CiA402 Application interface.
#if !(defined __ECSLVCIA402_H__)
#define __ECSLVCIA402_H__ 1
#include <osal.h>
#include <ecSlvApi.h>
#include <ESL_os.h>
#define AXES_NUMBER 3
{
{
{
{
#if (defined OSAL_FREERTOS)
TaskP_Params mainThreadParam;
#elif (defined OSAL_FREERTOS_JACINTO)
TaskP_Params mainThreadParam;
#else
#endif
#if (defined OSAL_LINUX)
struct stat buffer;
uint8_t foeValue;
#endif
#if (defined __cplusplus)
extern "C" {
#endif
#if (defined __cplusplus)
}
#endif
#endif
struct EC_API_SLV_SPdo EC_API_SLV_SPdo_t
TPdo is used to describe the RxPDOs and TxPDOs.
Definition: ecSlvApi.h:148
struct EC_API_SLV_SHandle EC_API_SLV_SHandle_t
EC_API_SLV_SHandle_t describes the EtherCAT Slave API.
Definition: ecSlvApi.h:157
struct EC_API_SLV_SCoE_ObjEntry EC_API_SLV_SCoE_ObjEntry_t
TSdoEntry describes an OBD Object Entry.
Definition: ecSlvApi.h:151
struct EC_API_SLV_SCoE_Object EC_API_SLV_SCoE_Object_t
TSdo describes an Object Dictionary Object.
Definition: ecSlvApi.h:154
void EC_SLV_APP_initBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Initialize board related functions.
Definition: ecSlvSimple.c:1951
void EC_SLV_APP_applicationDeInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Deinitialize application.
Definition: ecSlvSimple.c:2595
void EC_SLV_APP_registerStacklessBoardFunctions(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Register board related functions, which do not use stack handle.
Definition: ecSlvSimple.c:2015
void EC_SLV_APP_applicationInit(EC_SLV_APP_Sapplication_t *pAppInstance_p)
Initialize application.
Definition: ecSlvSimple.c:2426
EC_API_SLV_SPdo_t * ptTxPdo1A02
Definition: ecSlvCiA402.h:197
EC_API_SLV_SPdo_t * ptRxPdo1601
Definition: ecSlvSimple.h:93
void * mainThreadHandle
Definition: ecSlvSimple.h:67
uint8_t state
Definition: ecSlvSimple.h:83
clock_t diff
Definition: ecSlvSimple.h:85
uint16_t realPdoOutLen
Definition: ecSlvCiA402.h:204
uint8_t * pdRxBuffer
Definition: ecSlvCiA402.h:201
void * ioexpLedHandle
Definition: ecSlvSimple.h:74
void * loopThreadHandle
Definition: ecSlvSimple.h:69
EC_API_SLV_SPdo_t * ptRxPdo1600
Definition: ecSlvSimple.h:92
EC_API_SLV_SCoE_Object_t * pt2007RecObj
Definition: ecSlvSimple.h:89
uint16_t pdoOutLen
Definition: ecSlvCiA402.h:199
uint8_t * pdTxBuffer
Definition: ecSlvCiA402.h:202
int32_t trigger
Definition: ecSlvSimple.h:81
EC_API_SLV_SCoE_Object_t * pt200FRecObj
Definition: ecSlvSimple.h:90
uint16_t realPdoInLen
Definition: ecSlvCiA402.h:205
void * gpioHandle
Definition: ecSlvSimple.h:72
EC_API_SLV_SPdo_t * ptRxPdo1602
Definition: ecSlvCiA402.h:194
void * remoteHandle
Definition: ecSlvSimple.h:73
uint8_t rsvd[3]
Definition: ecSlvSimple.h:84
uint16_t pdoInLen
Definition: ecSlvCiA402.h:200
uint32_t selectedPruInstance
Definition: ecSlvSimple.h:57
EC_API_SLV_SCoE_Object_t * ptRecObjOut
Definition: ecSlvSimple.h:87
EC_API_SLV_SHandle_t * ptEcSlvApi
Definition: ecSlvSimple.h:97
EC_API_SLV_SCoE_Object_t * pt2002RecObj
Definition: ecSlvSimple.h:88
int32_t msec
Definition: ecSlvSimple.h:80
EC_API_SLV_SPdo_t * ptTxPdo1A01
Definition: ecSlvSimple.h:95
clock_t prev
Definition: ecSlvSimple.h:85
EC_SLV_APP_sCIA_axisData_t CiA402_axisData[AXES_NUMBER]
Definition: ecSlvCiA402.h:206
EC_API_SLV_SPdo_t * ptTxPdo1A00
Definition: ecSlvSimple.h:94
Definition: ecSlvSimple.h:56
EC_SLV_APP_sCIA_object_t statusWordIndex
Definition: ecSlvCiA402.h:80
uint32_t posLimitMin
Definition: ecSlvCiA402.h:151
EC_SLV_APP_sCIA_object_t targetTorqueIndex
Definition: ecSlvCiA402.h:102
EC_SLV_APP_sCIA_object_t targetVelocityIndex
Definition: ecSlvCiA402.h:112
EC_SLV_APP_sCIA_object_t faultReactionIndex
Definition: ecSlvCiA402.h:85
EC_SLV_APP_sCIA_object_t modesOfOperationDisplayIndex
Definition: ecSlvCiA402.h:87
EC_SLV_APP_sCIA_object_t targetPositionIndex
Definition: ecSlvCiA402.h:107
EC_SLV_APP_sCIA_object_t modesOfOperationIndex
Definition: ecSlvCiA402.h:86
EC_SLV_APP_sCIA_object_t velocityActualValueIndex
Definition: ecSlvCiA402.h:97
EC_SLV_APP_sCIA_object_t quickStopIndex
Definition: ecSlvCiA402.h:81
uint32_t posLimitMax
Definition: ecSlvCiA402.h:150
EC_SLV_APP_sCIA_objectEntry_t positionLimitMin
Definition: ecSlvCiA402.h:148
EC_SLV_APP_sCIA_object_t disableOperationIndex
Definition: ecSlvCiA402.h:83
EC_SLV_APP_sCIA_object_t controlWordIndex
Definition: ecSlvCiA402.h:79
EC_SLV_APP_sCIA_object_t supportedDriveModesIndex
Definition: ecSlvCiA402.h:145
EC_SLV_APP_sCIA_object_t torqueActualValueIndex
Definition: ecSlvCiA402.h:105
EC_SLV_APP_sCIA_object_t positionActualValueIndex
Definition: ecSlvCiA402.h:90
EC_SLV_APP_sCIA_objectEntry_t positionLimitMax
Definition: ecSlvCiA402.h:147
EC_SLV_APP_sCIA_object_t shutdownIndex
Definition: ecSlvCiA402.h:82
EC_SLV_APP_sCIA_object_t swPositionLimitIndex
Definition: ecSlvCiA402.h:110
Definition: ecSlvCiA402.h:77
uint16_t pdoOffset
Definition: ecSlvCiA402.h:64
EC_API_SLV_SPdo_t * pdoObject
Definition: ecSlvCiA402.h:62
EC_API_SLV_SCoE_Object_t * pSdo
Definition: ecSlvCiA402.h:60
uint16_t pdoObjectOffset
Definition: ecSlvCiA402.h:63
uint16_t objectIndex
Definition: ecSlvCiA402.h:59
EC_API_SLV_SCoE_ObjEntry_t * pObjetEntry
Definition: ecSlvCiA402.h:73
EC_API_SLV_SCoE_Object_t * pSdo
Definition: ecSlvCiA402.h:71
uint16_t objectIndex
Definition: ecSlvCiA402.h:69
uint8_t objectSubIndex
Definition: ecSlvCiA402.h:70
Definition: ecSlvCiA402.h:68
Definition: ecSlvCiA402.h:58