to act on state changes
* forcing us to stop outputs. Here we can set them to a safe state.
* set
*/
void APP_safeoutput (void)
{
DPRINT ("APP_safeoutput\n");
if(ESCvar.safeoutput_override != NULL)
{
(ESCvar.safeoutput_override)();
}
else
{
// Set safe values for Wb.LED
Wb.LED = 0;
}
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
if(ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
}
/** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
*/
void RXPDO_update (void)
{
if(ESCvar.rxpdo_override != NULL)
{
(ESCvar.rxpdo_override)();
}
else
{
ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
}
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process (uint8_t flags)
{
/* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
if(ESCvar.dcsync > 0)
{
CC_ATOMIC_ADD(ESCvar.synccounter, 1);
}
/* Set outputs */
cb_set_LED();
}
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
CC_ATOMIC_SUB(ESCvar.synccounter, 1);
}
if((ESCvar.dcsync > 0) &&
((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
(CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit)))
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
DPRINT("sync error = %d\n", ESCvar.synccounter);
ESC_stopoutput();
/* Sync error */
ESC_ALerror (ALERR_SYNCERROR);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
CC_ATOMIC_SET(ESCvar.synccounter, 0);
}
}
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_BUTTON();
TXPDO_update();
}
}
}
/**
* Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
* control what interrupts that should be served and re-activated with
* event mask argument
*/
void ecat_slv_worker (uint32_t event_mask)
{
do
{
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
while ((ESC_mbxprocess() > 0) || (ESCvar.txcue > 0))
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
}while(ESCvar.ALevent & event_mask);
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
}
/**
* ISR function. It should be called from ISR for applications entirely driven by
* interrupts.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_isr (void)
{
ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
}
/**
* Polling function. It should be called periodically for an application
* when only SM2/DC interrupt is active.
* Read and handle events for the EtherCAT state, status, mailbox and eeprom.
*/
void ecat_slv_poll (void)
{
/* Read local time from ESC*/
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
/* Check the state machine */
ESC_state();
/* Check the SM activation event */
ESC_sm_act_event();
/* Check mailboxes */
if (ESC_mbxprocess())
{
ESC_coeprocess();
ESC_foeprocess();
ESC_xoeprocess();
}
/* Call emulated eeprom handler if set */
if (ESCvar.esc_hw_eep_handler != NULL)
{
(ESCvar.esc_hw_eep_handler)();
}
}
void ecat_slv (void)
{
ecat_slv_poll();
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
}
/**
* Initialize the slave stack.
*/
void ecat_slv_init (esc_cfg_t * config)
{
DPRINT ("Slave stack init started\n");
ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
/* Init watchdog */
watchdog = config->watchdog_cnt;
/* Call stack configuration */
ESC_config (config);
/* Call HW init */
ESC_init (config);
/* wait until ESC is started up */
while ((ESCvar.DLstatus & 0x0001) == 0)
{
ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
sizeof (ESCvar.DLstatus));
ESCvar.DLstatus = etohs (ESCvar.DLstatus);
}
/* Init FoE */
FOE_init();
/* reset ESC to init state */
ESC_ALstatus (ESCinit);
ESC_ALerror (ALERR_NONE);
ESC_stopmbx();
ESC_stopinput();
ESC_stopoutput();
}
#endif
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