Alex
9661838676
Работает. Есть CiA402, OD из SSC Tool. Автономный со своим main(). Проверялся тестами на SOEM.
140 lines
6.2 KiB
C
140 lines
6.2 KiB
C
/*
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* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
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* The corresponding license agreement applies. This hint shall not be removed.
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* https://www.beckhoff.com/media/downloads/slave-stack-code/ethercat_ssc_license.pdf
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*/
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/**
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\addtogroup EcatAppl EtherCAT application
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* @{
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*/
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/**
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\file ecatappl.h
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\author EthercatSSC@beckhoff.com
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\version 5.12
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<br>Changes to version V5.11:<br>
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V5.12 EEPROM1: get read size from register 0x502.6<br>
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<br>Changes to version V5.10:<br>
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V5.11 ECAT10: change PROTO handling to prevent compiler errors<br>
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<br>Changes to version V5.01:<br>
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V5.10 ECAT13: Update Synchronisation handling (FreeRun,SM Sync, Sync0, Sync1)<br>
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Compare DC UINT configuration (by ESC Config data) vs. DC activation register settings<br>
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Update 0x1C3x entries<br>
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V5.10 ECAT4: Update alignment macro for 8 to 15 bit alignments (16 and 32 Bit controllers)<br>
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Bugfix calculate LED blink frequency<br>
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<br>Changes to version - :<br>
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V5.01 : Start file change log
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*/
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/*-----------------------------------------------------------------------------------------
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------
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------ Description
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------
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------ ecatappl.h
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------
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------ EtherCAT Slave Application
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------ ------
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-----------------------------------------------------------------------------------------*/
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/*-----------------------------------------------------------------------------------------
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------
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------ Includes
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------
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-----------------------------------------------------------------------------------------*/
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#include "ecat_def.h"
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#ifndef _ECATAPPL_H_
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#define _ECATAPPL_H_
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/*-----------------------------------------------------------------------------------------
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------
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------ Defines and Types
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------
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-----------------------------------------------------------------------------------------*/
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/*ET9300 Project Handler :(#if CONTROLLER_16BIT || CONTROLLER_32BIT) lines 58 to 85 deleted*/
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#define BOOLEAN(x) UINT8 x:1 /**< \brief Macro to define BOOLEAN object entry*/
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#define BIT1(x) UINT8 x:1 /**< \brief Macro to define BIT1 object entry*/
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#define BIT2(x) UINT8 x:2 /**< \brief Macro to define BIT2 object entry*/
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#define BIT3(x) UINT8 x:3 /**< \brief Macro to define BIT3 object entry*/
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#define BIT4(x) UINT8 x:4 /**< \brief Macro to define BIT4 object entry*/
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#define BIT5(x) UINT8 x:5 /**< \brief Macro to define BIT5 object entry*/
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#define BIT6(x) UINT8 x:6 /**< \brief Macro to define BIT5 object entry*/
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#define BIT7(x) UINT8 x:7 /**< \brief Macro to define BIT6 object entry*/
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#define BIT8(x) UINT8 x:8 /**< \brief Macro to define BIT7 object entry*/
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#define ALIGN0(x)
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#define ALIGN1(x) UINT8 x:1; /**< \brief Macro to define ALIGN1 object entry*/
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#define ALIGN2(x) UINT8 x:2; /**< \brief Macro to define ALIGN2 object entry*/
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#define ALIGN3(x) UINT8 x:3; /**< \brief Macro to define ALIGN3 object entry*/
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#define ALIGN4(x) UINT8 x:4; /**< \brief Macro to define ALIGN4 object entry*/
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#define ALIGN5(x) UINT8 x:5; /**< \brief Macro to define ALIGN5 object entry*/
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#define ALIGN6(x) UINT8 x:6; /**< \brief Macro to define ALIGN6 object entry*/
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#define ALIGN7(x) UINT8 x:7; /**< \brief Macro to define ALIGN7 object entry*/
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#define ALIGN8(x) UINT8 x:8; /**< \brief Macro to define ALIGN8 object entry*/
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/*ET9300 Project Handler :(#if _PIC18) lines 104 to 112 deleted*/
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#define ALIGN9(x) UINT16 x:9; /**< \brief Macro to define ALIGN9 object entry*/
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#define ALIGN10(x) UINT16 x:10; /**< \brief Macro to define ALIGN10 object entry*/
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#define ALIGN11(x) UINT16 x:11; /**< \brief Macro to define ALIGN11 object entry*/
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#define ALIGN12(x) UINT16 x:12; /**< \brief Macro to define ALIGN12 object entry*/
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#define ALIGN13(x) UINT16 x:13; /**< \brief Macro to define ALIGN13 object entry*/
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#define ALIGN14(x) UINT16 x:14; /**< \brief Macro to define ALIGN14 object entry*/
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#define ALIGN15(x) UINT16 x:15; /**< \brief Macro to define ALIGN15 object entry*/
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#endif //_ECATAPPL_H_
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#if defined(_ECATAPPL_) && (_ECATAPPL_ == 1)
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#define PROTO
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#else
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#define PROTO extern
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#endif
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/*-----------------------------------------------------------------------------------------
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------
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------ Global Variables
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------
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-----------------------------------------------------------------------------------------*/
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/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 138 to 140 deleted*/
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PROTO BOOL bEcatWaitForInputUpdate; /**< \brief Wait for input update*/
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PROTO BOOL bEtherCATRunLed; /**< \brief Current run LED value*/
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PROTO BOOL bEtherCATErrorLed; /**< \brief Current error LED value*/
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PROTO BOOL bRunApplication; /**< \brief Indicates if the stack shall be running (if false the Hardware will be released)*/
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/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 149 to 151 deleted*/
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/*-----------------------------------------------------------------------------------------
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------
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------ Global Functions
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------
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-----------------------------------------------------------------------------------------*/
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PROTO void ECAT_CheckTimer(void);
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PROTO void PDI_Isr(void);
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PROTO void Sync0_Isr(void);
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PROTO void Sync1_Isr(void);
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PROTO void ECAT_Application(void);
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PROTO void PDO_ResetOutputs(void);
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PROTO void PDO_ReadInputs(void);
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PROTO void PDO_InputMapping(void);
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PROTO void ECAT_SetLedIndication(void);
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PROTO void CalcSMCycleTime(void);
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/*ET9300 Project Handler :(#if ESC_EEPROM_ACCESS_SUPPORT) lines 178 to 181 deleted*/
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/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 183 to 185 deleted*/
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#undef PROTO
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/** @}*/
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