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
114 lines
4.0 KiB
C
114 lines
4.0 KiB
C
/**
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* \addtogroup CoE CAN Application Profile over EtherCAT
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* @{
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*/
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/**
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\file ecatcoe.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 COE4: "change prototype of ""COE_ContinueInd()"" return <> 0 if a failure occurred"<br>
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V5.11 ECAT10: change PROTO handling to prevent compiler errors<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 _ECATCOE_H_
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#define _ECATCOE_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 "mailbox.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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/*---------------------------------------------
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- Error codes
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-----------------------------------------------*/
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#define ERROR_COEINVALIDSERVICE 0x01 /**< \brief Invalid SDO service*/
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#define ERROR_COENOTSUPPORTED 0x02 /**< \brief Not supported service*/
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/*---------------------------------------------
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- COE services
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-----------------------------------------------*/
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#define COESERVICE_EMERGENCY 0x01 /**< \brief CoE Emergency*/
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#define COESERVICE_SDOREQUEST 0x02 /**< \brief CoE SDO request*/
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#define COESERVICE_SDORESPONSE 0x03 /**< \brief CoE SDO response*/
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#define COESERVICE_TXPDO 0x04 /**< \brief CoE TxPDO*/
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#define COESERVICE_RXPDO 0x05 /**< \brief CoE RxPDO*/
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#define COESERVICE_TXPDOREMREQ 0x06 /**< \brief CoE TxPDO map request*/
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#define COESERVICE_RXPDOREMREQ 0x07 /**< \brief CoE RxPDO map request*/
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#define COESERVICE_SDOINFO 0x08 /**< \brief CoE SDO Info*/
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/*---------------------------------------------
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- COE Structures
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-----------------------------------------------*/
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#define COEHEADER_COESERVICESHIFT 12 /**< \brief CoE service shift (within CoE header)*/
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#define COEHEADER_COESERVICEMASK 0xF000 /**< \brief CoE service mask (within CoE header)*/
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#define COE_HEADER_SIZE 2 /**< \brief CoE header size*/
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typedef UINT16 TCOEHEADER; /**< \brief CoE header*/
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/**
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* \brief CoE Mailbox header
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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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TCOEHEADER CoeHeader; /**< \brief CoE header*/
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UINT16 Data[((MAX_MBX_DATA_SIZE)-(COE_HEADER_SIZE)) >> 1]; /**< \brief CoE data*/
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}MBX_STRUCT_PACKED_END
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TCOEMBX;
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#endif //_ECATCOE_H_
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/* ECATCHANGE_START(V5.11) ECAT10*/
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#if defined(_ECATCOE_) && (_ECATCOE_ == 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 TMBX MBXMEM * VARMEM pCoeSendStored; /** if the mailbox service could not be sent (or stored),
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the CoE service will be stored in this variable
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and will be sent automatically from the mailbox handler
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(COE_ContinueInd) when the send mailbox will be read
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the next time from the master */
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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 COE_Init(void);
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PROTO UINT8 COE_ServiceInd(TCOEMBX MBXMEM *pCoeMbx);
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/*ECATCHANGE_START(V5.11) COE4*/
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PROTO UINT8 COE_ContinueInd(TMBX MBXMEM * pMbx);
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/*ECATCHANGE_END(V5.11) COE4*/
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#undef PROTO
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/** @}*/
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