EtherCAT Slave  1.06.01
ecSlvCiA402.c

CiA402 Application implementation.

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.
/*-----------------------------------------------------------------------------------------
------
------ Includes
------
-----------------------------------------------------------------------------------------*/
#include <ecSlvApi.h>
#include <ecApiDef.h>
#include "ecSlvCiA402.h"
#include "ESL_cia402Obd.h"
#include "ESL_cia402Demo.h"
#include "project.h"
#include <ESL_os.h>
#include <ESL_BOARD_OS_config.h>
#include <ESL_BOARD_config.h>
#include <ESL_vendor.h>
#include <ESL_phyLibTlk110.h>
#include <ESL_gpioHelper.h>
#include <ESL_foeDemo.h>
#include <ESL_soeDemo.h>
#include <ESL_eeprom.h>
#include <ESL_version.h>
#if (defined HAVEDISPLAY) && (HAVEDISPLAY==1)
#include <oled_drv.h>
#endif
#include <ecSlvApi.h>
#if !(defined MBXMEM)
#define MBXMEM
#endif
/*-----------------------------------------------------------------------------------------
------
------ local variables and constants
------
-----------------------------------------------------------------------------------------*/
#define I2C_IOEXP_ADDR 0x60 // The I2C address for GPIO expander
#define RXPDOMAP_INDEX 0x1600
#define TXPDOMAP_INDEX 0x1A00
#define COE_SM_ERROR_MAX_COUNT 0xFFFF
#define AXIS_ONE 0
#define AXIS_TWO 1
#define AXIS_THREE 2
#if !(defined BIT2BYTE)
#define BIT2BYTE(x) (((x)+7) >> 3)
#endif
static void EC_SLV_APP_applicationRun(void* pAppCtxt_p);
static EC_API_EError_t EC_SLV_APP_populateCiA402Functions(EC_SLV_APP_Sapplication_t* pApplicationInstance_p);
static EC_API_EError_t EC_SLV_APP_populateTxPDO(EC_SLV_APP_Sapplication_t* pApplicationInstance_p, EC_API_SLV_SPdo_t* pPdo_p, uint8_t axis_p);
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (GPIO_TEST_PROFILE_2 == GPIO_TEST_PROFILE_SEL)
static void EC_SLV_APP_measurement(void* pMsrmtCtxt_p, uint32_t measureChannel_p, bool channelOn_p);
#endif
#endif
/*-----------------------------------------------------------------------------------------
------
------ application specific functions
------
-----------------------------------------------------------------------------------------*/
#if (defined HAVEDISPLAY) && (HAVEDISPLAY==1)
void oled_init(void)
{
/* Oled Init */
const char oled_line1[] = "Kunbus GmbH";
const char oled_line2[] = "EtherCAT DTK Demo";
Board_oledInit();
clear();
setline(0);
setOrientation(1);
printstr((int8_t *)oled_line1);
setline(1);
setOrientation(1);
printstr((int8_t *)oled_line2);
scrollDisplayRight();
}
void oled_run(uint8_t i8uState)
{
const char oled_line1[] = "EtherCAT DTK Demo";
clear();
setline(0);
setOrientation(1);
printstr((int8_t *)oled_line1);
setline(1);
setOrientation(1);
char line2[] = "State: ";
char buffer[7];
sprintf(buffer, "%d ", i8uState);
strcat(line2, buffer);
printstr((int8_t *)line2);
scrollDisplayRight();
}
#endif
static EC_API_EError_t EC_SLV_APP_populateSlaveInfo(EC_SLV_APP_Sapplication_t* pApplicationInstance_p)
{
EC_API_EError_t error = EC_API_eERR_INVALID;
EC_API_SLV_SHandle_t* ptSlave;
if (!pApplicationInstance_p)
{
goto Exit;
}
ptSlave = pApplicationInstance_p->ptEcSlvApi;
error = (EC_API_EError_t)EC_API_SLV_setDeviceType (ptSlave, EC_API_SLV_eDT_SERVO_DRIVE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setVendorId (ptSlave, ECAT_VENDORID);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setRevisionNumber(ptSlave, ECAT_REVISION);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSerialNumber (ptSlave, 0x00000000);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setProductCode (ptSlave, ECAT_PRODUCTCODE_CIA402);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setProductName (ptSlave, ECAT_PRODUCTNAME_CIA402);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setGroupType (ptSlave, "EtherCAT Toolkit");
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setHwVersion (ptSlave, "R01");
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = ESL_setSWVersion(ptSlave);
if (error != EC_API_eERR_NONE)
{
goto Exit;
}
/* Former Project.h */
error = (EC_API_EError_t)EC_API_SLV_setPDOSize(ptSlave, KBEC_MAX_PD_LEN, KBEC_MAX_PD_LEN);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setPDICfg(ptSlave, ESC_EE_PDI_CONTROL, ESC_EE_PDI_CONFIG);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setBootStrapMailbox(ptSlave,
ET1100_BOOT_MBXOUT_START, ET1100_BOOT_MBXOUT_DEF_LENGTH,
ET1100_BOOT_MBXIN_START, ET1100_BOOT_MBXIN_DEF_LENGTH);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setStandardMailbox(ptSlave,
ET1100_MBXOUT_START, ET1100_MBXOUT_DEF_LENGTH,
ET1100_MBXIN_START, ET1100_MBXIN_DEF_LENGTH);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSyncManConfig(ptSlave,
0, ET1100_MBXOUT_START, ET1100_MBXOUT_DEF_LENGTH,
ET1100_MBXOUT_CONTROLREG, ET1100_MBXOUT_ENABLE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSyncManConfig(ptSlave,
1, ET1100_MBXIN_START, ET1100_MBXIN_DEF_LENGTH,
ET1100_MBXIN_CONTROLREG, ET1100_MBXIN_ENABLE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSyncManConfig(ptSlave,
2, ET1100_OUTPUT_START, ET1100_OUTPUT_DEF_LENGTH,
ET1100_OUTPUT_CONTROLREG, ET1100_OUTPUT_ENABLE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSyncManConfig(ptSlave,
3, ET1100_INPUT_START, ET1100_INPUT_DEF_LENGTH,
ET1100_INPUT_CONTROLREG, ET1100_INPUT_ENABLE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_setSyncManErrLimit(ptSlave, COE_SM_ERROR_MAX_COUNT);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = EC_API_eERR_NONE;
Exit:
return error;
}
static EC_API_EError_t EC_SLV_APP_populateCiA402Functions(EC_SLV_APP_Sapplication_t* pApplicationInstance_p)
{
EC_API_EError_t error = EC_API_eERR_INVALID;
EC_API_SLV_SHandle_t* ptSlave;
if (!pApplicationInstance_p)
{
goto Exit;
}
ptSlave = pApplicationInstance_p->ptEcSlvApi;
EC_API_SLV_CiA402_setAxisNumber (ptSlave, AXES_NUMBER);
EC_API_SLV_CiA402_registerSetDictValues (ptSlave, pApplicationInstance_p, EC_SLV_APP_setObdValues);
EC_API_SLV_CiA402_registerApplication (ptSlave, pApplicationInstance_p, EC_SLV_APP_cia402Application);
EC_API_SLV_CiA402_registerLocalError (ptSlave, pApplicationInstance_p, EC_SLV_APP_cia402LocalError);
EC_API_SLV_cbRegisterStartInputHandler (ptSlave, pApplicationInstance_p, EC_SLV_APP_startInputHandler);
error = (EC_API_EError_t)EC_SLV_APP_cia402ObjectDictionary(pApplicationInstance_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) CiA402 Object Dictionary error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
error = EC_API_eERR_NONE;
Exit:
return error;
}
static EC_API_EError_t EC_SLV_APP_populateRxPDO(EC_SLV_APP_Sapplication_t* pApplicationInstance_p, EC_API_SLV_SPdo_t* pPdo_p, uint8_t axis_p)
{
EC_API_EError_t error = EC_API_eERR_INVALID;
EC_API_SLV_SHandle_t* ptSlave;
uint16_t rxIndex = RXPDOMAP_INDEX + axis_p;
EC_API_SLV_SCoE_ObjEntry_t* pObjEntry;
uint16_t curOffset = 0;
if (!pApplicationInstance_p)
{
goto Exit;
}
ptSlave = pApplicationInstance_p->ptEcSlvApi;
error = (EC_API_EError_t)EC_API_SLV_PDO_create(ptSlave, "RxPDO", rxIndex, &pPdo_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Create PDO 0x%04x error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, rxIndex, error);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].controlWordIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].controlWordIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].controlWordIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 001", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 002", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].targetPositionIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].targetPositionIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].targetPositionIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 003", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].targetVelocityIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].targetVelocityIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].targetVelocityIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 004", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].targetTorqueIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].targetTorqueIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].targetTorqueIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 005", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
pApplicationInstance_p->realPdoInLen = curOffset;
error = EC_API_eERR_NONE;
Exit:
return error;
}
static EC_API_EError_t EC_SLV_APP_populateTxPDO(EC_SLV_APP_Sapplication_t* pApplicationInstance_p, EC_API_SLV_SPdo_t* pPdo_p, uint8_t axis_p)
{
EC_API_EError_t error = EC_API_eERR_INVALID;
EC_API_SLV_SHandle_t* ptSlave;
uint16_t txIndex = TXPDOMAP_INDEX + axis_p;
EC_API_SLV_SCoE_ObjEntry_t* pObjEntry;
uint16_t curOffset = 0;
if (!pApplicationInstance_p)
{
goto Exit;
}
ptSlave = pApplicationInstance_p->ptEcSlvApi;
error = (EC_API_EError_t)EC_API_SLV_PDO_create(ptSlave, "TxPDO", txIndex, &pPdo_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create PDO for axis %d error code: 0x%08x\r\n", axis_p);
goto Exit;
}
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].statusWordIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].statusWordIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].statusWordIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 001", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationDisplayIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationDisplayIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].modesOfOperationDisplayIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 002", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("PDO 0x1A00 Entry 2 Error code: 0x%08x\r\n", error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].positionActualValueIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].positionActualValueIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].positionActualValueIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 003", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("PDO 0x1A00 Entry 2 Error code: 0x%08x\r\n", error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].velocityActualValueIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].velocityActualValueIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].velocityActualValueIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 004", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("PDO 0x1A00 Entry 2 Error code: 0x%08x\r\n", error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
error = (EC_API_EError_t)EC_API_SLV_CoE_getObjectEntry(ptSlave, pApplicationInstance_p->CiA402_axisData[axis_p].torqueActualValueIndex.objectIndex, 0, &pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d (%s) Variable Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
goto Exit;
}
pApplicationInstance_p->CiA402_axisData[axis_p].torqueActualValueIndex.pdoObject = pPdo_p;
pApplicationInstance_p->CiA402_axisData[axis_p].torqueActualValueIndex.pdoObjectOffset = curOffset;
error = (EC_API_EError_t)EC_API_SLV_PDO_createEntry(ptSlave, pPdo_p, "SubIndex 005", pObjEntry);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("PDO 0x1A00 Entry 2 Error code: 0x%08x\r\n", error);
goto Exit;
}
curOffset += BIT2BYTE(EC_API_SLV_PDO_getEntryDataLength(pPdo_p, 0));
pApplicationInstance_p->realPdoOutLen = curOffset;
error = EC_API_eERR_NONE;
Exit:
return error;
}
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (GPIO_TEST_PROFILE_2 == GPIO_TEST_PROFILE_SEL)
void EC_SLV_APP_measurement(void* pMsrmtCtxt_p, uint32_t measureChannel_p, bool channelOn_p)
{
EC_SLV_APP_Sapplication_t* pApplicationInstance = (EC_SLV_APP_Sapplication_t*)pMsrmtCtxt_p;
volatile CSL_GpioBank_registersRegs * pGpioRegBank = NULL;
uint32_t pinMask = 0;
if (pApplicationInstance)
{
switch (measureChannel_p)
{
case 0: pGpioRegBank = ESL_TESTPIN_STATE_REG_BANK; pinMask = ESL_TESTPIN_0_MASK; break;
case 1: pGpioRegBank = ESL_TESTPIN_STATE_REG_BANK; pinMask = ESL_TESTPIN_1_MASK; break;
case 2: pGpioRegBank = ESL_TESTPIN_STATE_REG_BANK; pinMask = ESL_TESTPIN_2_MASK; break;
default:
break;
}
if (channelOn_p)
{
ESL_GPIO_testPins_set(pGpioRegBank, pinMask);
}
else
{
ESL_GPIO_testPins_clear(pGpioRegBank, pinMask);
}
}
}
#endif
#endif
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
static OSAL_FUNC_UNUSED void EC_SLV_APP_boardPhyReset(void* pCtxt_p, uint8_t phyIdx_p, bool reset_p)
{
EC_SLV_APP_Sapplication_t* pApplicationInstance = (EC_SLV_APP_Sapplication_t*)pCtxt_p;
uint8_t module = (uint8_t)~0;
uint8_t pin = (uint8_t)~0;
switch(phyIdx_p)
{
case 0:
#if (defined APP_PHY00_RESET_MODULE) && (defined APP_PHY00_RESET_PIN)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pApplicationInstance->selectedPruInstance)
{
module = APP_PHY00_RESET_MODULE;
pin = APP_PHY00_RESET_PIN;
}
#endif
#if (defined APP_PHY10_RESET_MODULE) && (defined APP_PHY10_RESET_PIN)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pApplicationInstance->selectedPruInstance) || (0 == pApplicationInstance->selectedPruInstance))
{
module = APP_PHY10_RESET_MODULE;
pin = APP_PHY10_RESET_PIN;
}
#endif
break;
case 1:
#if (defined APP_PHY01_RESET_MODULE) && (defined APP_PHY01_RESET_PIN)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pApplicationInstance->selectedPruInstance)
{
module = APP_PHY01_RESET_MODULE;
pin = APP_PHY01_RESET_PIN;
}
#endif
#if (defined APP_PHY11_RESET_MODULE) && (defined APP_PHY11_RESET_PIN)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pApplicationInstance->selectedPruInstance) || (0 == pApplicationInstance->selectedPruInstance))
{
module = APP_PHY11_RESET_MODULE;
pin = APP_PHY11_RESET_PIN;
}
#endif
break;
default:
return;
}
if ((uint8_t)-1 == pin || (uint8_t)-1 == module)
{
OSAL_printf("Invalid PHY config %u\r\n", phyIdx_p);
OSAL_error(__FUNCTION__, __LINE__, OSAL_STACK_PHYDETECT_ERROR, true, 0);
}
if (reset_p)
{
OSAL_printf("Phy Reset: %u.%u\r\n", module, pin);
ESL_GPIO_write(pApplicationInstance->gpioHandle, (ESL_GPIO_EModule_t)module, (ESL_GPIO_EPin_t)pin, ESL_GPIO_enPINSTATE_LOW);
}
else
{
OSAL_printf("Phy UnReset: %u.%u\r\n", module, pin);
ESL_GPIO_write(pApplicationInstance->gpioHandle, (ESL_GPIO_EModule_t)module, (ESL_GPIO_EPin_t)pin, ESL_GPIO_enPINSTATE_HIGH);
}
}
#endif
static void EC_SLV_APP_appBoardStatusLed(void* pCallContext_p, void* pLedContext_p, bool runLed_p, bool errLed_p)
{
EC_SLV_APP_Sapplication_t* pApplicationInstance = (EC_SLV_APP_Sapplication_t*)pCallContext_p;
OSALUNREF_PARM(pLedContext_p);
if (NULL == pApplicationInstance)
{
goto Exit;
}
ESL_Board_StatusLED(pApplicationInstance->gpioHandle, pApplicationInstance->selectedPruInstance, runLed_p, errLed_p);
Exit:
return;
}
static EC_API_EError_t EC_SLV_APP_populateBoardFunctions(EC_SLV_APP_Sapplication_t* pApplicationInstance)
{
EC_API_EError_t error = EC_API_eERR_INVALID;
if (!pApplicationInstance)
{
goto Exit;
}
EC_API_SLV_cbRegisterBoardStatusLed(pApplicationInstance->ptEcSlvApi, pApplicationInstance
,EC_SLV_APP_appBoardStatusLed
,&pApplicationInstance->selectedPruInstance);
error = EC_API_eERR_NONE;
Exit:
return error;
}
void EC_SLV_APP_initBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
{
if (!pAppInstance_p)
{
goto Exit;
}
/* open gpio instance */
pAppInstance_p->gpioHandle = ESL_GPIO_init();
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
/* configure Phy Reset Pin */
#if (defined APP_PHY00_RESET_PIN) && (defined APP_PHY00_RESET_MODULE) && (defined APP_PHY01_RESET_PIN) && (defined APP_PHY01_RESET_MODULE)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pAppInstance_p->selectedPruInstance)
{
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, APP_PHY00_RESET_MODULE, APP_PHY00_RESET_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, APP_PHY01_RESET_MODULE, APP_PHY01_RESET_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
}
#endif
#if (defined APP_PHY10_RESET_PIN) && (defined APP_PHY10_RESET_MODULE) && (defined APP_PHY11_RESET_PIN) && (defined APP_PHY11_RESET_MODULE)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pAppInstance_p->selectedPruInstance) || (0 == pAppInstance_p->selectedPruInstance))
{
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, APP_PHY10_RESET_MODULE, APP_PHY10_RESET_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, APP_PHY11_RESET_MODULE, APP_PHY11_RESET_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
}
#endif
#else
OSALUNREF_PARM(pAppInstance_p);
#endif
/* configure LED Pin */
#if (defined GPIO_LEDRG0_BANK) && (defined GPIO_LEDRG0_PIN) && (defined GPIO_LEDLR0_BANK) && (defined GPIO_LEDLR0_PIN)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pAppInstance_p->selectedPruInstance)
{
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, GPIO_LEDRG0_BANK, GPIO_LEDRG0_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, GPIO_LEDLR0_BANK, GPIO_LEDLR0_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
}
#endif
#if (defined GPIO_LEDRG1_BANK) && (defined GPIO_LEDRG1_PIN) && (defined GPIO_LEDLR1_BANK) && (defined GPIO_LEDLR1_PIN)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pAppInstance_p->selectedPruInstance) || (0 == pAppInstance_p->selectedPruInstance))
{
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, GPIO_LEDRG1_BANK, GPIO_LEDRG1_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
ESL_GPIO_setConfigMode(pAppInstance_p->gpioHandle, GPIO_LEDLR1_BANK, GPIO_LEDLR1_PIN, ESL_GPIO_enDIRECTION_MODE_OUTPUT, ESL_GPIO_enIRQ_MODE_NONE);
}
#endif
ESL_GPIO_apply(pAppInstance_p->gpioHandle);
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
/* configure Phy Reset Pin */
#if (defined APP_PHY00_RESET_PIN) && (defined APP_PHY00_RESET_MODULE) && (defined APP_PHY01_RESET_PIN) && (defined APP_PHY01_RESET_MODULE)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pAppInstance_p->selectedPruInstance)
{
EC_SLV_APP_boardPhyReset(pAppInstance_p, 0, true);
EC_SLV_APP_boardPhyReset(pAppInstance_p, 1, true);
}
#endif
#if (defined APP_PHY10_RESET_PIN) && (defined APP_PHY10_RESET_MODULE) && (defined APP_PHY11_RESET_PIN) && (defined APP_PHY11_RESET_MODULE)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pAppInstance_p->selectedPruInstance) || (0 == pAppInstance_p->selectedPruInstance))
{
EC_SLV_APP_boardPhyReset(pAppInstance_p, 0, true);
EC_SLV_APP_boardPhyReset(pAppInstance_p, 1, true);
}
#endif
#endif
Exit:
return;
}
void EC_SLV_APP_registerStacklessBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
{
if (!pAppInstance_p)
{
goto Exit;
}
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
#if !(defined TIESC_PHYADDR_0) && !(defined TIESC_PHYADDR_1) && !(defined TIESC_PHYADDR_2) && !(defined TIESC_PHYADDR_3)
#error "EtherCAT without PHY is useless"
#endif
#if (defined TIESC_PHYADDR_0) && (defined TIESC_PHYADDR_1)
if (EC_API_SLV_ePRUICSS_INSTANCE_ONE == pAppInstance_p->selectedPruInstance)
{
EC_API_SLV_registerPhy(0, TIESC_PHYADDR_0, TIESC_LINK0_POLINVERT, TIESC_LINK0_USERXLINK);
EC_API_SLV_registerPhy(1, TIESC_PHYADDR_1, TIESC_LINK1_POLINVERT, TIESC_LINK1_USERXLINK);
}
#endif
#if (defined TIESC_PHYADDR_2) && (defined TIESC_PHYADDR_3)
if ((EC_API_SLV_ePRUICSS_INSTANCE_TWO == pAppInstance_p->selectedPruInstance) || (0 == pAppInstance_p->selectedPruInstance))
{
EC_API_SLV_registerPhy(0, TIESC_PHYADDR_2, TIESC_LINK2_POLINVERT, TIESC_LINK2_USERXLINK);
EC_API_SLV_registerPhy(1, TIESC_PHYADDR_3, TIESC_LINK3_POLINVERT, TIESC_LINK3_USERXLINK);
}
#endif
#if (defined TIESC_PHYADDR_4) && (defined TIESC_PHYADDR_5)
if (EC_API_SLV_ePRUICSS_INSTANCE_THREE == pAppInstance_p->selectedPruInstance)
{
EC_API_SLV_registerPhy(0, TIESC_PHYADDR_4, TIESC_LINK4_POLINVERT, TIESC_LINK4_USERXLINK);
EC_API_SLV_registerPhy(1, TIESC_PHYADDR_5, TIESC_LINK5_POLINVERT, TIESC_LINK5_USERXLINK);
}
#endif
#if (!defined OSAL_FREERTOS) && (!defined OSAL_FREERTOS_JACINTO)
EC_API_SLV_cbRegisterPhyLibDetect(EC_SLV_APP_TLK110_phyLibDetect, pAppInstance_p);
#endif
EC_API_SLV_cbRegisterPhyReset(EC_SLV_APP_boardPhyReset, pAppInstance_p);
#endif
Exit:
return;
}
void EC_SLV_APP_applicationInit(EC_SLV_APP_Sapplication_t* pAppInstance_p)
{
EC_API_EError_t error;
if (!pAppInstance_p)
{
goto Exit;
}
// Initialize DTK
pAppInstance_p->ptEcSlvApi = EC_API_SLV_new();
if (!pAppInstance_p->ptEcSlvApi)
{
OSAL_error(__FUNCTION__, __LINE__, OSAL_CONTAINER_NOMEMORY, true, 0);
goto Exit;
}
error = EC_SLV_APP_populateBoardFunctions(pAppInstance_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Populate board functions Error code: 0x%08x\r\n", error);
goto Exit;
}
error = EC_SLV_APP_populateSlaveInfo(pAppInstance_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create Slave Info Error code: 0x%08x\r\n", error);
goto Exit;
}
error = EC_SLV_APP_populateCiA402Functions(pAppInstance_p);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create slave information error code: 0x%08x\r\n", error);
return;
}
//RxPDO: Master to Slave COM
error = EC_SLV_APP_populateRxPDO(pAppInstance_p, pAppInstance_p->ptRxPdo1600, AXIS_ONE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create RxPDO error code: 0x%08x\r\n", error);
return;
}
error = EC_SLV_APP_populateRxPDO(pAppInstance_p, pAppInstance_p->ptRxPdo1601, AXIS_TWO);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create RxPDO error code: 0x%08x\r\n", error);
return;
}
error = EC_SLV_APP_populateRxPDO(pAppInstance_p, pAppInstance_p->ptRxPdo1602, AXIS_THREE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create RxPDO error code: 0x%08x\r\n", error);
return;
}
//TxPDO: Slave to Master COM
error = EC_SLV_APP_populateTxPDO(pAppInstance_p, pAppInstance_p->ptTxPdo1A00, AXIS_ONE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create TxPDO error code: 0x%08x\r\n", error);
return;
}
error = EC_SLV_APP_populateTxPDO(pAppInstance_p, pAppInstance_p->ptTxPdo1A01, AXIS_TWO);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create TxPDO error code: 0x%08x\r\n", error);
return;
}
error = EC_SLV_APP_populateTxPDO(pAppInstance_p, pAppInstance_p->ptTxPdo1A02, AXIS_THREE);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Create TxPDO error code: 0x%08x\r\n", error);
return;
}
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
EC_API_SLV_cbRegisterFlashInit (pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, EC_SLV_APP_EEP_initFlash);
EC_API_SLV_EEPROM_cbRegisterWrite (pAppInstance_p->ptEcSlvApi, OSPIFLASH_APP_STARTMAGIC, EC_SLV_APP_EEP_writeEeprom);
EC_API_SLV_EEPROM_cbRegisterLoad (pAppInstance_p->ptEcSlvApi, OSPIFLASH_APP_STARTMAGIC, EC_SLV_APP_EEP_loadEeprom);
EC_API_SLV_cbRegisterUserApplicationRun (pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, EC_SLV_APP_applicationRun, pAppInstance_p);
#else
OSAL_SCHED_startTask(EC_SLV_APP_usrAppRunWrapper, pAppInstance_p, OSAL_TASK_ePRIO_Idle
,(uint8_t*)EC_SLV_APP_appRunWrapTaskStack_g, APPRWRAP_TASK_SIZE_BYTE, 0, "AppRun");
#endif
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (GPIO_TEST_PROFILE_2 == GPIO_TEST_PROFILE_SEL)
EC_API_SLV_cbRegisterMeasurement(pAppInstance_p->ptEcSlvApi, pAppInstance_p, EC_SLV_APP_measurement);
#endif
#endif
error = (EC_API_EError_t)EC_API_SLV_init(pAppInstance_p->ptEcSlvApi);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("Slave Init Error Code: 0x%08x\r\n", error);
return;
}
EC_API_SLV_run(pAppInstance_p->ptEcSlvApi);
Exit:
return;
}
void EC_SLV_APP_applicationDeInit(EC_SLV_APP_Sapplication_t* pAppInstance_p)
{
if (pAppInstance_p)
{
EC_API_SLV_delete(pAppInstance_p->ptEcSlvApi);
pAppInstance_p->ptEcSlvApi = NULL;
}
}
void EC_SLV_APP_applicationRun(void* pAppRunCtxt_p)
{
OSALUNREF_PARM(pAppRunCtxt_p);
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && ((GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL) || (GPIO_TEST_PROFILE_2 == GPIO_TEST_PROFILE_SEL))
static bool bToggle = false;
if (bToggle)
{
ESL_GPIO_testPins_set(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_3_MASK);
}
else
{
ESL_GPIO_testPins_clear(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_3_MASK);
}
bToggle = !bToggle;
#endif
#endif
}
EC_API_SLV_setProductName
uint32_t EC_API_SLV_setProductName(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pProductName_p)
Set device product name.
Definition: ecSlvApi_ParamStub.c:276
EC_API_SLV_setGroupType
uint32_t EC_API_SLV_setGroupType(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pGroupType_p)
Set device group type.
Definition: ecSlvApi_ParamStub.c:323
EC_API_SLV_ePRUICSS_INSTANCE_TWO
@ EC_API_SLV_ePRUICSS_INSTANCE_TWO
Definition: ecSlvApi.h:70
EC_SLV_APP_populateRxPDO
EC_API_EError_t EC_SLV_APP_populateRxPDO(EC_SLV_APP_Sapplication_t *pApplicationInstance_p)
Configure RX PDO entries.
Definition: ecSlvSimple.c:1592
EC_API_SLV_cbRegisterUserApplicationRun
void EC_API_SLV_cbRegisterUserApplicationRun(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBUsrApplicationRun_t cbFunc_p, void *pApplCtxt_p)
This is the function to register a function which runs application run handler.
Definition: ecSlvApi_ESMStub.c:120
EC_API_SLV_eDT_SERVO_DRIVE
@ EC_API_SLV_eDT_SERVO_DRIVE
The device supports CiA402 for a servo drive.
Definition: ecSlvApi.h:101
EC_API_SLV_PDO_getEntryDataLength
uint32_t EC_API_SLV_PDO_getEntryDataLength(EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p)
Read PDO entry data length.
Definition: ecSlvApi_ProcDataStub.c:753
EC_API_SLV_CoE_getObjectEntry
uint32_t EC_API_SLV_CoE_getObjectEntry(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, uint8_t subIndex_p, EC_API_SLV_SCoE_ObjEntry_t **ppObjectEntry_p)
This function returns object entries from the Object Dictionary.
Definition: ecSlvApi_CoEStub.c:325
EC_SLV_APP_sCIA_axisData::positionActualValueIndex
EC_SLV_APP_sCIA_object_t positionActualValueIndex
Definition: ecSlvCiA402.h:90
EC_API_EError_t
enum EC_API_EError EC_API_EError_t
EC_API_SLV_delete
uint32_t EC_API_SLV_delete(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to delete a created adapter.
Definition: ecSlvApiStub.c:628
EC_SLV_APP_registerStacklessBoardFunctions
void EC_SLV_APP_registerStacklessBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Register PHYs.
Definition: ecSlvCiA402.c:930
EC_API_SLV_cbRegisterPhyLibDetect
void EC_API_SLV_cbRegisterPhyLibDetect(EC_API_SLV_CBExtPhyLibDetect_t cbFunc_p, void *pContext_p)
Register an application specific Phy Library.
Definition: ecSlvApi_BoardStub.c:162
EC_API_SLV_cbRegisterPhyReset
void EC_API_SLV_cbRegisterPhyReset(EC_API_SLV_CBBoardPhyReset_t cbFunc_p, void *pContext_p)
This is the function to register Phy Reset Function.
Definition: ecSlvApi_BoardStub.c:78
EC_SLV_APP_Sapplication::ptRxPdo1601
EC_API_SLV_SPdo_t * ptRxPdo1601
Definition: ecSlvSimple.h:93
EC_API_SLV_setSyncManConfig
uint32_t EC_API_SLV_setSyncManConfig(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t syncManIdx_p, uint16_t offset_p, uint16_t size_p, uint8_t control_p, uint8_t enable_p)
Set SyncManager Configuration.
Definition: ecSlvApi_ParamStub.c:650
EC_SLV_APP_applicationDeInit
void EC_SLV_APP_applicationDeInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Deinitialize application.
Definition: ecSlvCiA402.c:1108
EC_API_SLV_setBootStrapMailbox
uint32_t EC_API_SLV_setBootStrapMailbox(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t rxOffset_p, uint16_t rxSize_p, uint16_t txOffset_p, uint16_t txSize_p)
Set Bootstrap Mailbox Configuration.
Definition: ecSlvApi_ParamStub.c:557
EC_SLV_APP_Sapplication::ptTxPdo1A01
EC_API_SLV_SPdo_t * ptTxPdo1A01
Definition: ecSlvSimple.h:95
EC_API_SLV_cbRegisterStartInputHandler
void EC_API_SLV_cbRegisterStartInputHandler(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBStartInputHandler_t cbFunc_p)
This is the function to register a function which starts the input handler.
Definition: ecSlvApi_ESMStub.c:256
EC_API_SLV_registerPhy
bool EC_API_SLV_registerPhy(uint8_t phyIdx_p, uint8_t phyAddr_p, bool invertLinkPolarity_p, bool useRxLinkPin_p)
Register a phy for stack usage.
Definition: ecSlvApi_BoardStub.c:121
EC_API_SLV_setHwVersion
uint32_t EC_API_SLV_setHwVersion(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pHardwareVersion_p)
Set device hardware version.
Definition: ecSlvApi_ParamStub.c:370
EC_SLV_APP_sCIA_axisData::controlWordIndex
EC_SLV_APP_sCIA_object_t controlWordIndex
Definition: ecSlvCiA402.h:79
EC_API_SLV_setSerialNumber
uint32_t EC_API_SLV_setSerialNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t serialNumber_p)
Set default serial number.
Definition: ecSlvApi_ParamStub.c:229
EC_SLV_APP_sCIA_axisData::modesOfOperationDisplayIndex
EC_SLV_APP_sCIA_object_t modesOfOperationDisplayIndex
Definition: ecSlvCiA402.h:87
EC_SLV_APP_Sapplication
Definition: ecSlvSimple.h:55
EC_API_SLV_SHandle_t
struct EC_API_SLV_SHandle EC_API_SLV_SHandle_t
EC_API_SLV_SHandle_t describes the EtherCAT Slave API.
Definition: ecSlvApi.h:135
EC_API_SLV_cbRegisterBoardStatusLed
void EC_API_SLV_cbRegisterBoardStatusLed(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBBoardStatusLed_t cbFunc_p, void *pLedContext_p)
Register Board Status LED callback.
Definition: ecSlvApi_BoardStub.c:271
EC_SLV_APP_Sapplication::ptRxPdo1602
EC_API_SLV_SPdo_t * ptRxPdo1602
Definition: ecSlvCiA402.h:194
EC_SLV_APP_sCIA_object::objectIndex
uint16_t objectIndex
Definition: ecSlvCiA402.h:59
EC_SLV_APP_Sapplication::gpioHandle
void * gpioHandle
Definition: ecSlvSimple.h:72
EC_SLV_APP_sCIA_axisData::targetVelocityIndex
EC_SLV_APP_sCIA_object_t targetVelocityIndex
Definition: ecSlvCiA402.h:112
EC_API_SLV_CiA402_registerApplication
void EC_API_SLV_CiA402_registerApplication(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplApplication_t cbFunc_p)
CiA402 Servo Drive application.
Definition: ecSlvApi_CiA402Stub.c:223
EC_SLV_APP_cia402ObjectDictionary
uint32_t EC_SLV_APP_cia402ObjectDictionary(void *pContext_p)
Generate CiA402 Objects.
Definition: ESL_cia402Obd.c:82
EC_API_SLV_EEPROM_cbRegisterLoad
void EC_API_SLV_EEPROM_cbRegisterLoad(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBEepromLoad_t cbFunc_p)
Register a function lo load the eeprom content.
Definition: ecSlvApiStub.c:1523
EC_API_SLV_SPdo_t
struct EC_API_SLV_SPdo EC_API_SLV_SPdo_t
TPdo is used to describe the RxPDOs and TxPDOs.
Definition: ecSlvApi.h:126
EC_API_SLV_setPDICfg
uint32_t EC_API_SLV_setPDICfg(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t pdiControl_p, uint16_t pdiConfig_p)
Set PDI Configuration.
Definition: ecSlvApi_ParamStub.c:508
EC_SLV_APP_sCIA_axisData::statusWordIndex
EC_SLV_APP_sCIA_object_t statusWordIndex
Definition: ecSlvCiA402.h:80
EC_SLV_APP_Sapplication::ptTxPdo1A00
EC_API_SLV_SPdo_t * ptTxPdo1A00
Definition: ecSlvSimple.h:94
EC_SLV_APP_sCIA_axisData::targetPositionIndex
EC_SLV_APP_sCIA_object_t targetPositionIndex
Definition: ecSlvCiA402.h:107
EC_SLV_APP_populateTxPDO
EC_API_EError_t EC_SLV_APP_populateTxPDO(EC_SLV_APP_Sapplication_t *pApplicationInstannce_p)
Configure TX PDO entries.
Definition: ecSlvSimple.c:1710
EC_SLV_APP_Sapplication::CiA402_axisData
EC_SLV_APP_sCIA_axisData_t CiA402_axisData[AXES_NUMBER]
Definition: ecSlvCiA402.h:206
EC_SLV_APP_applicationInit
void EC_SLV_APP_applicationInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Initialize slave application example.
Definition: ecSlvCiA402.c:996
EC_SLV_APP_Sapplication::selectedPruInstance
uint32_t selectedPruInstance
Definition: ecSlvSimple.h:57
EC_API_SLV_run
uint32_t EC_API_SLV_run(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to run the EtherCAT Slave API.
Definition: ecSlvApiStub.c:726
EC_API_eERR_INVALID
@ EC_API_eERR_INVALID
Definition: ecApiError.h:73
EC_SLV_APP_sCIA_object::pdoObject
EC_API_SLV_SPdo_t * pdoObject
Definition: ecSlvCiA402.h:62
EC_API_SLV_cbRegisterFlashInit
void EC_API_SLV_cbRegisterFlashInit(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBInitFlash_t cbFunc_p)
Initialize flash memory block.
Definition: ecSlvApiStub.c:1610
EC_API_SLV_cbRegisterMeasurement
void EC_API_SLV_cbRegisterMeasurement(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBMsrmt_t cbFunc_p)
Initialize flash memory block.
Definition: ecSlvApiStub.c:1652
EC_API_SLV_PDO_create
uint32_t EC_API_SLV_PDO_create(EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pName_p, uint16_t mapIndex_p, EC_API_SLV_SPdo_t **pOutPdo_p)
Creates an empty PDO.
Definition: ecSlvApi_ProcDataStub.c:86
EC_API_SLV_setVendorId
uint32_t EC_API_SLV_setVendorId(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t vendorId_p)
Set device vendor ID. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:86
EC_API_SLV_SCoE_ObjEntry_t
struct EC_API_SLV_SCoE_ObjEntry EC_API_SLV_SCoE_ObjEntry_t
TSdoEntry describes an OBD Object Entry.
Definition: ecSlvApi.h:129
EC_API_SLV_ePRUICSS_INSTANCE_THREE
@ EC_API_SLV_ePRUICSS_INSTANCE_THREE
Definition: ecSlvApi.h:71
EC_API_SLV_setPDOSize
uint32_t EC_API_SLV_setPDOSize(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t maxPdOutSize_p, uint32_t maxPdInSize_p)
Set ProcessData Size Limits.
Definition: ecSlvApi_ParamStub.c:463
EC_SLV_APP_Sapplication::realPdoInLen
uint16_t realPdoInLen
Definition: ecSlvCiA402.h:205
EC_SLV_APP_sCIA_object::pdoObjectOffset
uint16_t pdoObjectOffset
Definition: ecSlvCiA402.h:63
EC_SLV_APP_Sapplication::ptEcSlvApi
EC_API_SLV_SHandle_t * ptEcSlvApi
Definition: ecSlvSimple.h:97
EC_API_SLV_setRevisionNumber
uint32_t EC_API_SLV_setRevisionNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t revisionNumber_p)
Set device revision number. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:182
EC_API_SLV_CiA402_setAxisNumber
void EC_API_SLV_CiA402_setAxisNumber(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint8_t axisNo_p)
Set number of servo axis. A Cia402 Device might support multiple axes.
Definition: ecSlvApi_CiA402Stub.c:310
EC_API_SLV_setProductCode
uint32_t EC_API_SLV_setProductCode(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t productCode_p)
Set device product code. Used by the EEPROM and Object Dictionary.
Definition: ecSlvApi_ParamStub.c:134
EC_SLV_APP_setObdValues
void EC_SLV_APP_setObdValues(void *pCtxt_p)
Set default values for CiA 402 object dictionary.
Definition: ESL_cia402Demo.c:443
EC_API_SLV_PDO_createEntry
uint32_t EC_API_SLV_PDO_createEntry(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, char *pName_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p)
This function maps an object entry from the Object Dictionary as a PDO.
Definition: ecSlvApi_ProcDataStub.c:270
EC_API_SLV_CiA402_registerLocalError
void EC_API_SLV_CiA402_registerLocalError(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplLocalError_t cbFunc_p)
Register a local error function, triggered if CiA402 state machine changes into an error state.
Definition: ecSlvApi_CiA402Stub.c:267
EC_SLV_APP_Sapplication::ptRxPdo1600
EC_API_SLV_SPdo_t * ptRxPdo1600
Definition: ecSlvSimple.h:92
EC_SLV_APP_initBoardFunctions
void EC_SLV_APP_initBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Init board.
Definition: ecSlvCiA402.c:850
EC_SLV_APP_Sapplication::realPdoOutLen
uint16_t realPdoOutLen
Definition: ecSlvCiA402.h:204
EC_SLV_APP_cia402Application
void EC_SLV_APP_cia402Application(void *pCtxt_p)
CiA402 Application function.
Definition: ESL_cia402Demo.c:871
EC_SLV_APP_sCIA_axisData::targetTorqueIndex
EC_SLV_APP_sCIA_object_t targetTorqueIndex
Definition: ecSlvCiA402.h:102
EC_API_SLV_setStandardMailbox
uint32_t EC_API_SLV_setStandardMailbox(EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t rxOffset_p, uint16_t rxSize_p, uint16_t txOffset_p, uint16_t txSize_p)
Set Standard Mailbox Configuration.
Definition: ecSlvApi_ParamStub.c:606
EC_SLV_APP_startInputHandler
EC_API_SLV_EUserRetCodes_t EC_SLV_APP_startInputHandler(void *ctxt, uint16_t *pIntMask)
Get cycle time information.
Definition: ESL_cia402Demo.c:247
EC_API_SLV_ePRUICSS_INSTANCE_ONE
@ EC_API_SLV_ePRUICSS_INSTANCE_ONE
Definition: ecSlvApi.h:69
EC_API_SLV_CiA402_registerSetDictValues
void EC_API_SLV_CiA402_registerSetDictValues(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CiA402_CBUsrApplSetDictValues_t cbFunc_p)
Register a function which sets the default values of the CiA402 related objects.
Definition: ecSlvApi_CiA402Stub.c:131
EC_API_eERR_NONE
@ EC_API_eERR_NONE
Definition: ecApiError.h:66
EC_SLV_APP_Sapplication::ptTxPdo1A02
EC_API_SLV_SPdo_t * ptTxPdo1A02
Definition: ecSlvCiA402.h:197
EC_API_SLV_new
EC_API_SLV_SHandle_t * EC_API_SLV_new(void)
This is the function to create a new EtherCAT Slave device instance.
Definition: ecSlvApiStub.c:536
EC_API_SLV_setDeviceType
uint32_t EC_API_SLV_setDeviceType(EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_EDevType_t devType_p)
Define EtherCAT Device Type. Identifies the slave as a standard slave, an EtherCAT servo drive suppor...
Definition: ecSlvApiStub.c:1437
EC_API_SLV_init
uint32_t EC_API_SLV_init(EC_API_SLV_SHandle_t *pEcSlaveApi_p)
This is the function to initialize the EtherCAT Slave API.
Definition: ecSlvApiStub.c:679
EC_SLV_APP_sCIA_axisData::velocityActualValueIndex
EC_SLV_APP_sCIA_object_t velocityActualValueIndex
Definition: ecSlvCiA402.h:97
EC_SLV_APP_cia402LocalError
void EC_SLV_APP_cia402LocalError(void *ctxt, uint16_t ErrorCode)
Local Error function handler.
Definition: ESL_cia402Demo.c:631
EC_API_SLV_EEPROM_cbRegisterWrite
void EC_API_SLV_EEPROM_cbRegisterWrite(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_CBEepromWrite_t cbFunc_p)
Register a function lo store the eeprom content.
Definition: ecSlvApiStub.c:1568
EC_SLV_APP_sCIA_axisData::modesOfOperationIndex
EC_SLV_APP_sCIA_object_t modesOfOperationIndex
Definition: ecSlvCiA402.h:86
EC_SLV_APP_sCIA_axisData::torqueActualValueIndex
EC_SLV_APP_sCIA_object_t torqueActualValueIndex
Definition: ecSlvCiA402.h:105