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ECAT_Slave_in_ПЧ2П_c402
0.8
Реализация EtherCAT Slave для CM TMS320F28388D
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ECAT_Slave_in_ПЧ2П_c402
0.8
Реализация EtherCAT Slave для CM TMS320F28388D
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Implementation This file contains all ciA402 specific functions. Подробнее...
#include "ecat_def.h"#include "applInterface.h"#include "esc.h"#include "coeappl.h"#include "sysctl.h"#include "cia402appl.h"Макросы | |
| #define | _CiA402_ |
| #define | ESC_PHY_ADDRESS_OFFSET 0x0512 |
| #define | ESC_PHY_REG_ADDRESS_OFFSET 0x0513 |
| #define | ESC_PHY_DATA_OFFSET 0x0514 |
| #define | ESC_MII_CTRL_STATUS_1_OFFSET 0x0510 |
| #define | ESC_MII_CTRL_STATUS_2_OFFSET 0x0511 |
| #define | ESC_MII_ECAT_ACCESS_OFFSET 0x0517 |
Функции | |
| UINT16 | CiA402_Init (void) |
| This function initializes the Axes structures. Подробнее... | |
| void | CiA402_DeallocateAxis (void) |
| CiA402_DeallocateAxis. Подробнее... | |
| void | CiA402_StateMachine (void) |
| CiA402-Statemachine This function handles the state machine for devices using the CiA402 profile. called cyclic from MainLoop() All described transition numbers are referring to the document "ETG Implementation Guideline for the CiA402 Axis Profile" located on the EtherCAT.org download section. Подробнее... | |
| void | CiA402_LocalError (UINT16 ErrorCode) |
| CiA402_LocalError. Подробнее... | |
| void | CiA402_DummyMotionControl (TCiA402Axis *pCiA402Axis) |
| CiA402_DummyMotionControl. Подробнее... | |
| BOOL | CiA402_TransitionAction (INT16 Characteristic, TCiA402Axis *pCiA402Axis) |
| CiA402-TransitionAction. Подробнее... | |
| void | CiA402_Application (TCiA402Axis *pCiA402Axis) |
| CiA402-Application. Подробнее... | |
| UINT8 | Write0xF030 (UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM *pData, UINT8 bCompleteAccess) |
| This function writes "Configured Modules" Object 0xF030. Подробнее... | |
| UINT16 | APPL_StartInputHandler (UINT16 *pIntMask) |
| The function is called in the state transition from PREOP to SAFEOP when all general settings were checked to start the input handler. This function informs the application about the state transition, the application can refuse the state transition when returning an AL Status error code. The return code NOERROR_INWORK can be used, if the application cannot confirm the state transition immediately, in that case the application need to be complete the transition by calling ECAT_StateChange. Подробнее... | |
| UINT16 | APPL_StopInputHandler (void) |
| The function is called in the state transition from SAFEOP to PREEOP to stop the input handler. This functions informs the application about the state transition, the application cannot refuse the state transition. Подробнее... | |
| UINT16 | APPL_StartOutputHandler (void) |
| The function is called in the state transition from SAFEOP to OP when all general settings were checked to start the output handler. This function informs the application about the state transition, the application can refuse the state transition when returning an AL Status error code. The return code NOERROR_INWORK can be used, if the application cannot confirm the state transition immediately, in that case the application need to be complete the transition by calling ECAT_StateChange. Подробнее... | |
| UINT16 | APPL_StopOutputHandler (void) |
| The function is called in the state transition from OP to SAFEOP to stop the output handler. This functions informs the application about the state transition, the application cannot refuse the state transition. Подробнее... | |
| UINT16 | APPL_GenerateMapping (UINT16 *pInputSize, UINT16 *pOutputSize) |
| This function calculates the process data sizes from the actual SM-PDO-Assign and PDO mapping. Подробнее... | |
| void | APPL_InputMapping (UINT16 *pData) |
| This function will copies the inputs from the local memory to the ESC memory to the hardware. Подробнее... | |
| void | APPL_OutputMapping (UINT16 *pData) |
| This function will copies the outputs from the ESC memory to the local memory to the hardware. Подробнее... | |
| void | APPL_Application (void) |
| This function will called from the synchronisation ISR or from the mainloop if no synchronisation is supported. Подробнее... | |
| int | main (void) |
| This is the main function. Подробнее... | |
Переменные | |
| TCiA402Axis | LocalAxes [MAX_AXES] |
Implementation This file contains all ciA402 specific functions.
Changes to version V5.12:
V5.13 CIA402 2: write profile info to 0xF010.x bit15-0 (was bit16-31 before)
V5.13 CIA402 3: change define "CIA402_DEVICE" to "CiA402_SAMPLE_APPLICATION"
Changes to version V5.11:
V5.12 COE3: update entry access right handling
Changes to version V5.10:
V5.11 ECAT11: create application interface function pointer, add eeprom emulation interface functions
Changes to version V5.01:
V5.10 CIA402 1: Update complete access handling for 0xF030
V5.10 ECAT6: Add "USE_DEFAULT_MAIN" to enable or disable the main function
Changes to version V5.0:
V5.01 ESC2: Add missed value swapping
Changes to version V4.40:
V5.0 CIA402 1: Syntax bugfix in dummy motion controller
V5.0 CIA402 2: Handle 0xF030/0xF050 in correlation do PDO assign/mapping objects
V5.0 CIA402 3: Trigger dummy motion controller if valid mode of operation is set.
V5.0 CIA402 4: Change Axes structure handling and resources allocation.
V5.0 ECAT2: Create generic application interface functions. Documentation in Application Note ET9300.
Changes to version V4.30:
V4.40 CoE 6: add AL Status code to Init functions
V4.40 CIA402 2: set motion control trigger depending on "Synchronisation", "mode of operation" and "cycle time"
V4.40 CIA402 1: change behaviour and name of bit12 of the status word (0x6041) (WG CIA402 24.02.2010)
V4.30 : create file (state machine; handling state transition options; input feedback)
См. определение в файле cia402appl.c
1.9.1