106 lines
2.3 KiB
C
106 lines
2.3 KiB
C
#include <stdio.h>
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#include <string.h>
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#include "ecat_options.h"
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#include "ecat_slv.h"
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#include "esc_hw.h"
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#include "utypes.h"
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/* Application variables */
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_Objects Obj;
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#if !(DYN_PDO_MAPPING)
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uint8_t * txpdo = Obj.txpdo;
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uint8_t * rxpdo = Obj.rxpdo;
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#endif
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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 HW watchdog event */
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ESC_ALeventmaskwrite (ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
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/* Enable SM2 sync manager event */
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ESC_ALeventmaskwrite (ESC_ALeventmaskread() | ESCREG_ALEVENT_SM2);
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}
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}
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void cb_application (void)
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{
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/* Check for watchdog expired event */
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if (ESCvar.ALevent & ESCREG_ALEVENT_WD)
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{
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if ((ESC_WDstatus() & 0x01) &&
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((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
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{
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DPRINT("DIG_process watchdog expired\n");
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ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
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}
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}
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}
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void cb_get_inputs (void)
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{
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/* Loop back outputs to inputs */
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#if DYN_PDO_MAPPING
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memcpy(Obj.txpdo,Obj.rxpdo,BYTE_NUM);
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#else
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memcpy(txpdo,rxpdo,BYTE_NUM);
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#endif
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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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void cb_safeoutput (void)
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{
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/* Set all outputs to zero */
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#if DYN_PDO_MAPPING
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memset(Obj.rxpdo,0,BYTE_NUM);
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#else
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memset(rxpdo,0,BYTE_NUM);
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#endif
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}
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int soes (void * arg)
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{
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static esc_cfg_t config =
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{
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.user_arg = "rpi3,cs0", /* Change rpi3 to rpi4 for raspberry pi 4 or later */
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.use_interrupt = 0,
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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 = cb_application,
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.safeoutput_override = cb_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 = NULL,
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.esc_hw_interrupt_disable = NULL,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = NULL,
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};
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DPRINT ("Start slave init\n");
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ecat_slv_init (&config);
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DPRINT ("Initialization finished\n");
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while (1)
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{
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ecat_slv();
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}
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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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DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
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soes (NULL);
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return 0;
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}
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