ecSlvCiA402.h

CiA402 Application interface.

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.

 
#if !(defined __ECSLVCIA402_H__)
#define __ECSLVCIA402_H__       1
 
#include <osal.h>
#include <ecSlvApi.h>
 
#include <ESL_os.h>
 
/*-----------------------------------------------------------------------------------------
------
------    Includes
------
-----------------------------------------------------------------------------------------*/
 
#define AXES_NUMBER     3
 
typedef struct EC_SLV_APP_sCIA_object
{
    uint16_t                        objectIndex;
    EC_API_SLV_SCoE_Object_t*       pSdo;
 
    EC_API_SLV_SPdo_t*              pdoObject;
    uint16_t                        pdoObjectOffset;
    uint16_t                        pdoOffset;
} EC_SLV_APP_sCIA_object_t;
 
typedef struct EC_SLV_APP_sCIA_objectEntry
{
    uint16_t                        objectIndex;
    uint8_t                         objectSubIndex;
    EC_API_SLV_SCoE_Object_t*       pSdo;
 
    EC_API_SLV_SCoE_ObjEntry_t*     pObjetEntry;
} EC_SLV_APP_sCIA_objectEntry_t;
 
typedef struct EC_SLV_APP_sCIA_axisData
{
    /*EC_SLV_APP_sCIA_object_t   abortConnectionOptionCodeIndex; not used */
    EC_SLV_APP_sCIA_object_t    controlWordIndex;
    EC_SLV_APP_sCIA_object_t    statusWordIndex;
    EC_SLV_APP_sCIA_object_t    quickStopIndex;
    EC_SLV_APP_sCIA_object_t    shutdownIndex;
    EC_SLV_APP_sCIA_object_t    disableOperationIndex;
    /* EC_SLV_APP_sCIA_object_t   haltOptionCodeIndex; not used */
    EC_SLV_APP_sCIA_object_t    faultReactionIndex;
    EC_SLV_APP_sCIA_object_t    modesOfOperationIndex;
    EC_SLV_APP_sCIA_object_t    modesOfOperationDisplayIndex;
    /* EC_SLV_APP_sCIA_object_t   positionDemandValueIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positionActualInternalValueIndex; not used */
    EC_SLV_APP_sCIA_object_t    positionActualValueIndex;
    /* EC_SLV_APP_sCIA_object_t   followingErrorWindowIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   followingErrorTimeoutIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positionWindowIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positionWindowTimeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocitySensorActualValueIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityDemandValueIndex; not used */
    EC_SLV_APP_sCIA_object_t    velocityActualValueIndex;
    /* EC_SLV_APP_sCIA_object_t   velocityWindowIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityWindowTimeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityThresholdIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityThresholdTimeIndex; not used */
    EC_SLV_APP_sCIA_object_t    targetTorqueIndex;
    /* EC_SLV_APP_sCIA_object_t   maxTorqueIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   torqueDemandIndex; not used */
    EC_SLV_APP_sCIA_object_t    torqueActualValueIndex;
    /* EC_SLV_APP_sCIA_object_t   currentActualValueIndex; not used */
    EC_SLV_APP_sCIA_object_t    targetPositionIndex;
    /* EC_SLV_APP_sCIA_object_t   positionRangeLimitIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   homeOffsetIndex; not used */
    EC_SLV_APP_sCIA_object_t    swPositionLimitIndex;
    /* EC_SLV_APP_sCIA_object_t   polarityIndex; not used */
    EC_SLV_APP_sCIA_object_t    targetVelocityIndex;
    /* EC_SLV_APP_sCIA_object_t   maxMotorSpeedIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   profileVelocityIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   profileAccelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   profileDecelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   quickStopDecelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   motionProfileTypeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positionEncoderResolutionIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   gearRatioIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   feedConstantIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityFactorIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   homingMethodIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   homingSpeedsIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   homingAccelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positionOffsetIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   velocityOffsetIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   torqueOffsetIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbeFunctionIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbeStatusIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe1PosEdgeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe1NegEdgeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe2PosEdgeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe2NegEdgeIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   interpolationTimePeriodIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   maxAccelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   maxDecelerationIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe1PosEdgeCntIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe1NegEdgeCntIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe2PosEdgeCntIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   touchProbe2NegEdgeCntIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   positiveTorqueLimitValueIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   negativeTorqueLimitValueIndex; not used */
    /* EC_SLV_APP_sCIA_object_t   followingErrorActualValueIndex; not used */
    EC_SLV_APP_sCIA_object_t    supportedDriveModesIndex;
 
    EC_SLV_APP_sCIA_objectEntry_t   positionLimitMax;
    EC_SLV_APP_sCIA_objectEntry_t   positionLimitMin;
 
    uint32_t                        posLimitMax;
    uint32_t                        posLimitMin;
 
} EC_SLV_APP_sCIA_axisData_t;
 
typedef struct EC_SLV_APP_Sapplication
{
    uint32_t                        selectedPruInstance;
 
    /* Threads */
#if (defined OSAL_FREERTOS) /* hard to resolve this OS dependency, keep it here */
    TaskP_Object                    mainThreadHandle;
    TaskP_Params                    mainThreadParam;
#elif (defined OSAL_FREERTOS_JACINTO) /* hard to resolve this OS dependency, keep it here */
    TaskP_Handle                    mainThreadHandle;
    TaskP_Params                    mainThreadParam;
#else
    void*                           mainThreadHandle;
#endif
    void*                           loopThreadHandle;
 
    /* Ressources */
    void*                           gpioHandle;
    void*                           remoteHandle;
    void*                           ioexpLedHandle;
 
#if (defined OSAL_LINUX)
    struct  stat                    buffer;
    uint8_t                         foeValue;
#endif
    int32_t                         msec,
                                    trigger;
 
    uint8_t                         state;
    uint8_t                         rsvd[3]; /* better be uint32_t aligned */
    clock_t                         prev, diff;
 
    EC_API_SLV_SCoE_Object_t*       ptRecObjOut;
    EC_API_SLV_SCoE_Object_t*       pt2002RecObj;
    EC_API_SLV_SCoE_Object_t*       pt2007RecObj;
    EC_API_SLV_SCoE_Object_t*       pt200FRecObj;
 
    EC_API_SLV_SPdo_t*              ptRxPdo1600;
    EC_API_SLV_SPdo_t*              ptRxPdo1601;
    EC_API_SLV_SPdo_t*              ptRxPdo1602;
    EC_API_SLV_SPdo_t*              ptTxPdo1A00;
    EC_API_SLV_SPdo_t*              ptTxPdo1A01;
    EC_API_SLV_SPdo_t*              ptTxPdo1A02;
 
    uint16_t                        pdoOutLen;
    uint16_t                        pdoInLen;
    uint8_t*                        pdRxBuffer;
    uint8_t*                        pdTxBuffer;
 
    uint16_t                        realPdoOutLen;
    uint16_t                        realPdoInLen;
    EC_SLV_APP_sCIA_axisData_t      CiA402_axisData[AXES_NUMBER];
 
    EC_API_SLV_SHandle_t*           ptEcSlvApi;
} EC_SLV_APP_Sapplication_t;
 
#if (defined __cplusplus)
extern "C" {
#endif
 
extern void EC_SLV_APP_initBoardFunctions             (EC_SLV_APP_Sapplication_t*     pAppInstance_p);
extern void EC_SLV_APP_registerStacklessBoardFunctions(EC_SLV_APP_Sapplication_t*     pAppInstance_p);
extern void EC_SLV_APP_applicationInit                (EC_SLV_APP_Sapplication_t*     pAppInstance_p);
extern void EC_SLV_APP_applicationDeInit              (EC_SLV_APP_Sapplication_t*     pAppInstance_p);
 
#if (defined __cplusplus)
}
#endif
 
#endif /* __ECSLVSIMPLE_H__ */