feat(project): 更新项目配置并增加ESC EEPROM功能
- 添加新的SPI命令文件：app_spi_cmd_can_burst.cpp 和 app_spi_cmd_exmc_diag.cpp - 移除旧的SPI命令文件：app_spi_cmd_ota_wait.cpp, app_spi_cmd_ping.cpp, app_spi_cmd_can_bridge.cpp, app_spi_cmd_can_feedback.cpp, app_spi_cmd_id_snapshot.cpp, app_spi_cmd_adc_feedback.cpp, app_spi_cmd_motor_state.cpp, app_spi_cmd_motor_version.cpp, app_spi_cmd_motor_ota.cpp - 新增SSC EtherCAT从站协议栈相关文件组，包含头文件和源文件 - 添加ESC EEPROM操作相关的头文件和源文件 - 修正HBI寄存器EXMC偏移地址映射错误 - 实现8位、16位、32位ESC寄存器读写函数 - 改进EEPROM初始化逻辑，添加重试机制和诊断功能
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/**
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* \addtogroup Mailbox Mailbox Functions
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* @{
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*/
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/**
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\file mailbox.h
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\author EthercatSSC@beckhoff.com
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\version 5.11
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<br>Changes to version V5.01:<br>
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V5.11 ECAT10: change PROTO handling to prevent compiler errors<br>
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V5.11 MBX1: "return value of ""MBX_StartMailboxHandler()"" changed to UINT16"<br>
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V5.11 MBX3: set application triggered emergency and EoE data to pending if no mailbox queue is supported and another mailbox request is currently handled, Handle only one mailbox request at a time (in case that MAILBPX_QUEUE is disabled)<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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#ifndef _MAILBOX_H_
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#define _MAILBOX_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 "ecat_def.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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#define MBX_TYPE_AOE 1 /**< \brief Mailbox type AoE*/
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#define MBX_TYPE_EOE 2 /**< \brief Mailbox type EoE*/
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#define MBX_TYPE_COE 3 /**< \brief Mailbox type CoE*/
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#define MBX_TYPE_FOE 4 /**< \brief Mailbox type FoE*/
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#define MBX_TYPE_SOE 5 /**< \brief Mailbox type SoE*/
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#define MBX_TYPE_VOE 15 /**< \brief Mailbox type VoE*/
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#define EMCY_SERVICE ((UINT8) 0x0001) /**< \brief Emergency service*/
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#define COE_SERVICE ((UINT8) 0x0002) /**< \brief CoE service*/
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#define SOE_SERVICE ((UINT8) 0x0004) /**< \brief SoE service*/
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#define EOE_SERVICE ((UINT8) 0x0008) /**< \brief EoE service*/
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#define AOE_SERVICE ((UINT8) 0x0010) /**< \brief AoE service*/
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#define VOE_SERVICE ((UINT8) 0x0020) /**< \brief VoE service*/
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#define FOE_SERVICE ((UINT8) 0x0040) /**< \brief FoE service*/
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#define FRAGMENTS_FOLLOW ((UINT8) 0x0080) /**< \brief Fragments follow service*/
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#ifndef DISABLE_MBX_INT
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#define DISABLE_MBX_INT /**< \brief Disable mailbox interrupt*/
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#endif
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#ifndef ENABLE_MBX_INT
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#define ENABLE_MBX_INT /**< \brief Enable mailbox interrupt*/
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#endif
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#ifndef ENTER_MBX_CRITICAL
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#define ENTER_MBX_CRITICAL /**< \brief Enter mailbox critical section*/
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#endif
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#ifndef LEAVE_MBX_CRITICAL
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#define LEAVE_MBX_CRITICAL /**< \brief Leave mailbox critical section*/
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#endif
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#ifndef MAX_MBX_QUEUE_SIZE
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#define MAX_MBX_QUEUE_SIZE 10 /**< \brief Mailbox queue size*/
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#endif
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/*---------------------------------------------
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- Command Codes for the mailbox type 0
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-----------------------------------------------*/
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#define MBXSERVICE_MBXERRORCMD 0x01 /**< \brief Mailbox error command*/
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/*---------------------------------------------
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- Error Codes for a mailbox error response
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-----------------------------------------------*/
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#define MBXERR_SYNTAX 0x01 /**< \brief Mailbox error "syntax"*/
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#define MBXERR_UNSUPPORTEDPROTOCOL 0x02 /**< \brief Mailbox error "unsupported protocol"*/
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#define MBXERR_INVALIDCHANNEL 0x03 /**< \brief Mailbox error "invalid channel"*/
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#define MBXERR_SERVICENOTSUPPORTED 0x04 /**< \brief Mailbox error "service not supported"*/
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#define MBXERR_INVALIDHEADER 0x05 /**< \brief Mailbox error "invalid header"*/
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#define MBXERR_SIZETOOSHORT 0x06 /**< \brief Mailbox error "Size too short"*/
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#define MBXERR_NOMOREMEMORY 0x07 /**< \brief Mailbox error "No memory"*/
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#define MBXERR_INVALIDSIZE 0x08 /**< \brief Mailbox error "Invalid size"*/
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#define MBXERR_SERVICEINWORK 0x09 /**< \brief Mailbox error "Service in work"*/
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/**
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* \brief Mailbox header
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*/
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typedef struct MBX_STRUCT_PACKED_START
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{
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UINT16 Length; /**< \brief Length*/
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UINT16 Address; /**< \brief Address*/
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UINT16 Flags[1]; /**< \brief Flags*/
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#define MBX_OFFS_TYPE 0 /**< \brief Protocol type offset*/
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#define MBX_MASK_TYPE 0x0F00 /**< \brief Protocol type mask*/
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#define MBX_SHIFT_TYPE 8 /**< \brief Protocol type shift*/
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#define MBX_OFFS_COUNTER 0 /**< \brief Protocol counter offset*/
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#define MBX_MASK_COUNTER 0xF000 /**< \brief Protocol counter mask*/
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#define MBX_SHIFT_COUNTER 12 /**< \brief Protocol counter shift*/
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}MBX_STRUCT_PACKED_END
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TMBXHEADER;
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#define MBX_HEADER_SIZE SIZEOF(TMBXHEADER) /**< \brief Mailbox header size*/
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#define MAX_MBX_DATA_SIZE (MAX_MBX_SIZE - MBX_HEADER_SIZE) /**< \brief Mailbox data size*/
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/**
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* \brief Mailbox datagram
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*/
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typedef struct MBX_STRUCT_PACKED_START
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{
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TMBXHEADER MbxHeader; /**< \brief Mailbox header*/
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UINT16 Data[(MAX_MBX_DATA_SIZE >> 1)]; /**< \brief Mailbox data*/
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}MBX_STRUCT_PACKED_END
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TMBX;
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/**
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* \brief Mailbox queue
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*/
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typedef struct
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{
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UINT16 firstInQueue; /**< \brief First in Queue*/
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UINT16 lastInQueue; /**< \brief Last in Queue*/
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UINT16 maxQueueSize; /**< \brief Max queue size*/
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TMBX MBXMEM * queue[(MAX_MBX_QUEUE_SIZE)+1]; /**< \brief Queue buffer*/
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} TMBXQUEUE;
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#endif //_MAILBOX_H_
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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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/* ECATCHANGE_START(V5.11) ECAT10*/
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#if defined(_MAILBOX_) && (_MAILBOX_ == 1)
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/* ECATCHANGE_END(V5.11) ECAT10*/
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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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PROTO BOOL bReceiveMbxIsLocked; /**< \brief Receive mailbox is locked (MBoxOut, default SM0)*/
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PROTO BOOL bSendMbxIsFull; /**< \brief Send mailbox is full (MBoxIn, default SM1)*/
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PROTO BOOL bMbxRunning; /**< \brief Mailbox running (At least PreOP state)*/
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PROTO BOOL bMbxRepeatToggle; /**< \brief Mailbox repeat toggle*/
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PROTO UINT16 u16SendMbxSize; /**< \brief Send mailbox size (default SM1)*/
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PROTO UINT16 u16ReceiveMbxSize; /**< \brief Receive mailbox size (default SM0)*/
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PROTO UINT16 u16EscAddrReceiveMbx; /**< \brief Receive mailbox address (default SM0)*/
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PROTO UINT16 u16EscAddrSendMbx; /**< \brief Send mailbox address (default SM1)*/
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PROTO UINT8 u8MbxWriteCounter; /**< \brief Write mailbox counter*/
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PROTO UINT8 u8MbxReadCounter; /**< \brief Read mailbox counter*/
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PROTO TMBX MBXMEM asMbx[2]; /**< \brief Mailbox buffer (for repeat service)*/
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PROTO UINT8 u8MailboxSendReqStored; /**< \brief Mailbox send request stored*/
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PROTO TMBX MBXMEM * psWriteMbx; /**< \brief Pointer to write mailbox buffer*/
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PROTO TMBX MBXMEM * psReadMbx; /**< \brief Pointer to read mailbox buffer*/
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PROTO TMBX MBXMEM * psRepeatMbx; /**< \brief Pointer to repeat mailbox buffer*/
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PROTO TMBX MBXMEM * psStoreMbx; /**< \brief Pointer to store mailbox buffer*/
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PROTO TMBXQUEUE MBXMEM sMbxSendQueue; /**< \brief Send mailbox queue*/
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PROTO TMBXQUEUE MBXMEM sMbxReceiveQueue; /**< \brief Receive mailbox queue*/
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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 MBX_Init(void);
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/* ECATCHANGE_START(V5.11) MBX1*/
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PROTO UINT16 MBX_StartMailboxHandler(void);
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/* ECATCHANGE_END(V5.11) MBX1*/
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PROTO void MBX_StopMailboxHandler(void);
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PROTO void MBX_MailboxWriteInd(TMBX MBXMEM *pMbx);
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PROTO void MBX_MailboxReadInd(void);
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PROTO void MBX_MailboxRepeatReq(void);
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PROTO UINT8 MBX_MailboxSendReq(TMBX MBXMEM * pMbx, UINT8 flags);
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PROTO void MBX_CheckAndCopyMailbox(void);
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PROTO UINT8 MBX_CopyToSendMailbox(TMBX MBXMEM *pMbx);
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PROTO void MBX_Main(void);
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#undef PROTO
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/** @}*/
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