cbb
a2d0b28b3d
- 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
126 lines
4.7 KiB
C
126 lines
4.7 KiB
C
/**
|
|
\addtogroup EcatAppl EtherCAT application
|
|
@{
|
|
*/
|
|
|
|
/**
|
|
\file applInterface.c
|
|
\author EthercatSSC@beckhoff.com
|
|
\brief Definition of the application interface functions
|
|
|
|
\version 5.11
|
|
|
|
<br>Changes to version - :<br>
|
|
V5.10.1 : Start file change log
|
|
*/
|
|
|
|
/*-----------------------------------------------------------------------------------------
|
|
------
|
|
------ Includes
|
|
------
|
|
-----------------------------------------------------------------------------------------*/
|
|
|
|
|
|
#ifndef _APPL_INTERFACE_H_
|
|
#define _APPL_INTERFACE_H_
|
|
|
|
#include "ecat_def.h"
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include "esc.h"
|
|
#include "ecatslv.h"
|
|
#include "objdef.h"
|
|
#include "ecatappl.h"
|
|
|
|
|
|
|
|
#endif /*#ifndef _APPL_INTERFACE_H_*/
|
|
|
|
#if defined(_APPL_INTERFACE_) && (_APPL_INTERFACE_ == 1)
|
|
#define PROTO
|
|
#else
|
|
#define PROTO extern
|
|
#endif
|
|
|
|
/*-----------------------------------------------------------------------------------------
|
|
------
|
|
------ Function pointer which are used to call optional functions from the application
|
|
------
|
|
-----------------------------------------------------------------------------------------*/
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\return 0 if successful or greater 0 in case of an error
|
|
|
|
\param wordaddr Word address of the EEPROM data to be read
|
|
|
|
\brief This function shall copy EEPROM data to the ESC EEPROM data register (0x508:0x50F/0x50B).
|
|
\brief The EEPROM data starting at the specified word address and the length specified with "EEPROM_READ_SIZE".
|
|
\brief The data shall be copied to the ESC EEPROM buffer (ESC offset 0x508)
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO UINT16 (* pAPPL_EEPROM_Read)(UINT32 wordaddr);
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\return 0 if successful or greater 0 in case of an error
|
|
|
|
\param wordaddr Word address of the EEPROM data to be written
|
|
|
|
\brief This function shall copy data from the ESC EEPROM data register (0x508:0x50F/0x50B) to the EEPROM memory.
|
|
\brief The EEPROM data starting at the specified word address and the length specified with "EEPROM_WRITE_SIZE".
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO UINT16(*pAPPL_EEPROM_Write)(UINT32 wordaddr);
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\return 0 if successful or greater 0 in case of an error
|
|
|
|
\brief This function shall copy the EEPROM reload information to the ESC EEPROM data register (0x508:0x50F/0x50B).
|
|
\brief Read the ESC data sheet for the reload information (e.g. Beckhoff IPCore ESC Datasheet section II, clause 3.45.1)
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO UINT16(*pAPPL_EEPROM_Reload)(void);
|
|
|
|
|
|
|
|
/*-----------------------------------------------------------------------------------------
|
|
------
|
|
------ Functions provided by the SSC to be called from the application
|
|
------
|
|
-----------------------------------------------------------------------------------------*/
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\return 0 if successful or greater 0 in case of an error
|
|
|
|
\brief Initialize the generic slave stack.
|
|
\brief This function should be called after the platform including operating system and
|
|
\brief ESC is ready to use.
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO UINT16 MainInit(void);
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\brief This function handles the low priority function like EtherCAT state machine
|
|
\brief handling, mailbox protocols and if no synchronization is enabled also the
|
|
\brief application.
|
|
\brief This function shall be called cyclically from the application.
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO void MainLoop(void);
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
\param alStatus requested AL Status
|
|
\param alStatusCode requested AL Status Code
|
|
|
|
\brief This function shall be called by the application to trigger state transition in case
|
|
\brief of an application error or to complete a pending transition.
|
|
\brief If the function was called due to an error it shall be again if the error is gone.
|
|
\brief NOTE: state requests to a higher state than the current state are not allowed.
|
|
*////////////////////////////////////////////////////////////////////////////////////////
|
|
PROTO void ECAT_StateChange(UINT8 alStatus, UINT16 alStatusCode);
|
|
|
|
#undef PROTO
|