Alex
9661838676
Работает. Есть CiA402, OD из SSC Tool. Автономный со своим main(). Проверялся тестами на SOEM.
267 lines
12 KiB
C
267 lines
12 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 applInterface.h
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\author EthercatSSC@beckhoff.com
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\brief Definition of the application interface functions
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\version 5.13
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<br>Changes to version V5.12:<br>
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V5.13 COE4: update default entry name handling in case of 16Bit characters, add CoE Read/write indication functions<br>
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<br>Changes to version V5.11:<br>
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V5.12 APPL1: add optional application function called from the main loop (after mbx and esm are executed)<br>
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V5.12 EEPROM3: implement a store EEPROM timeout handler<br>
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V5.12 EOE1: move icmp sample to the sampleappl,add EoE application interface functions<br>
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V5.12 FOE1: update new interface,move the FoE sample to sampleappl,add FoE application callback functions<br>
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<br>Changes to version - :<br>
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V5.10.1 : Start file change log
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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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#ifndef _APPL_INTERFACE_H_
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#define _APPL_INTERFACE_H_
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#include "ecat_def.h"
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#include <stdlib.h>
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#include <string.h>
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#include "esc.h"
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#include "ecatslv.h"
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#include "objdef.h"
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#include "ecatappl.h"
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/*ET9300 Project Handler :(#if DIAGNOSIS_SUPPORTED) lines 49 to 51 deleted*/
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/*ET9300 Project Handler :(#if EOE_SUPPORTED) lines 54 to 56 deleted*/
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#include "foeappl.h"
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#endif /*#ifndef _APPL_INTERFACE_H_*/
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#if defined(_APPL_INTERFACE_) && (_APPL_INTERFACE_ == 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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------ Function pointer which are used to call optional functions from the application
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------
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-----------------------------------------------------------------------------------------*/
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/*ET9300 Project Handler :(#if ESC_EEPROM_EMULATION) lines 76 to 122 deleted*/
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/*ET9300 Project Handler :(#if EOE_SUPPORTED) lines 125 to 152 deleted*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param pName Pointer to the name of the file (the pointer is null if the function is called due to a previous busy state)
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\param nameSize Length of the file name (the value is 0 if the function is called due to a previous busy state)
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\param password Password for the file read (the value is 0 if the function is called due to a previous busy state)
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\param maxBlockSize Maximum size of a data block (copied to pData)
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\param pData Destination pointer for the first FoE fragment
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\return block size:
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< FOE_MAXBUSY-101 (0x7F95)
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busy:
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FOE_MAXBUSY-100 (0%) (0x7FFA - 0x64)
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...
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FOE_MAXBUSY (100%) (0x7FFA)
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error:
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ECAT_FOE_ERRCODE_NOTDEFINED (0x8000)
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ECAT_FOE_ERRCODE_NOTFOUND (0x8001)
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ECAT_FOE_ERRCODE_ACCESS (0x8002)
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ECAT_FOE_ERRCODE_DISKFULL (0x8003)
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ECAT_FOE_ERRCODE_ILLEGAL (0x8004)
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ECAT_FOE_ERRCODE_EXISTS (0x8006)
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ECAT_FOE_ERRCODE_NOUSER (0x8007)
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\brief The function is called when a file read request was received. The Foe fragments shall always have the length of "maxBlockSize" till the last file fragment.
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\brief In case that the file size is a multiple of "maxBlockSize" 0 shall be returned after the last fragment.
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16 (*pAPPL_FoeRead)(UINT16 MBXMEM * pName, UINT16 nameSize, UINT32 password, UINT16 maxBlockSize, UINT16 *pData);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param offset File offset which shall be transmitted next
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\param maxBlockSize Maximum size of a data block (copied to pData)
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\param pData Destination pointer for the next foe fragment
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\return block size:
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< FOE_MAXBUSY-101 (0x7F95)
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busy:
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FOE_MAXBUSY-100 (0%) (0x7FFA - 0x64)
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...
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FOE_MAXBUSY (100%) (0x7FFA)
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error:
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ECAT_FOE_ERRCODE_NOTDEFINED (0x8000)
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ECAT_FOE_ERRCODE_NOTFOUND (0x8001)
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ECAT_FOE_ERRCODE_ACCESS (0x8002)
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ECAT_FOE_ERRCODE_DISKFULL (0x8003)
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ECAT_FOE_ERRCODE_ILLEGAL (0x8004)
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ECAT_FOE_ERRCODE_EXISTS (0x8006)
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ECAT_FOE_ERRCODE_NOUSER (0x8007)
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\brief The function is called to transmit FoE read data 2 .. n (the slave received an acknowledge on a previous accepted file read request). The Foe fragments shall always have the length of "maxBlockSize" till the last file fragment.
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\brief In case that the file size is a multiple of "maxBlockSize" 0 shall be returned after the last fragment.
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16(*pAPPL_FoeReadData)(UINT32 offset, UINT16 maxBlockSize, UINT16 *pData);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param errorCode Error code send by the EtherCAT master
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\brief The function is called when the master has send an FoE Abort.
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void(*pAPPL_FoeError)(UINT32 errorCode);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param pName Pointer to the name of the file
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\param nameSize Length of the file name
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\param password Password for the file read
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\return okay, or an error code
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0 (okay)
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ECAT_FOE_ERRCODE_NOTDEFINED (0x8000)
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ECAT_FOE_ERRCODE_NOTFOUND (0x8001)
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ECAT_FOE_ERRCODE_ACCESS (0x8002)
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ECAT_FOE_ERRCODE_DISKFULL (0x8003)
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ECAT_FOE_ERRCODE_ILLEGAL (0x8004)
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ECAT_FOE_ERRCODE_EXISTS (0x8006)
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ECAT_FOE_ERRCODE_NOUSER (0x8007)
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\brief This function is called on a received FoE write request.
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\brief (no busy response shall be returned by this function. If the slave requires some time to handle the incoming data the function pAPPL_FoeData() shall return a busy)
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16 (*pAPPL_FoeWrite)(UINT16 MBXMEM * pName, UINT16 nameSize, UINT32 password);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param pData Received file data
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\param Size Length of received file data
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\param bDataFollowing TRUE if more FoE Data requests are following
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\return okay, busy or an error code
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0 (okay)
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FOE_MAXBUSY-100 (0%) (0x7FFa - 100)
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FOE_MAXBUSY (100%) (0x7FFA)
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ECAT_FOE_ERRCODE_NOTDEFINED (0x8000)
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ECAT_FOE_ERRCODE_ACCESS (0x8002)
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ECAT_FOE_ERRCODE_DISKFULL (0x8003)
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ECAT_FOE_ERRCODE_ILLEGAL (0x8004)
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ECAT_FOE_ERRCODE_NOUSER (0x8007)
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\brief This function is called on a FoE Data request
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16(*pAPPL_FoeWriteData)(UINT16 MBXMEM * pData, UINT16 Size, BOOL bDataFollowing);
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/* ECATCHANGE_START(V5.13) COE4*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param Index Index of the object to be read
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\param Subindex Subindex of the object entry to be read
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\param CompleteAccess Indicates if the object is read with complete access
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\brief The function is called before an object/entry is read
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void(*pAPPL_CoeReadInd)(UINT16 Index, UINT8 Subindex, BOOL CompleteAccess);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param Index Index of the object which was written
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\param Subindex Subindex of the object entry which was written
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\param CompleteAccess Indicates if the object was written with complete access
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\brief The function is called after an object/entry was successfully written
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void(*pAPPL_CoeWriteInd)(UINT16 Index, UINT8 Subindex, BOOL CompleteAccess);
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/* ECATCHANGE_END(V5.13) COE4*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\brief This function is called by the SSC from the main loop
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\brief The function pointer is reset in MainInit() so it shall be set afterwards
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void(*pAPPL_MainLoop)();
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/*-----------------------------------------------------------------------------------------
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------
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------ Functions provided by the SSC to be called from the application
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------
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-----------------------------------------------------------------------------------------*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\return 0 if successful or greater 0 in case of an error
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\brief Initialize the generic slave stack.
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\brief This function should be called after the platform including operating system and
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\brief ESC is ready to use.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO UINT16 MainInit(void);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\brief This function handles the low priority function like EtherCAT state machine
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\brief handling, mailbox protocols and if no synchronization is enabled also the
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\brief application.
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\brief This function shall be called cyclically from the application.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void MainLoop(void);
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param alStatus requested AL Status
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\param alStatusCode requested AL Status Code
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\brief This function shall be called by the application to trigger state transition in case
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\brief of an application error or to complete a pending transition.
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\brief If the function was called due to an error it shall be again if the error is gone.
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\brief NOTE: state requests to a higher state than the current state are not allowed.
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*////////////////////////////////////////////////////////////////////////////////////////
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PROTO void ECAT_StateChange(UINT8 alStatus, UINT16 alStatusCode);
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/*ET9300 Project Handler :(#if EOE_SUPPORTED) lines 348 to 361 deleted*/
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#undef PROTO
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