am243x: ReferenceDesign: Update ICSSG1 clock configuration
- For the tidep_01032_dual_motor_drive reference design, ICSSG0 core clock should be configured to 300 MHz and ICSSG1 core clock should be configured to 200 MHz. R5F_0_0 configures ICSSG0 first and then R5F_1_0 configures ICSSG1. - Because of MCUSDK-12117 bug, ICSSG1 clock configuration to 200 MHz causes ICSSG0 also to run at 200 MHz which is a problem for EnDat and SDFM firmwares. - To avoid this issue, the clock configuration of ICSSG1 should be done separately and not from SysConfig generated API. Fixes: PINDSW-7166 Signed-off-by: Dhaval Khandla <dhavaljk@ti.com>
This commit is contained in:
Dhaval Khandla
parent
fa73801ff5
commit
c71267b7fc
@ -41,7 +41,7 @@ const files_r5f_1_0 = {
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"ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c",
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"ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c",
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"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c",
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"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c",
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"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c",
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"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c",
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"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c",
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"EtherCAT_Slave_CiA402.c",
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"ESL_cia402Demo.c",
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"ESL_cia402Demo.c",
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"ESL_BOARD_OS_config.c",
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"ESL_BOARD_OS_config.c",
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],
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],
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@ -224,8 +224,8 @@ const libs_r5f_1_0 = {
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"freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"ethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib",
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"ethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib",
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"ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib",
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"ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib",
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],
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],
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};
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};
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@ -0,0 +1,576 @@
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/*!
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* \example EtherCAT_Slave_CiA402.c
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*
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* \brief
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* EtherCAT<sup>®</sup> Slave Example Application with CiA402 Profile.
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*
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* \author
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* KUNBUS GmbH
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*
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* \copyright
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* Copyright (c) 2021, KUNBUS GmbH<br /><br />
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* SPDX-License-Identifier: BSD-3-Clause
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*
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* Copyright (c) 2023 KUNBUS GmbH.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* <ol>
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* <li>Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer./<li>
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* <li>Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.</li>
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* <li>Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software without
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* specific prior written permission.</li>
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* </ol>
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
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* WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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*/
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#define TIESC_HW 0
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#define PRU_200MHZ 1
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#include <stdio.h>
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#include <drivers/soc.h>
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#include <kernel/dpl/AddrTranslateP.h>
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#include "ti_dpl_config.h"
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#include "ti_drivers_config.h"
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/* this one shall the only one to be using it ! */
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#include "project.h"
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#include "ecSlvCiA402.h"
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#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
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#if (defined FBTLIMPL_LINEUART) && (1==FBTLIMPL_LINEUART)
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#include "sysLib_lineUart.h"
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#else
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#include <sysLib_sharedMemory.h>
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#endif
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#endif
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/* OS */
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#include <osal.h>
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/* ESL */
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#include <ESL_os.h>
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#include <ESL_BOARD_config.h>
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#include <ESL_BOARD_OS_config.h>
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#include <ESL_cia402Obd.h>
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#include <ESL_version.h>
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/* stack */
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#include <ecSlvApi.h>
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/* @cppcheck_justify{misra-c2012-8.9} prefer module global over threadsafety */
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/* cppcheck-suppress misra-c2012-8.9 */
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static OSAL_PJumpBuf_t farJumpBuf_cia;
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static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance);
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/* For the tidep_01032_dual_motor_drive reference design, ICSSG0 core clock should be configured
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* to 300 MHz and ICSSG1 core clock should be configured to 200 MHz. R5F_0_0 configures ICSSG0 first
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* and then R5F_1_0 configures ICSSG1. Because of MCUSDK-12117 bug, ICSSG1 clock configuration to
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* 200 MHz causes ICSSG0 also to run at 200 MHz which is a problem for EnDat and SDFM firmwares.
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* To avoid this issue, the clock configuration of ICSSG1 should be done separately and not from
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* SysConfig generated API. Therefore ESL_OS_init()->System_init() is not called here. Instead
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* System_init_modified() is defined and called here, which uses a different API call for
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* initializing ICSSG1 clock when compared to System_init().
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*
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* System_init_modified() function is same as System_init() except PowerClock_init() API call.
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* If SysConfig is being updated which leads to changes in the generated code for System_init(),
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* please update System_init_modified() function as well.
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*/
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void System_init_modified(void);
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void PowerClock_init_modified(void);
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void Module_clockSetFrequency_modified(void);
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extern void Drivers_uartInit(void);
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extern void Pinmux_init(void);
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extern void GPIO_init();
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extern void Module_clockEnable(void);
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typedef struct {
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uint32_t moduleId;
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uint32_t clkId;
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uint32_t clkRate;
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} SOC_ModuleClockFrequency;
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extern SOC_ModuleClockFrequency gSocModulesClockFrequency[];
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#define SOC_MODULES_END (0xFFFFFFFFu)
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void Module_clockSetFrequency_modified(void)
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{
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int32_t status;
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uint32_t i = 0;
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uint32_t icssg0ClkParent, icssg1ClkParent;
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while(gSocModulesClockFrequency[i].moduleId!=SOC_MODULES_END)
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{
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/*For ICSSG1, call a different API*/
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if((gSocModulesClockFrequency[i].moduleId == TISCI_DEV_PRU_ICSSG1) &&
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(gSocModulesClockFrequency[i].clkId == TISCI_DEV_PRU_ICSSG1_CORE_CLK))
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{
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status = Sciclient_pmGetModuleClkParent(TISCI_DEV_PRU_ICSSG0,
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TISCI_DEV_PRU_ICSSG0_CORE_CLK,
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&icssg0ClkParent,
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SystemP_WAIT_FOREVER);
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DebugP_assertNoLog(status == SystemP_SUCCESS);
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/*Use a different parent clock for ICSSG1*/
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icssg1ClkParent = icssg0ClkParent + 1;
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status = SOC_moduleSetClockFrequencyWithParent(
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gSocModulesClockFrequency[i].moduleId,
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gSocModulesClockFrequency[i].clkId,
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icssg1ClkParent,
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gSocModulesClockFrequency[i].clkRate
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);
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}
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if((gSocModulesClockFrequency[i].moduleId == TISCI_DEV_PRU_ICSSG1) &&
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(gSocModulesClockFrequency[i].clkId == TISCI_DEV_PRU_ICSSG1_IEP_CLK))
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{
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status = Sciclient_pmGetModuleClkParent(TISCI_DEV_PRU_ICSSG0,
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TISCI_DEV_PRU_ICSSG0_IEP_CLK,
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&icssg0ClkParent,
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SystemP_WAIT_FOREVER);
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DebugP_assertNoLog(status == SystemP_SUCCESS);
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/*Use a different parent clock for ICSSG1*/
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icssg1ClkParent = icssg0ClkParent + 1;
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status = SOC_moduleSetClockFrequencyWithParent(
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gSocModulesClockFrequency[i].moduleId,
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gSocModulesClockFrequency[i].clkId,
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icssg1ClkParent,
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gSocModulesClockFrequency[i].clkRate
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);
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}
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else
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{
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status = SOC_moduleSetClockFrequency(
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gSocModulesClockFrequency[i].moduleId,
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gSocModulesClockFrequency[i].clkId,
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gSocModulesClockFrequency[i].clkRate
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);
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}
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DebugP_assertNoLog(status == SystemP_SUCCESS);
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i++;
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}
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}
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void PowerClock_init_modified(void)
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{
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Module_clockEnable();
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Module_clockSetFrequency_modified();
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}
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void System_init_modified(void)
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{
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/* This function is same as System_init() except PowerClock_init() API call.
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* If SysConfig is being updated which leads to changes in the generated
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* code for System_init(), please update this function as well.*/
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/* DPL init sets up address transalation unit, on some CPUs this is needed
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* to access SCICLIENT services, hence this needs to happen first
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*/
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Dpl_init();
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/* We should do sciclient init before we enable power and clock to the peripherals */
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/* SCICLIENT init */
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{
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int32_t retVal = SystemP_SUCCESS;
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retVal = Sciclient_init(CSL_CORE_ID_R5FSS1_0);
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DebugP_assertNoLog(SystemP_SUCCESS == retVal);
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}
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/* initialize PMU */
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CycleCounterP_init(SOC_getSelfCpuClk());
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PowerClock_init_modified();
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/* Now we can do pinmux */
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Pinmux_init();
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/* finally we initialize all peripheral drivers */
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OSPI_init();
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GPIO_init();
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PRUICSS_init();
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/* PRU IEP Enable SYNC MODE */
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CSL_REG32_WR(CSL_PRU_ICSSG1_PR1_CFG_SLV_BASE + CSL_ICSSCFG_IEPCLK, 1);
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Drivers_uartInit();
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}
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/*!
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* <!-- Description: -->
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*
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* \brief
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* Application Loop Task
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*
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* <!-- Parameters and return values: -->
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*
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* \param[in] pArg_p Task Parm.
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*
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* <!-- Example: -->
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*
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* \par Example
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* \code{.c}
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*
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* // required variables
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* void* pvVariable = NULL;
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*
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* // the Call
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* EC_SLV_APP_CIA_loopTask(pvVariable);
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* \endcode
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*
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* <!-- Group: -->
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*
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* \ingroup EC_SLV_APP
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*
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* */
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static void EC_SLV_APP_CIA_loopTask(void *pArg_p)
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{
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/* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
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/* cppcheck-suppress misra-c2012-11.5 */
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EC_SLV_APP_CIA_Application_t *pApplicationInstance = (EC_SLV_APP_CIA_Application_t*)pArg_p;
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uint32_t error = EC_API_eERR_NONE;
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char *pProductName = NULL;
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uint32_t vendorId = 0;
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uint32_t productCode = 0;
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EC_API_SLV_EEsmState_t state = EC_API_SLV_eESM_uninit;
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uint16_t alErrorCode = 0;
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if (!pApplicationInstance)
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{
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/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
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/* cppcheck-suppress misra-c2012-15.1 */
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goto Exit;
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}
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EC_SLV_APP_CIA_initBoardFunctions(pApplicationInstance);
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EC_SLV_APP_CIA_registerStacklessBoardFunctions(pApplicationInstance);
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error = EC_API_SLV_stackInit(); // EtherCAT stack init
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if (error != EC_API_eERR_NONE)
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{
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OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
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OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
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}
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EC_SLV_APP_cia402_initAxisObjects(pApplicationInstance);
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EC_SLV_APP_CIA_applicationInit(pApplicationInstance);
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EC_API_SLV_getVendorId(pApplicationInstance->ptEcSlvApi, &vendorId);
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EC_API_SLV_getProductCode(pApplicationInstance->ptEcSlvApi, &productCode);
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error = EC_API_SLV_getProductName(pApplicationInstance->ptEcSlvApi, &pProductName);
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OSAL_printf("%s - %xh / %xh\r\n", pProductName, vendorId, productCode);
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/* spit out versions */
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ESL_dumpVersions(pApplicationInstance->ptEcSlvApi);
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error = EC_SLV_APP_CiA_fetchAxisObjects(pApplicationInstance);
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if (error != EC_API_eERR_NONE)
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{
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OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
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OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
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}
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for(;;)
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{
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#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
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#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
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ESL_GPIO_testPins_set(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK/*|ESL_TESTPIN_1_MASK*/);
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#endif
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#endif
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EC_API_SLV_mainLoopCyclic();
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#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
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#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
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ESL_GPIO_testPins_clear(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK);
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#endif
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#endif
|
||||||
|
|
||||||
|
EC_API_SLV_getState(pApplicationInstance->ptEcSlvApi, &state, &alErrorCode);
|
||||||
|
if (EC_API_SLV_eESM_init < state)
|
||||||
|
{
|
||||||
|
OSAL_SCHED_yield();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
/* for carve up give some air */
|
||||||
|
OSAL_SCHED_sleep(10);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// not reachable
|
||||||
|
//EC_SLV_APP_applicationDeInit();
|
||||||
|
Exit:
|
||||||
|
ESL_OS_taskLeave();
|
||||||
|
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void EC_SLV_APP_CIA_mainTask(void *pArg_p)
|
||||||
|
{
|
||||||
|
/* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
|
||||||
|
/* cppcheck-suppress misra-c2012-11.5 */
|
||||||
|
EC_SLV_APP_CIA_Application_t *applicationInstance = (EC_SLV_APP_CIA_Application_t*)pArg_p;
|
||||||
|
uint32_t retVal = OSAL_ERR_NoError;
|
||||||
|
|
||||||
|
if (!applicationInstance)
|
||||||
|
{
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Application instance missing!!!\r\n");
|
||||||
|
goto Exit;
|
||||||
|
}
|
||||||
|
|
||||||
|
retVal = ESL_OS_boardInit(applicationInstance->selectedPruInstance);
|
||||||
|
if (OSAL_ERR_NoError != retVal)
|
||||||
|
{
|
||||||
|
OSAL_error(__func__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
OSAL_registerPrintOut(NULL, ESL_OS_printf);
|
||||||
|
|
||||||
|
retVal = EC_SLV_APP_CIA_remoteInit(applicationInstance);
|
||||||
|
|
||||||
|
if(!((OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal) || (OSAL_ERR_NoError == retVal)))
|
||||||
|
{
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Fatal error remote API init!!!\r\n");
|
||||||
|
/* @cppcheck_justify{misra-c2012-15.1} assure single point of exit */
|
||||||
|
/* cppcheck-suppress misra-c2012-15.1 */
|
||||||
|
goto Exit;
|
||||||
|
}
|
||||||
|
|
||||||
|
retVal = EC_API_SLV_load(&farJumpBuf_cia, NULL /* &applErrHandler*/, applicationInstance->selectedPruInstance);
|
||||||
|
|
||||||
|
if (EC_API_eERR_NONE == retVal)
|
||||||
|
{
|
||||||
|
EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1, KBECSLV_PRIO_EOE);
|
||||||
|
|
||||||
|
applicationInstance->loopThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_CIA_loopTask
|
||||||
|
,applicationInstance
|
||||||
|
#if !(defined FBTL_REMOTE) || (0==FBTL_REMOTE)
|
||||||
|
,OSAL_TASK_Prio_Normal
|
||||||
|
#else
|
||||||
|
,OSAL_TASK_Prio_Idle
|
||||||
|
#endif
|
||||||
|
,(uint8_t*)EC_SLV_APP_applLoopTaskStack_g
|
||||||
|
,APPLLOOP_TASK_SIZE_BYTE
|
||||||
|
,0
|
||||||
|
,"Appl_LoopTask");
|
||||||
|
if ( NULL == applicationInstance->loopThreadHandle)
|
||||||
|
{
|
||||||
|
OSAL_printf("Error return start Loop Task\r\n");
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
OSAL_SCHED_joinTask(applicationInstance->loopThreadHandle);
|
||||||
|
|
||||||
|
/* No default tasks (run forever) here, so introduce a wait cycle */
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
OSAL_SCHED_sleep(1000);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
OSAL_printf("long jmp restart\r\n");
|
||||||
|
OSAL_SCHED_sleep(1000);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// not reachable
|
||||||
|
|
||||||
|
//ESL_OS_boardDeinit();
|
||||||
|
//EC_API_SLV_unLoad();
|
||||||
|
|
||||||
|
//return 0;
|
||||||
|
Exit:
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* \brief
|
||||||
|
* Main entry point.
|
||||||
|
*
|
||||||
|
* \details
|
||||||
|
* Simple EtherCAT Slave example demonstrating the configuration the hardware,
|
||||||
|
* creation of the base slave information as well as the Object Dictionary
|
||||||
|
* and the Process Data configuration. Furthermore, the FoE Protocol and the
|
||||||
|
* EEPROM handling are covered on this example.
|
||||||
|
*
|
||||||
|
* \param[in] argc Number of command line arguments.
|
||||||
|
* \param[in] *argv Pointer to an array of command line arguments.
|
||||||
|
*
|
||||||
|
* \return uint32_t of type #NAMESPACE_EError_t.
|
||||||
|
* \retval 0 Success.
|
||||||
|
* \retval -1 Board initialization failed.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
/* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
|
||||||
|
/* cppcheck-suppress threadsafety-threadsafety */
|
||||||
|
static uint32_t selectedPruInstance = UINT32_MAX;
|
||||||
|
/* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
|
||||||
|
/* cppcheck-suppress threadsafety-threadsafety */
|
||||||
|
static EC_SLV_APP_CIA_Application_t applicationInstance = {0};
|
||||||
|
uint32_t error = OSAL_ERR_NoError;
|
||||||
|
|
||||||
|
/* For the tidep_01032_dual_motor_drive reference design, ICSSG0 core clock should be configured
|
||||||
|
* to 300 MHz and ICSSG1 core clock should be configured to 200 MHz. R5F_0_0 configures ICSSG0 first
|
||||||
|
* and then R5F_1_0 configures ICSSG1. Because of MCUSDK-12117 bug, ICSSG1 clock configuration to
|
||||||
|
* 200 MHz causes ICSSG0 also to run at 200 MHz which is a problem for EnDat and SDFM firmwares.
|
||||||
|
* To avoid this issue, the clock configuration of ICSSG1 should be done separately and not from
|
||||||
|
* SysConfig generated API. Therefore ESL_OS_init()->System_init() is not called here. Instead
|
||||||
|
* System_init_modified() is defined and called here, which uses a different API call for
|
||||||
|
* initializing ICSSG1 clock when compared to System_init().
|
||||||
|
*
|
||||||
|
* System_init_modified() function is same as System_init() except PowerClock_init() API call.
|
||||||
|
* If SysConfig is being updated which leads to changes in the generated code for System_init(),
|
||||||
|
* please update System_init_modified() function as well.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* ESL_OS_init(); */
|
||||||
|
System_init_modified();
|
||||||
|
|
||||||
|
#if !(defined FBTL_REMOTE)
|
||||||
|
selectedPruInstance = ESL_DEFAULT_PRUICSS;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (1 < argc)
|
||||||
|
{
|
||||||
|
char *inst = argv[1];
|
||||||
|
selectedPruInstance = strtoul(inst, NULL, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Init osal */
|
||||||
|
OSAL_init();
|
||||||
|
|
||||||
|
applicationInstance.selectedPruInstance = selectedPruInstance;
|
||||||
|
|
||||||
|
TaskP_Params_init(&applicationInstance.mainThreadParam);
|
||||||
|
|
||||||
|
applicationInstance.mainThreadParam.name = "mainThread";
|
||||||
|
applicationInstance.mainThreadParam.stackSize = MAIN_TASK_SIZE_BYTE; /* FreeRTOS wants Stacksize in Units, when called direct, using TaskP it's bytes */
|
||||||
|
applicationInstance.mainThreadParam.stack = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
|
||||||
|
applicationInstance.mainThreadParam.priority = (TaskP_PRIORITY_LOWEST+1);
|
||||||
|
applicationInstance.mainThreadParam.taskMain = (TaskP_FxnMain)EC_SLV_APP_CIA_mainTask;
|
||||||
|
applicationInstance.mainThreadParam.args = (void*)&applicationInstance;
|
||||||
|
|
||||||
|
error = TaskP_construct(&applicationInstance.mainThreadHandle
|
||||||
|
,&applicationInstance.mainThreadParam);
|
||||||
|
if (SystemP_SUCCESS != error)
|
||||||
|
{
|
||||||
|
OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
OSAL_startOs();
|
||||||
|
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Not reachable by design!!!\r\n");
|
||||||
|
|
||||||
|
// not reachable
|
||||||
|
//EC_API_SLV_unLoad();
|
||||||
|
|
||||||
|
return error;
|
||||||
|
}
|
||||||
|
|
||||||
|
static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance)
|
||||||
|
{
|
||||||
|
uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
|
||||||
|
|
||||||
|
if (!applicationInstance)
|
||||||
|
{
|
||||||
|
/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
|
||||||
|
/* cppcheck-suppress misra-c2012-15.1 */
|
||||||
|
goto Exit;
|
||||||
|
}
|
||||||
|
|
||||||
|
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
|
||||||
|
#if (defined FBTLIMPL_LINEUART) && (FBTLIMPL_LINEUART==1)
|
||||||
|
retVal = SYSLIB_createLibInstanceLine( FBTL_LINE_UART_NAME,
|
||||||
|
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN,
|
||||||
|
FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
|
||||||
|
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
|
||||||
|
,true
|
||||||
|
#else
|
||||||
|
,false
|
||||||
|
#endif
|
||||||
|
,&(applicationInstance->remoteHandle)
|
||||||
|
);
|
||||||
|
#else
|
||||||
|
retVal = SYSLIB_createLibInstanceShm(FBTLSHARED_MEM_NAME, FBTLSHARED_MEM_SIZE, false,
|
||||||
|
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN, FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
|
||||||
|
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
|
||||||
|
,true
|
||||||
|
#else
|
||||||
|
,false
|
||||||
|
#endif
|
||||||
|
,&(applicationInstance->remoteHandle)
|
||||||
|
);
|
||||||
|
#endif
|
||||||
|
#else
|
||||||
|
OSALUNREF_PARM(applicationInstance);
|
||||||
|
retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if(OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal)
|
||||||
|
{
|
||||||
|
OSAL_printf("\r\nLocal Implementation\r\n");
|
||||||
|
}
|
||||||
|
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
|
||||||
|
else if(EC_API_eERR_NONE == retVal)
|
||||||
|
{
|
||||||
|
retVal = EC_API_SLV_FBTL_configuration(applicationInstance->remoteHandle);
|
||||||
|
if(EC_API_eERR_NONE != retVal)
|
||||||
|
{
|
||||||
|
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
|
||||||
|
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
|
||||||
|
/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
|
||||||
|
/* cppcheck-suppress misra-c2012-15.1 */
|
||||||
|
goto Exit;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
else
|
||||||
|
{
|
||||||
|
/* nothing to do */
|
||||||
|
;
|
||||||
|
}
|
||||||
|
|
||||||
|
Exit:
|
||||||
|
if((OSAL_ERR_NoError != retVal) && (OSAL_CONTAINER_LOCALIMPLEMENTATION != retVal))
|
||||||
|
{
|
||||||
|
OSAL_printf("%s:%d::> err ret = 0x%x\r\n", __func__, __LINE__, retVal);
|
||||||
|
}
|
||||||
|
return retVal;
|
||||||
|
}
|
||||||
@ -117,8 +117,8 @@
|
|||||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||||
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.debug.lib
|
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib
|
||||||
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.debug.lib
|
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib
|
||||||
-llibc.a
|
-llibc.a
|
||||||
-llibsysbm.a
|
-llibsysbm.a
|
||||||
"
|
"
|
||||||
@ -146,7 +146,7 @@
|
|||||||
</file>
|
</file>
|
||||||
<file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
<file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||||
</file>
|
</file>
|
||||||
<file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
<file path="../EtherCAT_Slave_CiA402.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||||
</file>
|
</file>
|
||||||
<file path="../ESL_cia402Demo.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
<file path="../ESL_cia402Demo.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||||
</file>
|
</file>
|
||||||
|
|||||||
@ -128,7 +128,7 @@ MEMORY
|
|||||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||||
R5F_TCMB0: ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
R5F_TCMB0: ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||||
|
|
||||||
MSRAM_1_0 : ORIGIN = 0x700C0000 , LENGTH = 0x00070000
|
MSRAM_1_0 : ORIGIN = 0x700C0000 , LENGTH = 0x00080000
|
||||||
EXTRAHEAP: ORIGIN = 0x70008000 , LENGTH = 0x00038000
|
EXTRAHEAP: ORIGIN = 0x70008000 , LENGTH = 0x00038000
|
||||||
|
|
||||||
/* shared memories that are used by all cores */
|
/* shared memories that are used by all cores */
|
||||||
|
|||||||
@ -43,7 +43,7 @@ FILES_common := \
|
|||||||
ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c \
|
ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c \
|
||||||
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c \
|
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c \
|
||||||
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c \
|
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c \
|
||||||
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c \
|
EtherCAT_Slave_CiA402.c \
|
||||||
ESL_cia402Demo.c \
|
ESL_cia402Demo.c \
|
||||||
ESL_BOARD_OS_config.c \
|
ESL_BOARD_OS_config.c \
|
||||||
ti_drivers_config.c \
|
ti_drivers_config.c \
|
||||||
@ -139,8 +139,8 @@ LIBS_common = \
|
|||||||
-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \
|
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib \
|
||||||
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \
|
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib \
|
||||||
-llibc.a \
|
-llibc.a \
|
||||||
-llibsysbm.a \
|
-llibsysbm.a \
|
||||||
|
|
||||||
@ -158,8 +158,8 @@ LIBS_NAME = \
|
|||||||
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||||
ethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \
|
ethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib \
|
||||||
ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \
|
ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib \
|
||||||
libc.a \
|
libc.a \
|
||||||
libsysbm.a \
|
libsysbm.a \
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user