ecSubDeviceCiA402.h

CiA402 Application interface.

CiA402 Application interface.

Author

Texas Instruments Incorporated

Copyright

Copyright (C) 2021 Texas Instruments Incorporated

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

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

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.

Neither the name of Texas Instruments Incorporated 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 OWNER 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 PROTECT_ECSUBDEVICECIA402_H)
#define PROTECT_ECSUBDEVICECIA402_H       1
 
#include <osal.h>
#include <ecSlvApi.h>
 
#include <ESL_os.h>
 
/*-----------------------------------------------------------------------------------------
------
------    Includes
------
-----------------------------------------------------------------------------------------*/
 
#define AXES_NUMBER (3u)
 
/* if dynamic value change while OP is required, this costs 15usec per cycle ! */
#define     ENABLE_DYNAMIC_POSITION_LIMITS      0
 
#if (defined ENABLE_DYNAMIC_POSITION_LIMITS) && (0==ENABLE_DYNAMIC_POSITION_LIMITS) 
    #define MIN_AXIS_POSITION_LIMIT  (INT32_MIN)
    #define MAX_AXIS_POSITION_LIMIT  (INT32_MAX)
#endif
 
typedef struct EC_SLV_APP_sCIA_object
{
    uint16_t                        objectIndex;
    EC_API_SLV_SCoE_Object_t*       pSdo;
 
    EC_API_SLV_Pdo_t*               pdoObject;
    uint32_t                        pdoObjectOffset;
    uint32_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;
 
    int32_t                        posLimitMax;
    int32_t                        posLimitMin;
 
} EC_SLV_APP_sCIA_axisData_t;
 
typedef struct EC_SLV_APP_CIA_application
{
    uint32_t                        selectedPruInstance;
 
    /* Threads */
    TaskP_Object                    mainThreadHandle;
    TaskP_Params                    mainThreadParam;
    void*                           loopThreadHandle;
 
    /* Resources */
    void*                           gpioHandle;
    void*                           remoteHandle;
    void*                           ioexpLedHandle;
 
    int32_t                         msec;
    int32_t                         trigger;
 
    uint8_t                         state;
    uint8_t                         rsvd[3]; /* better be uint32_t aligned */
    clock_t                         prev;
    clock_t                         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_Pdo_t*               ptRxPdo1600;
    EC_API_SLV_Pdo_t*               ptRxPdo1601;
    EC_API_SLV_Pdo_t*               ptRxPdo1602;
    EC_API_SLV_Pdo_t*               ptTxPdo1A00;
    EC_API_SLV_Pdo_t*               ptTxPdo1A01;
    EC_API_SLV_Pdo_t*               ptTxPdo1A02;
 
    uint32_t                        pdoOutLen;
    uint32_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_CIA_Application_t;
 
#if (defined __cplusplus)
extern "C" {
#endif
 
extern void EC_SLV_APP_CIA_initBoardFunctions             (EC_SLV_APP_CIA_Application_t*     pAppInstance_p);
extern void EC_SLV_APP_CIA_registerStacklessBoardFunctions(EC_SLV_APP_CIA_Application_t*     pAppInstance_p);
extern void EC_SLV_APP_CIA_applicationInit                (EC_SLV_APP_CIA_Application_t*     pAppInstance_p);
 
#if (defined __cplusplus)
}
#endif
 
#endif /* PROTECT_ECSUBDEVICECIA402_H */