f2838x_cm_cia402_solution/ecatappl.c

/*
* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
* The corresponding license agreement applies. This hint shall not be removed.
* https://www.beckhoff.com/media/downloads/slave-stack-code/ethercat_ssc_license.pdf
*/

/**
\addtogroup EcatAppl EtherCAT application
@{
*/


/**
\file ecatappl.c
\author EthercatSSC@beckhoff.com
\brief Implementation
This file contains the Process Data interface

\version 5.13

<br>Changes to version V5.12:<br>
V5.13 CIA402 3: change define "CIA402_DEVICE" to "CiA402_SAMPLE_APPLICATION"<br>
V5.13 CIA402 4: decouple CIA402 state machine and application from ESM (according ETG.6010, clause 4)<br>
V5.13 COE4: update default entry name handling in case of 16Bit characters, add CoE Read/write indication functions<br>
V5.13 ECAT 5: check inputsize before calling PDO_InputMappingdo not call PDO_InputMapping in case of no available process data<br>
V5.13 ECAT 6: change input mapping trigger in case of DC Sync<br>
V5.13 ECAT1: handle Sync mapped to AL Event<br>
V5.13 ECAT4: set delay between EEPROM access retries to 10ms<br>
V5.13 EEPROM1: update eeprom reload in case of ESC 32Bit access (and the small eeprom emulation)<br>
V5.13 TEST6: add 0xA002 monitoring ob function calls<br>
<br>Changes to version V5.11:<br>
V5.12 APPL1: add optional application function called from the main loop (after mbx and esm are executed)<br>
V5.12 BOOT1: add a bootloader sample application (only the ESM and FoE is supported)<br>
V5.12 COE4: add timestamp object (0x10F8) and update diagnosis handling<br>
V5.12 ECAT1: update SM Parameter measurement (based on the system time), enhancement for input only devices and no mailbox support, use only 16Bit pointer in process data length caluclation<br>
V5.12 ECAT3: update PD monitoring variables even if the slave is not in OP, disable all interrupts in case that the pd handling is called from the mainloop<br>
V5.12 ECAT5: update Sync error counter/flag handling,check enum memory alignment depending on the processor,in case of a polled timer disable ESC interrupts during DC_CheckWatchdog<br>
V5.12 ECAT8: reset appl function pointer on startup, update timeout calculation during eeprom access<br>
V5.12 EEPROM1: get read size from register 0x502.6<br>
V5.12 EEPROM2: clear CRC Error bit only in case of a valid reload, write station alias only in case of an successful reload,handle full eeprom emlation relaod commands<br>
V5.12 EEPROM3: implement a store EEPROM timeout handler<br>
<br>Changes to version V5.10.1:<br>
V5.11 COE3: change 0x10F3.2 (Sync Error limit) from UINT32 to UINT16 (according to the ETG.1020)<br>
V5.11 ECAT1: update EEPROM access reset operation<br>
V5.11 ECAT10: change PROTO handling to prevent compiler errors<br>
V5.11 ECAT11: create application interface function pointer, add eeprom emulation interface functions<br>
V5.11 ECAT2: update EEPROM access retry cycle (add 10ms delay between two retry cycles)<br>
V5.11 ECAT3: handle bus cycle calculation for input/output only devices and create warning diag message only if calculation failed<br>
V5.11 ECAT4: enhance SM/Sync monitoring for input/output only slaves<br>
V5.11 ECAT6: add function to calculate bus cycle time<br>
V5.11 ECAT8: call PDO_InputMapping only once if DC is enabled and COE is not supported<br>
V5.11 EEPROM1: fix compiler error during pEEPROM pointer initialization<br>
V5.11 EEPROM2: write Station alias value to EEPROM data register on EEPROM reload command<br>
V5.11 EEPROM3: clear EEPROM error bits<br>
V5.11 EEPROM4: prevent the variable in the EEPROM busy loop to be removed by the compiler<br>
V5.11 ESM7: "add Sync define for 0x22 (""SYNCTYPE_SM2_SYNCHRON""), support value 0x22 for 0x1C33.1 (SM2 sync)"<br>
<br>Changes to version V5.01:<br>
V5.10 COE1: Define one entry description for all 0x1C3x objects and change data type of SI11,12,13 to UINT16 (according ETG.1020)<br>
V5.10 ECAT1: Correct calculation of blinking and flashing sequence<br>
V5.10 ECAT13: Update Synchronisation handling (FreeRun,SM Sync, Sync0, Sync1)<br>
              Compare DC UINT configuration (by ESC Config data) vs. DC activation register settings<br>
              Update 0x1C3x entries<br>
V5.10 ECAT2: Prevent EEPROM data null pointer access (if the pointer is null an command error is set)<br>
             EEPROM emulation return command error if unknown command was received<br>
V5.10 ECAT4: Update alignment macro for 8 to 15 bit alignments (16 and 32 Bit controllers)<br>
             Bugfix calculate LED blink frequency<br>
V5.10 ECAT7: Add "bInitFinished" to indicate if the initialization is complete<br>
V5.10 HW2: Change HW_GetTimer return value to UINT32<br>
<br>Changes to version V5.0:<br>
V5.01 APPL3: Include library demo application<br>
V5.01 ESC1: Change ESC access function (if EEPROM Emulation is active)<br>
V5.01 ESC2: Add missed value swapping<br>
<br>Changes to version V4.40:<br>
V5.0 TEST1: Add test application. See Application Note ET9300 for more details.<br>
V5.0 ECAT2: Application specific functions are moved to application files.<br>
V5.0 ECAT3: Global dummy variables used for dummy ESC operations.<br>
V5.0 ESC1: ESC 32Bit Access added.<br>
V5.0 ESC3: Add EEPROM emulation support.<br>
V5.0 ESM3: Handling pending ESM transitions.<br>
V5.0 ESC5: Enhance EEPROM access handling.<br>
V5.0 PDO1: AL Event flags are not rechecked in PDO_OutputMappping(). (Already checked before call function)<br>
V5.0 SYNC1: Add missed SM event indication (0x1C32/0x1C33 SI11).<br>
<br>Changes to version V4.30:<br>
V4.40 DIAG1: add diagnosis message support<br>
V4.40 PDO1: merge content of HW_InputMapping (spihw.c/mcihw.c) to PDO_InputMapping. merge content of HW_OutputMapping (spihw.c/mcihw.c) to PDO_OutputMapping.<br>
V4.40 PDO2: Generic process data length calculation<br>
V4.40 ECAT2: call cyclic CheckIfLocalError() to check the local flags<br>
V4.40 HW0: Generic hardware access functions. Add Function (PDI_Isr()), content merged from spihw.c and mcihw.c.<br>
V4.40 WD1: define (ESC_SM_WD_SUPPORTED) to choose ESC SyncManager watchdog or local watchdog<br>
V4.40 ESM2: Change state transition behaviour from SafeOP to OP<br>
V4.40 TIMER1: Change bus cycle time calculation and trigger of ECAT_CheckTimer() if ECAT_TIMER_INT is reset<br>
V4.40 HW1: Add support for fc1100 hardware<br>
<br>Changes to version V4.20:<br>
V4.30 EL9800: EL9800_x cyclic application is moved to el9800.c<br>
V4.30 OBJ 3:    add object dictionary initialization<br>
V4.30 SYNC: add CalcSMCycleTime() (calculation of bus cycle time); change synchronisation control functions<br>
V4.30 PDO: include PDO specific functions (moved from coeappl.c).<br>
               xxx_InputMapping(); xxx_OutputMapping(); xxx_ReadInputs(); xxx_ResetOutputs(); xxx_Application()<br>
V4.30 CiA402: Add CiA402_StateMachine() and CiA402_Application() call<br>
V4.20 DC 1: Add DC pending Statemachine handling<br>
V4.20 PIC24: Add EL9800_4 (PIC24) required source code<br>
V4.20 LED 1: Modified LED Handling<br>
V4.11 APPL 1: The checkWatchdog() function should not called in checkTimer() if this function is triggered by an Interrupt<br>
<br>Changes to version V4.08:<br>
V4.10 LED 1: The handling of the EtherCAT-Error-LED was added<br>
V4.10 AOE 3: The AoE fragment size has to be initialized during the state transition<br>
                 from INIT to PREOP<br>
<br>Changes to version V4.07:<br>
V4.08 LED 1: The handling of the EtherCAT-LED can be (de-)selected by the switch LEDS_SUPPORTED<br>
                 because the ET1100 and ET1200 have an output port which could be connected directly.<br>
<br>Changes to version V4.01:<br>
V4.02 ECAT 1: The watchdog timer variables shall be initialized.<br>
<br>Changes to version V4.00:<br>
V4.01 APPL 1: If the application is running in synchron mode and no SM event<br>
              is received, the application should be called from the main loop<br>
V4.01 APPL 2: In FreeRun mode the output should only be copied if the slave is in OP<br>
<br>Changes to version V3.20:<br>
V4.00 APPL 1: The watchdog checking should be done by a microcontroller<br>
                 timer because the watchdog trigger of the ESC will be reset too<br>
                 if only a part of the sync manager data is written<br>
V4.00 APPL 2: The setting of EtherCAT state LEDs were included<br>
V4.00 APPL 3: The outputs should be reset to a safe state,<br>
                   when the state OP is left<br>
V4.00 APPL 4: An example for the EEPROM access through the ESC is shown in<br>
                   the function APPL_StartMailboxHandler<br>
V4.00 APPL 5: The inputs should be read once when the state transition<br>
                   from PREOP to SAFEOP is made<br>
V4.00 APPL 6: The main function was split in MainInit and MainLoop
*/


/*-----------------------------------------------------------------------------------------
------
------    Includes
------
-----------------------------------------------------------------------------------------*/
#include "ecatslv.h"

#define    _ECATAPPL_ 1
#include "ecatappl.h"
#undef _ECATAPPL_
/*remove definition of _ECATAPPL_ (#ifdef is used in ecatappl.h)*/

#include "coeappl.h"


/*ET9300 Project Handler :(#if DIAGNOSIS_SUPPORTED) lines 148 to 150 deleted*/

#define _APPL_INTERFACE_ 1
#include "applInterface.h"
#undef _APPL_INTERFACE_

/*ECATCHANGE_START(V5.13) CIA402 3*/
/*ECATCHANGE_END(V5.13) CIA402 3*/
#include "cia402appl.h"
/*ET9300 Project Handler :(#elif EL9800_APPLICATION) lines 160 to 173 deleted*/



/*--------------------------------------------------------------------------------------
------
------    local Types and Defines
------
--------------------------------------------------------------------------------------*/

/*ET9300 Project Handler :(#if ESC_EEPROM_ACCESS_SUPPORT) lines 185 to 187 deleted*/

#ifndef ECAT_TIMER_INC_P_MS
/**
 * \todo Define the timer ticks per ms
 */
#warning "Define the timer ticks per ms"
#endif /* #ifndef ECAT_TIMER_INC_P_MS */



#define    MEASUREMENT_ACTIVE (((sSyncManOutPar.u16GetCycleTime & 0x1) == 0x1) || ((sSyncManInPar.u16GetCycleTime & 0x1) == 0x1))
/*ET9300 Project Handler :(#elif MAX_PD_OUTPUT_SIZE > 0) lines 204 to 210 deleted*/

/*-----------------------------------------------------------------------------------------
------
------    local variables and constants
------
-----------------------------------------------------------------------------------------*/
/*variables required to calculate values for SM Synchronisation objects (0x1C3x)*/

UINT32 u32CycleTimeStartValue; /** <\brief contains the timer start value to measure the application cycle (used in freerun and SM2 sync)*/

UINT32 u32MinCycleTimeStartValue; /** <\brief timeout counter in ms to measure the process timings (stored in 0x1C3x)*/

UINT32 u32SystemTimeReadFailure; /** <\brief System time measurement failure (the value is calculated on main init)*/

BOOL bMinCycleTimeMeasurementStarted; /** <\brief Indicates if the min cycle measurement is started*/

UINT32 u32MinCycleTimeValue; /** <\brief tmp value of the min cycle time during measurement*/



/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 237 to 241 deleted*/


UINT16             aPdOutputData[(MAX_PD_OUTPUT_SIZE>>1)];
UINT16           aPdInputData[(MAX_PD_INPUT_SIZE>>1)];

/*variables are declared in ecatslv.c*/
/*ET9300 Project Handler :(#if ESC_32BIT_ACCESS #elif ESC_16BIT_ACCESS) lines 252 to 256 deleted*/
    extern VARVOLATILE UINT8 u8dummy;

BOOL bInitFinished = FALSE; /** < \brief indicates if the initialization is finished*/

/*-----------------------------------------------------------------------------------------
------
------    local functions
------
-----------------------------------------------------------------------------------------*/
UINT32 GetSystemTimeDelay(UINT32 u32StartTime);
void HandleCycleTimeMeasurement(void);

/*-----------------------------------------------------------------------------------------
------
------    Functions
------
-----------------------------------------------------------------------------------------*/
/////////////////////////////////////////////////////////////////////////////////////////
/**
\brief      This function will copies the inputs from the local memory to the ESC memory
*////////////////////////////////////////////////////////////////////////////////////////
/*ET9300 Project Handler :(#if _PIC18 && AL_EVENT_ENABLED) lines 284 to 288 deleted*/
void PDO_InputMapping(void)
{

#if ((MIN_PD_CYCLE_TIME == 0) || (PD_INPUT_CALC_AND_COPY_TIME == 0))
    UINT32 u32TimeValue = 0;
    UINT16 ALEvent = HW_GetALEventRegister_Isr();
    ALEvent = SWAPWORD(ALEvent);

    if (MEASUREMENT_ACTIVE)
    {
        u32TimeValue = GetSystemTimeDelay(0);
    }
#endif /* ((MIN_PD_CYCLE_TIME == 0) || (PD_INPUT_CALC_AND_COPY_TIME == 0)) */






  
    APPL_InputMapping((UINT16*)aPdInputData);
    HW_EscWriteIsr(((MEM_ADDR *) aPdInputData), nEscAddrInputData, nPdInputSize );

    

#if ((MIN_PD_CYCLE_TIME == 0) || (PD_INPUT_CALC_AND_COPY_TIME == 0))

    if (MEASUREMENT_ACTIVE)
    {
        u32TimeValue = GetSystemTimeDelay(u32TimeValue);

#if (PD_INPUT_CALC_AND_COPY_TIME == 0)
        if (sSyncManInPar.u32CalcAndCopyTime < u32TimeValue)
        {
            sSyncManInPar.u32CalcAndCopyTime = u32TimeValue;
        }
#endif

#if (MIN_PD_CYCLE_TIME == 0)
        /* handle the min cycle time measurement only if a new cycle was started (prevent measurement failures if the get cycle time bit is set within a process data cycle)*/
        if (bMinCycleTimeMeasurementStarted == TRUE)
        {

            /* add input mapping time to the min cycle time*/
            u32MinCycleTimeValue = u32MinCycleTimeValue + u32TimeValue;


            if (sSyncManOutPar.u32MinCycleTime < u32MinCycleTimeValue)
            {
                    sSyncManOutPar.u32MinCycleTime = u32MinCycleTimeValue;
            }

            if (sSyncManInPar.u32MinCycleTime < u32MinCycleTimeValue)
            {
                    sSyncManInPar.u32MinCycleTime = u32MinCycleTimeValue;
            }

            bMinCycleTimeMeasurementStarted = FALSE;
        }
#endif /* (MIN_PD_CYCLE_TIME == 0) */
    }

#endif /* ((MIN_PD_CYCLE_TIME == 0) || (PD_INPUT_CALC_AND_COPY_TIME == 0)) */

}
/////////////////////////////////////////////////////////////////////////////////////////
/**
\brief    This function will copies the outputs from the ESC memory to the local memory.
        This function is only called in case of an SM2 (output process data) event.
*////////////////////////////////////////////////////////////////////////////////////////
/*ET9300 Project Handler :(#if _PIC18 && AL_EVENT_ENABLED) lines 371 to 375 deleted*/
void PDO_OutputMapping(void)
{
   UINT32 u32TimeValue = 0;
   if (MEASUREMENT_ACTIVE)
   {
#if ((MIN_PD_CYCLE_TIME == 0) || (PD_OUTPUT_CALC_AND_COPY_TIME == 0))
      u32TimeValue = GetSystemTimeDelay(0);
      u32MinCycleTimeStartValue = u32TimeValue;

      bMinCycleTimeMeasurementStarted = TRUE;
      u32MinCycleTimeValue = 0;

#endif /* ((MIN_PD_CYCLE_TIME == 0) || (PD_OUTPUT_CALC_AND_COPY_TIME == 0)) */

      HandleCycleTimeMeasurement();

   }

    HW_EscReadIsr(((MEM_ADDR *)aPdOutputData), nEscAddrOutputData, nPdOutputSize );
    APPL_OutputMapping((UINT16*) aPdOutputData);


#if ((MIN_PD_CYCLE_TIME == 0) || (PD_OUTPUT_CALC_AND_COPY_TIME == 0))
    if (MEASUREMENT_ACTIVE)
    {
       u32TimeValue = GetSystemTimeDelay(u32TimeValue);

#if (PD_OUTPUT_CALC_AND_COPY_TIME == 0)
       if (sSyncManOutPar.u32CalcAndCopyTime < u32TimeValue)
       {
          sSyncManOutPar.u32CalcAndCopyTime = u32TimeValue;
       }
#endif

#if (MIN_PD_CYCLE_TIME == 0)
       /* add the first part of the min cycle time */
       u32MinCycleTimeValue = u32TimeValue;
#endif
    }
#endif /* #if ((MIN_PD_CYCLE_TIME == 0) || (PD_OUTPUT_CALC_AND_COPY_TIME == 0)) */
}

/////////////////////////////////////////////////////////////////////////////////////////
/**
 \brief    This function shall be called every 1ms.
 \brief If the switch ECAT_TIMER_INT is 0, the watchdog control is implemented without using
 \brief interrupts. In this case a local timer register is checked every ECAT_Main cycle
 \brief and the function is triggered if 1 ms is elapsed
 *////////////////////////////////////////////////////////////////////////////////////////

void ECAT_CheckTimer(void)
{

    /*decrement the state transition timeout counter*/
    if(bEcatWaitForAlControlRes &&  (EsmTimeoutCounter > 0))
    {
        EsmTimeoutCounter--;
    }

/*ET9300 Project Handler :(#if !ESC_SM_WD_SUPPORTED) lines 444 to 449 deleted*/

    ECAT_SetLedIndication();

    DC_CheckWatchdog();

/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 459 to 478 deleted*/


/*ECATCHANGE_START(V5.13) */
    /* Increment the counter every ms between two updates based on the system time (32Bit overrun is handled in COE_SyncTimeStamp) */
    if (!b32BitDc || ((u64Timestamp & 0xFFFFFFFF) <= 4293000000UL))
/*ECATCHANGE_END(V5.13) */
    {

        /* the timestamp is stored in ns */
        u64Timestamp = u64Timestamp + 1000000;

    }
    else if(b32BitDc)
    {
        /* in case of a 32Bit DC and almost expired time stamp check for a DC overrun*/
        u32CheckForDcOverrunCnt = CHECK_DC_OVERRUN_IN_MS;
    }

    u32CheckForDcOverrunCnt++;


/*ET9300 Project Handler :(#if TEST_APPLICATION && COE_SUPPORTED) lines 508 to 512 deleted*/
}

/////////////////////////////////////////////////////////////////////////////////////////
/**
\brief    In case of non DC synchronization the cycle time measurement is started and 0x1C3.2 (Cycle time) is updated
*////////////////////////////////////////////////////////////////////////////////////////
void HandleCycleTimeMeasurement(void)
{
    if (!bDcSyncActive) //no DC sync configured (cycle time measurement 0x1C3x.2 is only available in no DC sync modes)
    {
        if (u32CycleTimeStartValue > 0)
        {
            /* bus cycle completed*/
            u32CycleTimeStartValue = GetSystemTimeDelay(u32CycleTimeStartValue);

            if ((sSyncManOutPar.u32CycleTime == 0) || (sSyncManOutPar.u32CycleTime > u32CycleTimeStartValue))
            {
                    sSyncManOutPar.u32CycleTime = u32CycleTimeStartValue;
            }

            if ((sSyncManInPar.u32CycleTime == 0) || (sSyncManInPar.u32CycleTime > u32CycleTimeStartValue))
            {
                    sSyncManInPar.u32CycleTime = u32CycleTimeStartValue;
            }
        }
        /* get next start value */
        u32CycleTimeStartValue = GetSystemTimeDelay(0);
        
    }/* No DC sync configured */
}

/////////////////////////////////////////////////////////////////////////////////////////
/**
\param    u32StartTime  Old system time (0x910:0x913) value 

\return   System time delta in ns

\brief    Calculates the difference between the old and current system time value in ns.
          NOTE: This function only handles a 32Bit system time values (therefore the maximum delay about 4sec).
*////////////////////////////////////////////////////////////////////////////////////////

UINT32 GetSystemTimeDelay(UINT32 u32StartTime)
{
   UINT32 u32CurValue = 0;
   UINT32 u32Delta = 0;

   
   HW_EscReadDWordIsr(u32CurValue, ESC_SYSTEMTIME_OFFSET);

   if (u32CurValue > 0)
   {
      if (u32StartTime <= u32CurValue)
      {
         u32Delta = u32CurValue - u32StartTime;
      }
      else
      {
         //The 32Bit timer is wrapped around
         u32Delta = u32CurValue + (0xFFFFFFFF - u32StartTime);
      }
   }// current value successfully read out

   if (u32StartTime > 0)
   {

       /*the difference between two timestamps are calculated => subtract measurement failure*/
       if (u32SystemTimeReadFailure < u32Delta)
       {
           u32Delta = u32Delta - u32SystemTimeReadFailure;
       }
       else
       {
           /*set the delta to 0 if the measurement failure is greater than the calculated difference*/
           u32Delta = 0;
       }
   }
   return u32Delta;
}

/*ECATCHANGE_START(V5.13) ECAT1*/
/*ECATCHANGE_END(V5.13) ECAT1*/
/*ET9300 Project Handler :(#if _PIC18) lines 603 to 607 deleted*/
void PDI_Isr(void)
{
    /*ECATCHANGE_START(V5.13) ECAT1*/
    BOOL SyncAcknowledgePending = FALSE;

    /* get the AL event register */
    UINT16  ALEvent = HW_GetALEventRegister_Isr();
    ALEvent = SWAPWORD(ALEvent);


    /* Check if Sync1 Isr has to be called */

    if (ALEvent & SYNC1_EVENT)
    {
        Sync1_Isr();

        SyncAcknowledgePending = TRUE;
    }
    /*ECATCHANGE_END(V5.13) ECAT1*/
    

    if(bEscIntEnabled)
    {
        if ( ALEvent & PROCESS_OUTPUT_EVENT )
        {
            if(bDcRunning && bDcSyncActive)
            {
                /* Reset SM/Sync0 counter. Will be incremented on every Sync0 event*/
                u16SmSync0Counter = 0;
            }
            if(sSyncManOutPar.u16SmEventMissedCounter > 0)
            {
                sSyncManOutPar.u16SmEventMissedCounter--;
            }

            sSyncManInPar.u16SmEventMissedCounter = sSyncManOutPar.u16SmEventMissedCounter;

/*ET9300 Project Handler :(#if COE_SUPPORTED #else) lines 654 to 659 deleted*/


        /* Outputs were updated, set flag for watchdog monitoring */
        bEcatFirstOutputsReceived = TRUE;

/*ET9300 Project Handler :(#if !ESC_SM_WD_SUPPORTED) lines 666 to 669 deleted*/

        /*
            handle output process data event
        */
        if ( bEcatOutputUpdateRunning )
        {
            /* slave is in OP, update the outputs */
            PDO_OutputMapping();
        }
        else
        {
            /* Just acknowledge the process data event in the INIT,PreOP and SafeOP state */
/*ET9300 Project Handler :(#if ESC_32BIT_ACCESS #elif ESC_16BIT_ACCESS) lines 682 to 688 deleted*/
            HW_EscReadByteIsr(u8dummy,nEscAddrOutputData);
            HW_EscReadByteIsr(u8dummy,(nEscAddrOutputData+nPdOutputSize-1));
        }
        }
/*ET9300 Project Handler :(#elif MAX_PD_INPUT_SIZE > 0) lines 694 to 718 deleted*/

        /*
            Call ECAT_Application() in SM Sync mode
        */
        if (sSyncManOutPar.u16SyncType == SYNCTYPE_SM_SYNCHRON)
        {
            /* The Application is synchronized to process data Sync Manager event*/
            ECAT_Application();
        }
/*ET9300 Project Handler :(#elif MAX_PD_INPUT_SIZE > 0) lines 730 to 736 deleted*/
/*ET9300 Project Handler :(#if COE_SUPPORTED #else) lines 737 to 744 deleted*/

/*ECATCHANGE_START(V5.13) ECAT 5*/
    if ( (bEcatInputUpdateRunning == TRUE) && (nPdInputSize > 0)
/*ECATCHANGE_END(V5.13) ECAT 5*/
       && ((sSyncManInPar.u16SyncType == SYNCTYPE_SM_SYNCHRON) || (sSyncManInPar.u16SyncType == SYNCTYPE_SM2_SYNCHRON))
/*ET9300 Project Handler :(#if COE_SUPPORTED #else) lines 752 to 754 deleted*/
        )
    {
        /* EtherCAT slave is at least in SAFE-OPERATIONAL, update inputs */
        PDO_InputMapping();
    }

    /*
      Check if cycle exceed
    */
    /*if next SM event was triggered during runtime increment cycle exceed counter*/
    ALEvent = HW_GetALEventRegister_Isr();
    ALEvent = SWAPWORD(ALEvent);

    if ( ALEvent & PROCESS_OUTPUT_EVENT )
    {
        sSyncManOutPar.u16CycleExceededCounter++;
        sSyncManInPar.u16CycleExceededCounter = sSyncManOutPar.u16CycleExceededCounter;

      /* Acknowledge the process data event*/
/*ET9300 Project Handler :(#if ESC_32BIT_ACCESS #elif ESC_16BIT_ACCESS) lines 780 to 786 deleted*/
            HW_EscReadByteIsr(u8dummy,nEscAddrOutputData);
            HW_EscReadByteIsr(u8dummy,(nEscAddrOutputData+nPdOutputSize-1));
    }
/*ET9300 Project Handler :(#elif MAX_PD_INPUT_SIZE > 0) lines 791 to 811 deleted*/
    } //if(bEscIntEnabled)

      /*ECATCHANGE_START(V5.13) ECAT1*/
    if (ALEvent & SYNC0_EVENT)
    {
        Sync0_Isr();

        SyncAcknowledgePending = TRUE;
    }

    /* Read Sync0/1 Status Register to acknowledge the event bit in the AL Event register */
    if (SyncAcknowledgePending)
    {
        volatile UINT32 SyncState = 0;
        HW_EscReadDWord(SyncState, ESC_DC_SYNC_STATUS);

    }
    /*ECATCHANGE_END(V5.13) ECAT1*/

    COE_UpdateSyncErrorStatus();

}

void Sync0_Isr(void)
{
     Sync0WdCounter = 0;

    if(bDcSyncActive)
    {
/*ECATCHANGE_START(V5.13) ECAT 6*/
        BOOL bCallInputMapping = FALSE;
/*ECATCHANGE_END(V5.13) ECAT 6*/
/*ET9300 Project Handler :(#if !AL_EVENT_ENABLED) lines 853 to 896 deleted*/

/*ECATCHANGE_START(V5.13) ECAT 6*/
        if ((bEcatInputUpdateRunning == TRUE) && (LatchInputSync0Value > 0) && (nPdInputSize > 0))
        {
            if(LatchInputSync0Value > LatchInputSync0Counter) /* Inputs shall be latched on a specific Sync0 event */
            {
                LatchInputSync0Counter++;
            }

            if (LatchInputSync0Value == LatchInputSync0Counter)
            {
                bCallInputMapping = TRUE;
            }
        }
/*ECATCHANGE_END(V5.13) ECAT 6*/

        if(u16SmSync0Value > 0)
        {
           /* Check if Sm-Sync sequence is invalid */
           if (u16SmSync0Counter > u16SmSync0Value)
           {
              if ((nPdOutputSize > 0) && (sSyncManOutPar.u16SmEventMissedCounter <= sErrorSettings.u16SyncErrorCounterLimit))
              {
                 sSyncManOutPar.u16SmEventMissedCounter = sSyncManOutPar.u16SmEventMissedCounter + 3;
              }

               if ((nPdInputSize > 0) && (nPdOutputSize == 0) && (sSyncManInPar.u16SmEventMissedCounter <= sErrorSettings.u16SyncErrorCounterLimit))
               {
                   sSyncManInPar.u16SmEventMissedCounter = sSyncManInPar.u16SmEventMissedCounter + 3;
               }

/*ET9300 Project Handler :(#if COE_SUPPORTED #else) lines 937 to 942 deleted*/
           } // if (u16SmSync0Counter > u16SmSync0Value)

           
           if ((nPdOutputSize == 0) && (nPdInputSize > 0))
           {
              /* Input only with DC, check if the last input data was read*/
              UINT16  ALEvent = HW_GetALEventRegister_Isr();
              ALEvent = SWAPWORD(ALEvent);

              if ((ALEvent & PROCESS_INPUT_EVENT) == 0)
              {

                 /* no input data was read by the master, increment the sm missed counter*/
                if (u16SmSync0Counter <= u16SmSync0Value)
                {
                    u16SmSync0Counter++;
                }
              }
              else
              {
                 /* Reset SM/Sync0 counter*/
                 u16SmSync0Counter = 0;

                 sSyncManInPar.u16SmEventMissedCounter = 0;
/*ET9300 Project Handler :(#if COE_SUPPORTED #else) lines 970 to 972 deleted*/

              }
           }
           else if (u16SmSync0Counter <= u16SmSync0Value)
           {

               u16SmSync0Counter++;
           }
        }//SM -Sync monitoring enabled


        /* Application is synchronized to SYNC0 event*/
        ECAT_Application();

/*ECATCHANGE_START(V5.13) ECAT 6*/
        if (bCallInputMapping == TRUE)
        {
            /* EtherCAT slave is at least in SAFE-OPERATIONAL, update inputs */
            PDO_InputMapping();

            if(LatchInputSync0Value == 1)
            {
                /* if inputs are latched on every Sync0 event (otherwise the counter is reset on the next Sync1 event) */
                LatchInputSync0Counter = 0;
            }
        }
/*ECATCHANGE_END(V5.13) ECAT 6*/

    }

    COE_UpdateSyncErrorStatus();

}

void Sync1_Isr(void)
{
    Sync1WdCounter = 0;

    /*ECATCHANGE_START(V5.13) ECAT 5*/
    if ( (bEcatInputUpdateRunning == TRUE) && (nPdInputSize > 0)
/*ECATCHANGE_END(V5.13) ECAT 5*/
            && (sSyncManInPar.u16SyncType == SYNCTYPE_DCSYNC1)
            && (LatchInputSync0Value == 0)) /* Inputs are latched on Sync1 (LatchInputSync0Value == 0), if LatchInputSync0Value > 0 inputs are latched with Sync0 */
        {
            /* EtherCAT slave is at least in SAFE-OPERATIONAL, update inputs */
            PDO_InputMapping();
        }

        /* Reset Sync0 latch counter (to start next Sync0 latch cycle) */
        LatchInputSync0Counter = 0;
}
/////////////////////////////////////////////////////////////////////////////////////////
/**

 \brief    This function shall called within a 1ms cycle.
        Set Run and Error Led depending on the Led state

*////////////////////////////////////////////////////////////////////////////////////////
void ECAT_SetLedIndication(void)
{
    static UINT16 ms = 0;
    static UINT16 RunCounter = 0;
    static UINT16 ErrorCounter = 0;

    static UINT8 u8PrevErrorLed = LED_OFF ;
    static UINT8 u8PrevRunLed = LED_OFF ;

    // this code should be called every ms in average
    if ( bEcatOutputUpdateRunning )
    {
        // in OP the EtherCAT state LED is always 1 and ErrorLED is 0
        bEtherCATRunLed = TRUE;
        bEtherCATErrorLed = FALSE;
    }
    else
    {
        ms++;
        if(ms == 50 || ms == 100 ||ms == 150 ||ms == 200)    //set flickering LED if required
        {
            /*Set run Led State*/
            switch ( nAlStatus & STATE_MASK)
            {
            case STATE_INIT:
                // in INIT the EtherCAT state LED is off
                u8EcatRunLed = LED_OFF;
                break;
            case STATE_PREOP:
                // in PREOP the EtherCAT state LED toggles every 200 ms
                u8EcatRunLed = LED_BLINKING;
                break;
            case STATE_SAFEOP:
                // in SAFEOP the EtherCAT state LED is 200 ms on and 1s off
                u8EcatRunLed = LED_SINGLEFLASH;
                break;
            case STATE_OP:
                u8EcatRunLed = LED_ON;
                break;
            case STATE_BOOT:
                u8EcatRunLed = LED_FLICKERING;
                break;
            default:
                u8EcatRunLed = LED_OFF;
            break;
            }//switch nAlStatus

            /*Calculate current Run LED state*/
            if((u8EcatRunLed & 0x20) || ms == 200)    //if fast flag or slow cycle event
            {
                UINT8 NumFlashes = 0;
                if ((u8EcatRunLed  & 0x1F) > 0)
                {
                    NumFlashes = (u8EcatRunLed & 0x1F)+((u8EcatRunLed & 0x1F)-1);    //total number
                }

                /*generate LED code*/
                if(u8EcatRunLed != u8PrevRunLed)    //state changed start with active LED
                {
                    if(u8EcatRunLed & 0x80)    //invert flag enable?
                    {
                            bEtherCATRunLed = FALSE;
                    }
                    else
                    {
                        bEtherCATRunLed = TRUE;
                    }

                    RunCounter = 1;
                }
                else    //second and following LED cycle
                {
                    if(u8EcatRunLed & 0x40)    //toggle LED bit on
                    {
                        bEtherCATRunLed = !bEtherCATRunLed;

                        if(NumFlashes)    //NumFlashes defined => limited LED toggle
                        {
                            RunCounter++;

                            if(RunCounter > NumFlashes)    //toggle led finished
                            {
                                if(u8EcatRunLed & 0x80)    //invert flag enable?
                                {
                                    bEtherCATRunLed = TRUE;
                                }
                                else
                                {
                                    bEtherCATRunLed = FALSE;
                                }

                                if(RunCounter >= (NumFlashes+5))        //toggle time + 5 cycles low
                                {
                                    RunCounter = 0;
                                }
                            }
                        }
                    }
                    else
                    {
                        bEtherCATRunLed = (u8EcatRunLed & 0x01);
                    }
                }
                u8PrevRunLed = u8EcatRunLed;
            }

            /*Calculate current Error LED state*/
            if((u8EcatErrorLed & 0x20) || ms == 200)    //if fast flag or slow cycle event
            {
                UINT8 NumFlashes = 0;
                if ((u8EcatErrorLed  & 0x1F) > 0)
                {
                    NumFlashes = (u8EcatErrorLed & 0x1F)+((u8EcatErrorLed & 0x1F)-1);    //total number
                }

                /*generate LED code*/
                if(u8EcatErrorLed != u8PrevErrorLed)    //state changed start with active LED
                {
                    if(u8EcatErrorLed & 0x80)    //invert flag enable?
                    {
                        bEtherCATErrorLed = FALSE;
                    }
                    else
                    {
                        bEtherCATErrorLed = TRUE;
                    }

                    ErrorCounter = 1;
                }
                else    //second and following LED cycle
                {
                    if(u8EcatErrorLed & 0x40)    //toggle LED bit on
                    {
                        bEtherCATErrorLed = !bEtherCATErrorLed;

                        if(NumFlashes)    //NumFlashes defined => limited LED toggle
                        {
                            ErrorCounter++;

                            if(ErrorCounter > NumFlashes)    //toggle led finished
                            {
                                if(u8EcatErrorLed & 0x80)    //invert flag enable?
                                {
                                    bEtherCATErrorLed = TRUE;
                                }
                                else
                                {
                                    bEtherCATErrorLed = FALSE;
                                }
                                
                                if(ErrorCounter >= (NumFlashes+5))        //toggle time + 5 cycles low
                                {
                                    ErrorCounter = 0;
                                }
                            }
                        }
                    }
                    else
                    {
                        bEtherCATErrorLed = (u8EcatErrorLed & 0x01);
                    }
                }

                u8PrevErrorLed = u8EcatErrorLed;
            }

            if(ms == 200)
            {
                ms = 0;
            }
        }
    }    

    /* set the EtherCAT-LED */
    HW_SetLed(((UINT8)bEtherCATRunLed),((UINT8)bEtherCATErrorLed)); // TODO: AMG: !Led Blink!
    }
/////////////////////////////////////////////////////////////////////////////////////////
/**
 \param     pObjectDictionary   Pointer to application specific object dictionary.
                                NULL if no specific object are available.
\return     0 if initialization was successful

 \brief    This function initialize the EtherCAT Sample Code

*////////////////////////////////////////////////////////////////////////////////////////

UINT16 MainInit(void)
{
    UINT16 Error = 0;
/*Hardware init function need to be called from the application layer*/

#ifdef SET_EEPROM_PTR
    SET_EEPROM_PTR
#endif


/* Reset application function pointer*/
/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 1240 to 1245 deleted*/


/*ET9300 Project Handler :(#if EOE_SUPPORTED) lines 1248 to 1251 deleted*/

    pAPPL_FoeRead = NULL;
    pAPPL_FoeReadData = NULL;
    pAPPL_FoeError = NULL;
    pAPPL_FoeWrite = NULL;
    pAPPL_FoeWriteData = NULL;

    /* ECATCHANGE_START(V5.13) COE4*/
    pAPPL_CoeReadInd = NULL;
    pAPPL_CoeWriteInd = NULL;
    /* ECATCHANGE_END(V5.13) COE4*/

    pAPPL_MainLoop = NULL;

    /* initialize the EtherCAT Slave Interface */
    ECAT_Init();
    /* initialize the objects */
    COE_ObjInit();

/*ET9300 Project Handler :(#if DIAGNOSIS_SUPPORTED) lines 1277 to 1280 deleted*/

/*ET9300 Project Handler :(#if ESC_EEPROM_ACCESS_SUPPORT) lines 1282 to 1315 deleted*/
    /*indicate that the slave stack initialization finished*/
    bInitFinished = TRUE;


    bMinCycleTimeMeasurementStarted = FALSE;
    u32CycleTimeStartValue = 0;
    u32MinCycleTimeStartValue = 0;

    u32SystemTimeReadFailure = 0;

    /* Get the System Time read failure */
    {
       UINT32 u32TimeValue = 0;
       UINT32 u32Cnt = 0;
       UINT32 u32Delta = 0;

       while (u32Cnt < 1000)
       {
           HW_EscReadDWordIsr(u32TimeValue, ESC_SYSTEMTIME_OFFSET);
           HW_EscReadDWordIsr(u32Delta, ESC_SYSTEMTIME_OFFSET);

            if (u32TimeValue <= u32Delta)
            {
                    u32Delta = u32Delta - u32TimeValue;
            }
            else
            {
                //The 32Bit timer is wrapped around
                u32Delta = u32Delta + (0xFFFFFFFF - u32TimeValue);
            }


            if (u32SystemTimeReadFailure == 0)
            {
                u32SystemTimeReadFailure = u32Delta;
            }
            else if (u32SystemTimeReadFailure > u32Delta)
            {
                u32SystemTimeReadFailure = u32Delta;
            }

          u32Cnt++;
       }
    
    }



/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 1368 to 1391 deleted*/

/*Application Init need to be called from the application layer*/
     return Error;
}


/////////////////////////////////////////////////////////////////////////////////////////
/**

 \brief    This function shall be called cyclically from main

*////////////////////////////////////////////////////////////////////////////////////////

void MainLoop(void)
{
    
    /*return if initialization not finished, либо проверка завершения */
    if(bInitFinished == FALSE)
    {
        return;
    }



        /* FreeRun-Mode:  bEscIntEnabled = FALSE, bDcSyncActive = FALSE
           Synchron-Mode: bEscIntEnabled = TRUE,  bDcSyncActive = FALSE
           DC-Mode:       bEscIntEnabled = TRUE,  bDcSyncActive = TRUE */
        if (
            (!bEscIntEnabled || !bEcatFirstOutputsReceived)     /* SM-Synchronous, but not SM-event received */
/*ET9300 Project Handler :(#if MAX_PD_OUTPUT_SIZE > 0 #else) lines 1422 to 1424 deleted*/
          && !bDcSyncActive                                               /* DC-Synchronous */
            )
        {
            /* if the application is running in ECAT Synchron Mode the function ECAT_Application is called
               from the ESC interrupt routine,
               in ECAT Synchron Mode it should be additionally checked, if the SM-event is received
               at least once (bEcatFirstOutputsReceived = 1), otherwise no interrupt is generated
               and the function ECAT_Application has to be called here (with interrupts disabled,
               because the SM-event could be generated while executing ECAT_Application) */
            if ( !bEscIntEnabled )
            {
                /* application is running in ECAT FreeRun Mode,
                   first we have to check, if outputs were received */
                UINT16 ALEvent = HW_GetALEventRegister();
                ALEvent = SWAPWORD(ALEvent);

                if ( ALEvent & PROCESS_OUTPUT_EVENT )
                {
                    /* set the flag for the state machine behavior */
                    bEcatFirstOutputsReceived = TRUE;
/*ET9300 Project Handler :(#if !ESC_SM_WD_SUPPORTED) lines 1448 to 1451 deleted*/
                    if ( bEcatOutputUpdateRunning )
                    {
                        /* update the outputs */
                        PDO_OutputMapping();
                    }
                }
                else if ( nPdOutputSize == 0 )
                {
                    /* if no outputs are transmitted, the watchdog must be reset, when the inputs were read */
                    if ( ALEvent & PROCESS_INPUT_EVENT )
                    {
                        /* Outputs were updated, set flag for watchdog monitoring */
                        bEcatFirstOutputsReceived = TRUE;
/*ET9300 Project Handler :(#if !ESC_SM_WD_SUPPORTED) lines 1466 to 1469 deleted*/
                    }
                }
            }

            DISABLE_ESC_INT();
             ECAT_Application();

/*ECATCHANGE_START(V5.13) ECAT 5*/
             if ( (bEcatInputUpdateRunning  == TRUE) && (nPdInputSize > 0))
/*ECATCHANGE_END(V5.13) ECAT 5*/
             {
                /* EtherCAT slave is at least in SAFE-OPERATIONAL, update inputs */
                PDO_InputMapping();
            }
            ENABLE_ESC_INT();
        }

        /* there is no interrupt routine for the hardware timer so check the timer register if the desired cycle elapsed*/
        {
            UINT32 CurTimer = (UINT32)HW_GetTimer();

            if(CurTimer >= ECAT_TIMER_INC_P_MS)
            {
                ECAT_CheckTimer();

                HW_ClearTimer();
            }
        }

        if (u32CheckForDcOverrunCnt >= CHECK_DC_OVERRUN_IN_MS)
        {
            COE_SyncTimeStamp();
        }

        /* call EtherCAT functions */
        ECAT_Main();  ///< здесь гаснет LED StatusOk

        /* call lower prior application part */
       COE_Main();
       CheckIfEcatError();

       /*ECATCHANGE_START(V5.13) CIA402 4*/
       /*decouple CIA402 state machine from ESM*/
       /*ECATCHANGE_END(V5.13) CIA402 4*/
        CiA402_StateMachine();

    if (pAPPL_MainLoop != NULL)
    {
        pAPPL_MainLoop();
    }
}

/*The main function was moved to the application files.*/
/////////////////////////////////////////////////////////////////////////////////////////
/**
 \brief    ECAT_Application (prev. SSC versions "COE_Application")
 this function calculates and the physical process signals and triggers the input mapping
*////////////////////////////////////////////////////////////////////////////////////////
/*ET9300 Project Handler :(#if _PIC18 && AL_EVENT_ENABLED) lines 1546 to 1550 deleted*/
void ECAT_Application(void)
{
#if (MIN_PD_CYCLE_TIME == 0)
    UINT32 u32TimeValue = 0;


    if (MEASUREMENT_ACTIVE)
    {
        u32TimeValue = GetSystemTimeDelay(0);

        if (nPdOutputSize == 0)
        {
            /* in case of an input only device the cycle starts with an ECAT_Application call*/

            u32MinCycleTimeStartValue = u32TimeValue;
            bMinCycleTimeMeasurementStarted = TRUE;
            u32MinCycleTimeValue = 0;
        }
    } /* measurement started*/
#endif /* (MIN_PD_CYCLE_TIME == 0)*/

    if (MEASUREMENT_ACTIVE)
    {
        if (nPdOutputSize == 0)
        {
            /* in case of an input only device the cycle starts with an ECAT_Application call*/
            HandleCycleTimeMeasurement();
        }
    }


    /*ECATCHANGE_START(V5.13) CIA402 4*/
    /*decouple CIA402 application from ESM*/
    /*ECATCHANGE_END(V5.13) CIA402 4*/
    APPL_Application();

/* PDO Input mapping is called from the specific trigger ISR */

#if (MIN_PD_CYCLE_TIME == 0)

    if (MEASUREMENT_ACTIVE)
    {
        u32TimeValue = GetSystemTimeDelay(u32TimeValue);


        /* handle the min cycle time measurement only if a new cycle was started (prevent measurement failures if the get cycle time bit is set within a process data cycle)*/
        if (bMinCycleTimeMeasurementStarted == TRUE)
        {

            /* add application execution time to the min cycle time*/
            u32MinCycleTimeValue = u32MinCycleTimeValue + u32TimeValue;

            if (nPdInputSize == 0)
            {
                /* In case of an output only device the cycle ends with an ECAT_Application call*/


                if (sSyncManOutPar.u32MinCycleTime < u32MinCycleTimeValue)
                {
                        sSyncManOutPar.u32MinCycleTime = u32MinCycleTimeValue;
                }

                if (sSyncManInPar.u32MinCycleTime < u32MinCycleTimeValue)
                {
                        sSyncManInPar.u32MinCycleTime = u32MinCycleTimeValue;
                }

                bMinCycleTimeMeasurementStarted = FALSE;
            }
        }

    }/* measurement started*/
#endif /* #if MIN_PD_CYCLE_TIME == 0 */
}

/*ET9300 Project Handler :(#if ESC_EEPROM_ACCESS_SUPPORT) lines 1644 to 2002 deleted*/

/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 2004 to 2224 deleted*/


/** @} */