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
125 lines
5.6 KiB
C
125 lines
5.6 KiB
C
/**
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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 5.11
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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 marco 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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#ifndef _ECATAPPL_H_
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#define _ECATAPPL_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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/*Set to unsigned short to handle bit entries correct*/
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#define BOOLEAN(x) unsigned short(x):1 /**< \brief Marco to define BOOLEAN object entry*/
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#define BIT1(x) unsigned short(x):1 /**< \brief Marco to define BIT1 object entry*/
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#define BIT2(x) unsigned short(x):2 /**< \brief Marco to define BIT2 object entry*/
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#define BIT3(x) unsigned short(x):3 /**< \brief Marco to define BIT3 object entry*/
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#define BIT4(x) unsigned short(x):4 /**< \brief Marco to define BIT4 object entry*/
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#define BIT5(x) unsigned short(x):5 /**< \brief Marco to define BIT5 object entry*/
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#define BIT6(x) unsigned short(x):6 /**< \brief Marco to define BIT5 object entry*/
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#define BIT7(x) unsigned short(x):7 /**< \brief Marco to define BIT6 object entry*/
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#define BIT8(x) unsigned short(x):8 /**< \brief Marco to define BIT7 object entry*/
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#define ALIGN0(x)
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#define ALIGN1(x) unsigned short(x):1; /**< \brief Marco to define ALIGN1 object entry*/
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#define ALIGN2(x) unsigned short(x):2; /**< \brief Marco to define ALIGN2 object entry*/
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#define ALIGN3(x) unsigned short(x):3; /**< \brief Marco to define ALIGN3 object entry*/
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#define ALIGN4(x) unsigned short(x):4; /**< \brief Marco to define ALIGN4 object entry*/
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#define ALIGN5(x) unsigned short(x):5; /**< \brief Marco to define ALIGN5 object entry*/
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#define ALIGN6(x) unsigned short(x):6; /**< \brief Marco to define ALIGN6 object entry*/
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#define ALIGN7(x) unsigned short(x):7; /**< \brief Marco to define ALIGN7 object entry*/
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#define ALIGN8(x) unsigned short(x):8; /**< \brief Marco to define ALIGN8 object entry*/
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#define ALIGN9(x) unsigned short(x):9; /**< \brief Marco to define ALIGN9 object entry*/
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#define ALIGN10(x) unsigned short(x):10; /**< \brief Marco to define ALIGN10 object entry*/
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#define ALIGN11(x) unsigned short(x):11; /**< \brief Marco to define ALIGN11 object entry*/
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#define ALIGN12(x) unsigned short(x):12; /**< \brief Marco to define ALIGN12 object entry*/
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#define ALIGN13(x) unsigned short(x):13; /**< \brief Marco to define ALIGN13 object entry*/
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#define ALIGN14(x) unsigned short(x):14; /**< \brief Marco to define ALIGN14 object entry*/
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#define ALIGN15(x) unsigned short(x):15; /**< \brief Marco to define ALIGN15 object entry*/
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#endif //_ECATAPPL_H_
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/* ECATCHANGE_START(V5.11) ECAT10*/
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#if defined(_ECATAPPL_) && (_ECATAPPL_ == 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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/*-----------------------------------------------------------------------------------------
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------
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------ Global Variables
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------
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-----------------------------------------------------------------------------------------*/
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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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/*-----------------------------------------------------------------------------------------
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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 CalcSMCycleTime(void);
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#undef PROTO
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/** @}*/
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