160 lines
5.1 KiB
C
160 lines
5.1 KiB
C
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/*
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* efc_ecat.h
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*
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* Created on: 20 Nov 2023
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* Author: titov
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*/
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#ifndef INCLUDE_EFC_ECAT_H_
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#define INCLUDE_EFC_ECAT_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#include "../src/ssc/applInterface.h"
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/**
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* @defgroup Api API
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*
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* @{
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*/
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/**
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* @defgroup Common Общий API
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*
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* @{
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*/
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/**
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* @brief Инициализация EtherCat драйвера
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*
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* Вызов функции инициализации должен предшествовать всем оставльным функциям драйвера
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*
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* @return @c true при успешной инициализации; иначе @c false
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*/
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bool efc_ecat_init(void);
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/**
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* @brief Денициализация EtherCat драйвера
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*
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* После вызова драйвера обращения к его функциям запрещено
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*
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* @return @c void
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*/
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void efc_ecat_fini(void);
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/**
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* @brief Обработчик циклических задач EtherCat драйвера
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*
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* Обработчик должен исполняться в низкоприоритетном потоке
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*
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* @return void
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*/
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void efc_ecat_loop(void);
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/** @} */ /* Common */
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/**
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* @defgroup EthercatStateMachine Обработка событий машины состояния API
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*
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* @{
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*/
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typedef enum ESMS1 {
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PreOp = 1,
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SafeOp = 2,
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Op = 3
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} EcatStateMachineStates;
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bool efc_ecat_state_pending( EcatStateMachineStates state );
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void efc_ecat_state_approve( EcatStateMachineStates state );
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typedef void (*efc_ecat_state_pend_handler)( EcatStateMachineStates state );
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void efc_ecat_set_state_pend_handler( efc_ecat_state_pend_handler pf );
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/** @} */ /* EthercatStateMachine */
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typedef void (*efc_ecat_update_sync0_time)( uint32_t time_in_us );
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void efc_ecat_set_sync0_time_update_handler( efc_ecat_update_sync0_time pf );
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void efc_ecat_set_device_id( uint16_t device_id );
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typedef void (*efc_ecat_application_handler)( void );
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void efc_ecat_set_application_handler( efc_ecat_application_handler pf );
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/**
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* @defgroup ProcessDataInterface Обработка данных реального времени
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*
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* @{
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*/
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/** @} */ /* ProcessDataInterface */
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/**
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* @defgroup ServiceDataInterface Обработка сервисных данных
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*
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* @{
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*/
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typedef UINT16 Index;
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typedef UINT8 SubIndex;
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typedef UINT32 Size;
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typedef UINT8 CompliteAccess;
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typedef UINT16 Data;
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typedef UINT8 ResultType;
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enum ResultCode {
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Done = 0x00, //!<Успешное завершение.
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ToggleBitNotChanged = 0x01, /**< Index of "Toggle bit not changed" */
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SdoProtocolTimeout = 0x02, /**< Index of "SDO timeout" */
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CommandSpecifierUnknown = 0x03, /**< Index of "Command specifier unknown" */
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OutOfMemory = 0x04, /**< Index of "Out of memory" */
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UnsupportedAccess = 0x05, /**< Index of "Unsupported Access" */
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WriteOnlyEntry = 0x06, /**< Index of "Write only entry" */
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ReadOnlyEntry = 0x07, /**< Index of "Read only entry" */
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ObjectNotExisting = 0x08, /**< Index of "Object not existing" */
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ObjectCantBePdoMapped = 0x09, /**< Index of "Object can not be mapped to PDO" */
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MappedObjectsExceedPdo = 0x0A, /**< Index of "Mapped Object exceeds PDO" */
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ParamIsIncompatible = 0x0B, /**< Index of "Parameter is incompatible" */
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InternalDeviceIncompatibility = 0x0C, /**< Index of "Device incompatibility" */
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HardwareError = 0x0D, /**< Index of "Hardware error" */
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ParamLengthError = 0x0E, /**< Index of "Parameter length error" */
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ParamLengthTooLong = 0x0F, /**< Index of "Parameter is too long" */
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ParamLengthTooShort = 0x10, /**< Index of "Parameter is too short" */
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SubindexNotExisting = 0x11, /**< Index of "Subindex (Entry) not exists" */
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ValueExceeded = 0x12, /**< Index of "Value exceeds" */
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ValueTooGreat = 0x13, /**< Index of "Value is too great" */
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ValueTooSmall = 0x14, /**< Index of "Value is too small" */
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ModuleIdListNotMatch = 0x15, /**< Index of "Unequal Module Id list" */
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MaxValueIsLessThanMinValue = 0x16, /**< Index of "Value is less than minimum value" */
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GeneralError = 0x17, /**< Index of "General error" */
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DataCannotBeReadWrite = 0x18, /**< Index of "Data can not be read or written" */
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DataCannotBeAccessedWithLocalControl = 0x19, /**< Index of "Data can not be accessed because of local control" */
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DataCannotBeReadWriteInCurrentState = 0x1A, /**< Index of "Data can not be read or written in the current state" */
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NoObjectDictionaryIsPresent = 0x1B, /**< Index of "Object is not in the object dictionary" */
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EntryCantBeWrittenSi0Not0 = 0x1C, /**< Index of "Entry can not be written because Subindex0 is not 0" */
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CompleteAccessNotSupported = 0x1D, /**< The object can not be accessed via complete access */
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Working = 0xFF /**< Index of application is handling the SDO request */
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};
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typedef ResultType (* InterfaceRead)( Index index, SubIndex subindex, Size size, Data * data, CompliteAccess complete_access );
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typedef ResultType (* InterfaceWrite)( Index index, SubIndex subindex, Size size, Data * data, CompliteAccess complete_access );
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/** @} */ /* Api */
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#ifdef __cplusplus
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}
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#endif
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#endif /* INCLUDE_EFC_ECAT_H_ */
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