EtherCAT_Slave_Simple.c

EtherCAT^® Slave Example Application.

Author

KUNBUS GmbH

Date

2021-05-18

Copyright

Copyright (c) 2021, KUNBUS GmbH

All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 
/* this one shall the only one to be using it ! */
#include "project.h"
#include "ecSlvSimple.h"
 
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
 #include <DPR_Api.h>
 /* DPR implementation */
 #if (defined DPRIMPL_SHAREDRAM) && (DPRIMPL_SHAREDRAM==1)
  /* Shared RAM not TriPort */
  #include <dprLib_sharedMemory.h>
 #endif
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
 #include <sysLib_sharedMemory.h>
 #include <FBTL_api.h>
#endif
 
/* OS */
#include <osal.h>
 
/* ESL */
#include <ESL_os.h>
#include <ESL_BOARD_config.h>
#include <ESL_version.h>
 
/* stack */
#include <ecSlvApi.h>
 
#define TIESC_HW    0
#define PRU_200MHZ  1
 
#define THREAD_IDLE_TIMEOUT   (100U)     /* 100msec idle timeout */
 
static OSAL_PJumpBuf_t  farJumpBuf_g;
 
static uint32_t EC_SLV_APP_remoteInit(EC_SLV_APP_Sapplication_t* pApplicationInstance_p);
 
void EC_SLV_APP_loopTask(void* pArg_p)
{
    EC_SLV_APP_Sapplication_t*  pApplicationInstance    = (EC_SLV_APP_Sapplication_t*)pArg_p;
    uint32_t                    error                   = EC_API_eERR_NONE;
 
    if (!pApplicationInstance)
    {
        goto Exit;
    }
 
    EC_SLV_APP_initBoardFunctions(pApplicationInstance);
    EC_SLV_APP_registerStacklessBoardFunctions(pApplicationInstance);
 
    error = EC_API_SLV_stackInit(); // EtherCAT stack init
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
        OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
 
    EC_SLV_APP_applicationInit(pApplicationInstance);
 
    /* spit out versions */
    ESL_dumpVersions();
 
    //RAN 2021
 
    for(;;)
    {
        EC_API_SLV_mainLoopCyclic();
 
        if (EC_API_SLV_eESM_init < EC_API_SLV_getState())
        {
            OSAL_SCHED_yield();
        }
        else
        {
            /* for carve up give some air */
            OSAL_SCHED_sleep(10);
        }
    }
    // not reachable
    //EC_SLV_APP_applicationDeInit();
Exit:
    ESL_OS_taskLeave();
 
    return;
}
 
void EC_SLV_APP_mainTask(void* pArg_p)
{
    EC_SLV_APP_Sapplication_t*  applicationInstance = (EC_SLV_APP_Sapplication_t*)pArg_p;
    uint32_t                    retVal              = OSAL_eERR_NOERROR;
 
    if (!applicationInstance)
    {
        OSAL_error(__FUNCTION__, __LINE__, OSAL_eERR_EINVAL, true, 1, "Application instance missing!!!\r\n");
    }
 
    retVal = ESL_OS_boardInit(applicationInstance->selectedPruInstance);
    if (OSAL_eERR_NOERROR != retVal)
    {
        OSAL_error(__FUNCTION__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
    }
 
    OSAL_registerPrintOut(NULL, ESL_OS_printf);
 
    retVal = EC_SLV_APP_remoteInit(applicationInstance);
 
    if (!(OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal || OSAL_eERR_NOERROR == retVal))
    {
        OSAL_error(__FUNCTION__, __LINE__, OSAL_eERR_EINVAL, true, 1, "Fatal error remote API init!!!\r\n");
        return;
    }
 
    retVal = EC_API_SLV_load(&farJumpBuf_g, NULL /* &applErrHandler*/, applicationInstance->selectedPruInstance);
 
    if (0 == retVal)
    {
        EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1, KBECSLV_PRIO_EOE);
 
        applicationInstance->loopThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_loopTask
                                                                    ,applicationInstance
                                                                    ,OSAL_TASK_ePRIO_Normal
                                                                    ,(uint8_t*)EC_SLV_APP_applLoopTaskStack_g
                                                                    ,APPLLOOP_TASK_SIZE_BYTE
                                                                    ,0
                                                                    ,"Appl_LoopTask");
        if ( NULL == applicationInstance->loopThreadHandle)
        {
            OSAL_printf("Error return start Loop Task\r\n");
            OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
        }
 
        OSAL_SCHED_joinTask(applicationInstance->loopThreadHandle);
 
        /* No default tasks (run forever) here, so introduce a wait cycle */
        for (;;)
        {
            OSAL_SCHED_sleep(1000);
        }
    }
    else
    {
        for (;;)
        {
 
            for (;;)
            {
                OSAL_printf("long jmp restart\r\n");
                OSAL_SCHED_sleep(1000);
            }
        }
    }
 
    // not reachable
 
    //ESL_OS_boardDeinit();
    //EC_API_SLV_unLoad();
 
    //return 0;
}
 
int main(int argc, char *argv[])
{
    static
    uint32_t                    selectedPruInstance     = ~0;
    static
    EC_SLV_APP_Sapplication_t   applicationInstance     = {0};
    uint32_t                    error                   = OSAL_eERR_NOERROR;
 
    ESL_OS_init();
 
#if !(defined FBTL_REMOTE)
    selectedPruInstance = ESL_DEFAULT_PRUICSS;
#endif
 
    if (1 < argc)
    {
        char* inst = argv[1];
        selectedPruInstance = strtoul(inst, NULL, 0);
    }
#if (defined OSAL_TIRTOS)
    /* workaround to assure PRUICSS linkage */
    if (0x1000 == argc)
    {
        /* make this link */
        PRUICSS_pruDisable(NULL, 0);
        PRUICSS_pruDisable(NULL, 1);
        PRUICSS_registerIrqHandler(NULL,  0,  0,  0,  0,  NULL);
    }
#endif
 
    /* Init osal */
    OSAL_init();
 
    applicationInstance.selectedPruInstance = selectedPruInstance;
 
#if (defined OSAL_FREERTOS)
    TaskP_Params_init(&applicationInstance.mainThreadParam);
 
    applicationInstance.mainThreadParam.name        = "mainThread";
    applicationInstance.mainThreadParam.stackSize   = MAIN_TASK_SIZE_BYTE;
    applicationInstance.mainThreadParam.stack       = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
    applicationInstance.mainThreadParam.priority    = (TaskP_PRIORITY_HIGHEST-1);
    applicationInstance.mainThreadParam.taskMain    = (TaskP_FxnMain)EC_SLV_APP_mainTask;
    applicationInstance.mainThreadParam.args        = (void*)&applicationInstance;
 
    error = TaskP_construct(&applicationInstance.mainThreadHandle
                           ,&applicationInstance.mainThreadParam);
    if (SystemP_SUCCESS != error)
    {
        OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
        OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#elif (defined OSAL_FREERTOS_JACINTO)
    TaskP_Params_init(&applicationInstance.mainThreadParam);
 
    applicationInstance.mainThreadParam.name        = (uint8_t*)"mainThread";
    applicationInstance.mainThreadParam.stacksize   = MAIN_TASK_SIZE_BYTE;
    applicationInstance.mainThreadParam.stack       = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
    applicationInstance.mainThreadParam.priority    = (configMAX_PRIORITIES-1);
    applicationInstance.mainThreadParam.arg0        = (void*)&applicationInstance;
 
    applicationInstance.mainThreadHandle = TaskP_create(EC_SLV_APP_mainTask, &applicationInstance.mainThreadParam);
    if (NULL == applicationInstance.mainThreadHandle)
    {
        OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
        OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#else
    applicationInstance.mainThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_mainTask, &applicationInstance,
                                                                OSAL_TASK_ePRIO_Normal,
                                                                (uint8_t*)EC_SLV_APP_mainTaskStack_g,
                                                                MAIN_TASK_SIZE_BYTE, 0, "MainTask");
    if ( NULL == applicationInstance.mainThreadHandle)
    {
        OSAL_printf("Error return start Main Task\r\n");
        OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
        error = OSAL_STACK_INIT_ERROR;
    }
#endif
 
    OSAL_startOs();
 
    OSAL_error(__FUNCTION__, __LINE__, OSAL_eERR_EINVAL, true, 1, "Not reachable by design!!!\r\n");
 
    // not reachable
    //EC_API_SLV_unLoad();
 
    return error;
}
 
static uint32_t EC_SLV_APP_remoteInit(EC_SLV_APP_Sapplication_t *pApplicationInstance_p)
{
    uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
 
    if (!pApplicationInstance_p)
    {
        goto Exit;
    }
 
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
    retVal = DPRLIB_init(pApplicationInstance_p->gpioHandle, false);
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
    retVal = SYSLIB_createLibInstance(FBTLSHARED_MEM_NAME, FBTLSHARED_MEM_SIZE, false,
                                      FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN, FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
                                      ,true
#else
                                      ,false
#endif
                                      ,&(pApplicationInstance_p->remoteHandle)
    );
#else
    OSALUNREF_PARM(pApplicationInstance_p);
    retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
#endif
 
    if (OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal)
    {
        OSAL_printf("\r\nLocal Implementation\r\n");
    }
#if (defined DPRAM_REMOTE) && (DPRAM_REMOTE==1)
    else if (0 == retVal)
    {
        OSAL_printf("\r\nDPRAM usage\r\n");
 
        retVal = EC_API_SLV_DPR_configuration(dprRamBase(), dprRamSize());
        if (0 != retVal)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, retVal);
            OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
            return retVal;
        }
    }
#elif (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
    else if (0 == retVal)
    {
        retVal = EC_API_SLV_FBTL_configuration(pApplicationInstance_p->remoteHandle);
        if (0 != retVal)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, retVal);
            OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
            return retVal;
        }
    }
#endif
 
Exit:
    return retVal;
}