151 lines
5.9 KiB
C
151 lines
5.9 KiB
C
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/**
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* @file el9800hw.h
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* @brief SSC 硬件抽象层 — GD32E508 + LAN9252 (EXMC 16-bit HBI Indexed Mode)
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*
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* 本文件替换 Beckhoff EL9800 SPI 版本，提供 SSC 所需的 HW_EscRead/Write 宏
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* 和中断/定时器控制宏。实际实现在 hw_gd32exmc.cpp。
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*
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* HBI Indexed 寻址（A2=PD12=A17, A1=PD11=A16）：
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* IDX_0 = EXMC offset 0x00000 (A2=0, A1=0)
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* DATA_0 = EXMC offset 0x20000 (A2=1, A1=0) 低 16 位
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* = EXMC offset 0x30000 (A2=1, A1=1) 高 16 位
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*/
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#ifndef _EL9800HW_H_
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#define _EL9800HW_H_
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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 "esc.h"
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/* GD32E508 CMSIS (通过 RTE 组件获取) */
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#include "RTE_Components.h"
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#include CMSIS_device_header
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/*-----------------------------------------------------------------------------------------
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------
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------ Hardware Timer Settings
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------
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-----------------------------------------------------------------------------------------*/
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/** SSC 看门狗定时器分辨率：ticks per ms。
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* 本项目使用 SysTick (180MHz / 1000 = 180000 ticks/ms)。
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* 实际由 hw_gd32exmc.cpp 中 HW_GetTimer() 实现决定。 */
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#define ECAT_TIMER_INC_P_MS 180000
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/*-----------------------------------------------------------------------------------------
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------
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------ Interrupt Control (ESC IRQ = EXTI1, PB1)
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------
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-----------------------------------------------------------------------------------------*/
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#ifndef DISABLE_ESC_INT
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#define DISABLE_ESC_INT() NVIC_DisableIRQ(EXTI1_IRQn)
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#endif
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#ifndef ENABLE_ESC_INT
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#define ENABLE_ESC_INT() NVIC_EnableIRQ(EXTI1_IRQn)
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#endif
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/*-----------------------------------------------------------------------------------------
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------
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------ AL Event Interrupt Mask (主循环保护)
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------
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------ SSC 在主循环中访问 ESC 时需要 mask SYNC0 ISR (EXTI0, preempt=0)
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------ 防止 HBI IDX 寄存器被 ISR 抢占导致地址错乱。
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-----------------------------------------------------------------------------------------*/
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#ifndef DISABLE_AL_EVENT_INT
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#define DISABLE_AL_EVENT_INT() do { NVIC_DisableIRQ(EXTI0_IRQn); NVIC_DisableIRQ(EXTI1_IRQn); } while(0)
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#endif
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#ifndef ENABLE_AL_EVENT_INT
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#define ENABLE_AL_EVENT_INT() do { NVIC_EnableIRQ(EXTI1_IRQn); NVIC_EnableIRQ(EXTI0_IRQn); } while(0)
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#endif
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/*-----------------------------------------------------------------------------------------
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------
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------ Timer Access
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------
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-----------------------------------------------------------------------------------------*/
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#ifndef HW_GetTimer
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#define HW_GetTimer() HW_GetTimerValue()
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#endif
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#ifndef HW_ClearTimer
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#define HW_ClearTimer() HW_ClearTimerValue()
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#endif
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/*-----------------------------------------------------------------------------------------
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------
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------ ESC Access Macros (SSC 核心接口)
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------
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------ MEM_ADDR = UINT16 (CONTROLLER_16BIT=1)
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------ 所有宏最终调用 HW_EscRead / HW_EscWrite (hw_gd32exmc.cpp)
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-----------------------------------------------------------------------------------------*/
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#define HW_EscReadByte(ByteValue, Address) HW_EscRead(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
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#define HW_EscReadWord(WordValue, Address) HW_EscRead(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
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#define HW_EscReadDWord(DWordValue, Address) HW_EscRead(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
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#define HW_EscReadMbxMem(pData, Address, Len) HW_EscRead(((MEM_ADDR *)(pData)), ((UINT16)(Address)), (Len))
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#define HW_EscReadByteIsr(ByteValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
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#define HW_EscReadWordIsr(WordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
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#define HW_EscReadDWordIsr(DWordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
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#define HW_EscWriteByte(ByteValue, Address) HW_EscWrite(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
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#define HW_EscWriteWord(WordValue, Address) HW_EscWrite(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
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#define HW_EscWriteDWord(DWordValue, Address) HW_EscWrite(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
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#define HW_EscWriteMbxMem(pData, Address, Len) HW_EscWrite(((MEM_ADDR *)(pData)), ((UINT16)(Address)), (Len))
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#define HW_EscWriteByteIsr(ByteValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(ByteValue)), ((UINT16)(Address)), 1)
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#define HW_EscWriteWordIsr(WordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(WordValue)), ((UINT16)(Address)), 2)
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#define HW_EscWriteDWordIsr(DWordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(DWordValue)), ((UINT16)(Address)), 4)
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#endif /* _EL9800HW_H_ */
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/*-----------------------------------------------------------------------------------------
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------
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------ Function Prototypes
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------
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-----------------------------------------------------------------------------------------*/
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#if _EL9800HW_
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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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#ifdef __cplusplus
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extern "C" {
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#endif
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PROTO UINT8 HW_Init(void);
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PROTO void HW_Release(void);
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PROTO UINT16 HW_GetALEventRegister(void);
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PROTO UINT16 HW_GetALEventRegister_Isr(void);
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PROTO void HW_ResetALEventMask(UINT16 intMask);
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PROTO void HW_SetALEventMask(UINT16 intMask);
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PROTO void HW_SetLed(UINT8 RunLed, UINT8 ErrLed);
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PROTO void HW_EscRead(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
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PROTO void HW_EscReadIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
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PROTO void HW_EscWrite(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
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PROTO void HW_EscWriteIsr(MEM_ADDR *pData, UINT16 Address, UINT16 Len);
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PROTO void HW_DisableSyncManChannel(UINT8 channel);
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PROTO void HW_EnableSyncManChannel(UINT8 channel);
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PROTO TSYNCMAN ESCMEM *HW_GetSyncMan(UINT8 channel);
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/* Timer helpers (implemented in hw_gd32exmc.cpp) */
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PROTO UINT32 HW_GetTimerValue(void);
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PROTO void HW_ClearTimerValue(void);
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#ifdef __cplusplus
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}
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#endif
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#undef PROTO
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