Headerfile for esc.h. More...

Data Structures
struct	_ESCsm
struct	_ESCsm2
struct	PACKED
struct	_ESCvar
struct	_MBXh
struct	_MBX
struct	_COEh
struct	_INFOh
struct	_MBXerr
struct	_COEsdo
struct	_COEobjdesc
struct	_COEentdesc
struct	_FOEh
struct	_FOE
struct	_MBXcontrol
struct	esc_cfg_t
Defines
#define	FLASHSTORE const
#define	PACKED __attribute__((__packed__))
#define	ESCREG_ADDRESS 0x0010
#define	ESCREG_DLSTATUS 0x0110
#define	ESCREG_ALCONTROL 0x0120
#define	ESCREG_ALSTATUS 0x0130
#define	ESCREG_ALERROR 0x0134
#define	ESCREG_ALEVENT_SM_MASK 0x0310
#define	ESCREG_ALEVENT_SMCHANGE 0x0010
#define	ESCREG_ALEVENT_CONTROL 0x0001
#define	ESCREG_ALEVENT_SM2 0x0400
#define	ESCREG_ALEVENT_SM3 0x0800
#define	ESCREG_WDSTATUS 0x0440
#define	ESCREG_SM0 0x0800
#define	ESCREG_SM0STATUS (ESCREG_SM0 + 5)
#define	ESCREG_SM0PDI (ESCREG_SM0 + 7)
#define	ESCREG_SM1 (ESCREG_SM0 + 0x08)
#define	ESCREG_SM2 (ESCREG_SM0 + 0x10)
#define	ESCREG_SM3 (ESCREG_SM0 + 0x18)
#define	ESCREG_LOCALTIME 0x0910
#define	ESCREG_SMENABLE_BIT 0x01
#define	ESCREG_AL_STATEMASK 0x001f
#define	ESCREG_AL_ALLBUTINITMASK 0x0e
#define	ESCREG_AL_ERRACKMASK 0x0f
#define	ESCinit 0x01
#define	ESCpreop 0x02
#define	ESCboot 0x03
#define	ESCsafeop 0x04
#define	ESCop 0x08
#define	ESCerror 0x10
#define	INIT_TO_INIT 0x11
#define	INIT_TO_PREOP 0x21
#define	INIT_TO_BOOT 0x31
#define	INIT_TO_SAFEOP 0x41
#define	INIT_TO_OP 0x81
#define	PREOP_TO_INIT 0x12
#define	PREOP_TO_PREOP 0x22
#define	PREOP_TO_BOOT 0x32
#define	PREOP_TO_SAFEOP 0x42
#define	PREOP_TO_OP 0x82
#define	BOOT_TO_INIT 0x13
#define	BOOT_TO_PREOP 0x23
#define	BOOT_TO_BOOT 0x33
#define	BOOT_TO_SAFEOP 0x43
#define	BOOT_TO_OP 0x83
#define	SAFEOP_TO_INIT 0x14
#define	SAFEOP_TO_PREOP 0x24
#define	SAFEOP_TO_BOOT 0x34
#define	SAFEOP_TO_SAFEOP 0x44
#define	SAFEOP_TO_OP 0x84
#define	OP_TO_INIT 0x18
#define	OP_TO_PREOP 0x28
#define	OP_TO_BOOT 0x38
#define	OP_TO_SAFEOP 0x48
#define	OP_TO_OP 0x88
#define	ALERR_NONE 0x0000
#define	ALERR_INVALIDSTATECHANGE 0x0011
#define	ALERR_UNKNOWNSTATE 0x0012
#define	ALERR_BOOTNOTSUPPORTED 0x0013
#define	ALERR_INVALIDBOOTMBXCONFIG 0x0015
#define	ALERR_INVALIDMBXCONFIG 0x0016
#define	ALERR_INVALIDSMCONFIG 0x0017
#define	ALERR_WATCHDOG 0x0019
#define	ALERR_INVALIDOUTPUTSM 0x001D
#define	ALERR_INVALIDINPUTSM 0x001E
#define	MBXERR_SYNTAX 0x0001
#define	MBXERR_UNSUPPORTEDPROTOCOL 0x0002
#define	MBXERR_INVALIDCHANNEL 0x0003
#define	MBXERR_SERVICENOTSUPPORTED 0x0004
#define	MBXERR_INVALIDHEADER 0x0005
#define	MBXERR_SIZETOOSHORT 0x0006
#define	MBXERR_NOMOREMEMORY 0x0007
#define	MBXERR_INVALIDSIZE 0x0008
#define	ABORT_NOTOGGLE 0x05030000
#define	ABORT_UNKNOWN 0x05040001
#define	ABORT_UNSUPPORTED 0x06010000
#define	ABORT_WRITEONLY 0x06010001
#define	ABORT_READONLY 0x06010002
#define	ABORT_NOOBJECT 0x06020000
#define	ABORT_TYPEMISMATCH 0x06070010
#define	ABORT_NOSUBINDEX 0x06090011
#define	ABORT_GENERALERROR 0x08000000
#define	ABORT_NOTINTHISSTATE 0x08000022
#define	MBXstate_idle 0x00
#define	MBXstate_inclaim 0x01
#define	MBXstate_outclaim 0x02
#define	MBXstate_outreq 0x03
#define	MBXstate_outpost 0x04
#define	MBXstate_backup 0x05
#define	MBXstate_again 0x06
#define	COE_DEFAULTLENGTH 0x0a
#define	COE_HEADERSIZE 0x0a
#define	COE_SEGMENTHEADERSIZE 0x03
#define	COE_SDOREQUEST 0x02
#define	COE_SDORESPONSE 0x03
#define	COE_SDOINFORMATION 0x08
#define	COE_COMMAND_SDOABORT 0x80
#define	COE_COMMAND_UPLOADREQUEST 0x40
#define	COE_COMMAND_UPLOADRESPONSE 0x40
#define	COE_COMMAND_UPLOADSEGMENT 0x00
#define	COE_COMMAND_UPLOADSEGREQ 0x60
#define	COE_COMMAND_DOWNLOADRESPONSE 0x60
#define	COE_COMMAND_LASTSEGMENTBIT 0x01
#define	COE_SIZE_INDICATOR 0x01
#define	COE_EXPEDITED_INDICATOR 0x02
#define	COE_COMPLETEACCESS 0x10
#define	COE_TOGGLEBIT 0x10
#define	COE_INFOERROR 0x07
#define	COE_GETODLISTRESPONSE 0x02
#define	COE_GETODRESPONSE 0x04
#define	COE_ENTRYDESCRIPTIONRESPONSE 0x06
#define	COE_VALUEINFO_ACCESS 0x01
#define	COE_VALUEINFO_OBJECT 0x02
#define	COE_VALUEINFO_MAPPABLE 0x04
#define	COE_VALUEINFO_TYPE 0x08
#define	COE_VALUEINFO_DEFAULT 0x10
#define	COE_VALUEINFO_MINIMUM 0x20
#define	COE_VALUEINFO_MAXIMUM 0x40
#define	MBXSIZE 0x80
#define	MBXSIZEBOOT 0x80
#define	MBXBUFFERS 3
#define	MBX0_sma 0x1000
#define	MBX0_sml MBXSIZE
#define	MBX0_sme MBX0_sma+MBX0_sml-1
#define	MBX0_smc 0x26
#define	MBX1_sma 0x1080
#define	MBX1_sml MBXSIZE
#define	MBX1_sme MBX1_sma+MBX1_sml-1
#define	MBX1_smc 0x22
#define	MBX0_sma_b 0x1000
#define	MBX0_sml_b MBXSIZEBOOT
#define	MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1
#define	MBX0_smc_b 0x26
#define	MBX1_sma_b 0x1080
#define	MBX1_sml_b MBXSIZEBOOT
#define	MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1
#define	MBX1_smc_b 0x22
#define	SM2_sma 0x1100
#define	SM2_smc 0x24
#define	SM2_act 0x01
#define	SM3_sma 0x1180
#define	SM3_smc 0x20
#define	SM3_act 0x01
#define	MBXHSIZE sizeof(_MBXh)
#define	MBXDSIZE MBXSIZE-MBXHSIZE
#define	MBXERR 0x00
#define	MBXAOE 0x01
#define	MBXEOE 0x02
#define	MBXCOE 0x03
#define	MBXFOE 0x04
#define	MBXODL 0x10
#define	MBXOD 0x20
#define	MBXED 0x30
#define	MBXSEU 0x40
#define	MBXSED 0x50
#define	SMRESULT_ERRSM0 0x01
#define	SMRESULT_ERRSM1 0x02
#define	SMRESULT_ERRSM2 0x04
#define	SMRESULT_ERRSM3 0x08
#define	FOE_ERR_NOTDEFINED 0x8000
#define	FOE_ERR_NOTFOUND 0x8001
#define	FOE_ERR_ACCESS 0x8002
#define	FOE_ERR_DISKFULL 0x8003
#define	FOE_ERR_ILLEGAL 0x8004
#define	FOE_ERR_PACKETNO 0x8005
#define	FOE_ERR_EXISTS 0x8006
#define	FOE_ERR_NOUSER 0x8007
#define	FOE_ERR_BOOTSTRAPONLY 0x8008
#define	FOE_ERR_NOTINBOOTSTRAP 0x8009
#define	FOE_ERR_NORIGHTS 0x800A
#define	FOE_ERR_PROGERROR 0x800B
#define	FOE_OP_RRQ 1
#define	FOE_OP_WRQ 2
#define	FOE_OP_DATA 3
#define	FOE_OP_ACK 4
#define	FOE_OP_ERR 5
#define	FOE_OP_BUSY 6
#define	FOE_READY 0
#define	FOE_WAIT_FOR_ACK 1
#define	FOE_WAIT_FOR_FINAL_ACK 2
#define	FOE_WAIT_FOR_DATA 3
#define	EC_LITTLE_ENDIAN
#define	FOEHSIZE (sizeof(_FOEh))
#define	FOE_DATA_SIZE (MBXSIZEBOOT - (MBXHSIZE+FOEHSIZE))
Typedefs
typedef FLASHSTORE struct PACKED	_ESCsmCompact
Functions
void	ESC_config (esc_cfg_t *cfg)
void	ESC_ALerror (uint16 errornumber)
void	ESC_ALstatus (uint8 status)
void	ESC_SMstatus (uint8 n)
uint8	ESC_WDstatus (void)
uint8	ESC_claimbuffer (void)
uint8	ESC_startmbx (uint8 state)
void	ESC_stopmbx (void)
void	MBX_error (uint16 error)
uint8	ESC_mbxprocess (void)
void	ESC_xoeprocess (void)
uint8	ESC_startinput (uint8 state)
void	ESC_stopinput (void)
uint8	ESC_startoutput (uint8 state)
void	ESC_stopoutput (void)
void	ESC_ALevent (void)
void	ESC_state (void)
uint8	ESC_read (uint16 address, void buf, uint16 len, void tALevent)
uint8	ESC_write (uint16 address, void buf, uint16 len, void tALevent)
void	ESC_init (void *arg)
void	APP_safeoutput ()
Variables
volatile _ESCvar	ESCvar
_MBX	MBX [MBXBUFFERS]
_MBXcontrol	MBXcontrol [MBXBUFFERS]
uint8	MBXrun
uint16	SM2_sml
uint16	SM3_sml

Detailed Description

Headerfile for esc.h.

Define Documentation

#define ABORT_GENERALERROR 0x08000000

#define ABORT_NOOBJECT 0x06020000

#define ABORT_NOSUBINDEX 0x06090011

#define ABORT_NOTINTHISSTATE 0x08000022

#define ABORT_NOTOGGLE 0x05030000

#define ABORT_READONLY 0x06010002

#define ABORT_TYPEMISMATCH 0x06070010

#define ABORT_UNKNOWN 0x05040001

#define ABORT_UNSUPPORTED 0x06010000

#define ABORT_WRITEONLY 0x06010001

#define ALERR_BOOTNOTSUPPORTED 0x0013

#define ALERR_INVALIDBOOTMBXCONFIG 0x0015

#define ALERR_INVALIDINPUTSM 0x001E

#define ALERR_INVALIDMBXCONFIG 0x0016

#define ALERR_INVALIDOUTPUTSM 0x001D

#define ALERR_INVALIDSMCONFIG 0x0017

#define ALERR_INVALIDSTATECHANGE 0x0011

#define ALERR_NONE 0x0000

#define ALERR_UNKNOWNSTATE 0x0012

#define ALERR_WATCHDOG 0x0019

#define BOOT_TO_BOOT 0x33

#define BOOT_TO_INIT 0x13

#define BOOT_TO_OP 0x83

#define BOOT_TO_PREOP 0x23

#define BOOT_TO_SAFEOP 0x43

#define COE_COMMAND_DOWNLOADRESPONSE 0x60

#define COE_COMMAND_LASTSEGMENTBIT 0x01

#define COE_COMMAND_SDOABORT 0x80

#define COE_COMMAND_UPLOADREQUEST 0x40

#define COE_COMMAND_UPLOADRESPONSE 0x40

#define COE_COMMAND_UPLOADSEGMENT 0x00

#define COE_COMMAND_UPLOADSEGREQ 0x60

#define COE_COMPLETEACCESS 0x10

#define COE_DEFAULTLENGTH 0x0a

#define COE_ENTRYDESCRIPTIONRESPONSE 0x06

#define COE_EXPEDITED_INDICATOR 0x02

#define COE_GETODLISTRESPONSE 0x02

#define COE_GETODRESPONSE 0x04

#define COE_HEADERSIZE 0x0a

#define COE_INFOERROR 0x07

#define COE_SDOINFORMATION 0x08

#define COE_SDOREQUEST 0x02

#define COE_SDORESPONSE 0x03

#define COE_SEGMENTHEADERSIZE 0x03

#define COE_SIZE_INDICATOR 0x01

#define COE_TOGGLEBIT 0x10

#define COE_VALUEINFO_ACCESS 0x01

#define COE_VALUEINFO_DEFAULT 0x10

#define COE_VALUEINFO_MAPPABLE 0x04

#define COE_VALUEINFO_MAXIMUM 0x40

#define COE_VALUEINFO_MINIMUM 0x20

#define COE_VALUEINFO_OBJECT 0x02

#define COE_VALUEINFO_TYPE 0x08

#define EC_LITTLE_ENDIAN

#define ESCboot 0x03

#define ESCerror 0x10

#define ESCinit 0x01

#define ESCop 0x08

#define ESCpreop 0x02

#define ESCREG_ADDRESS 0x0010

#define ESCREG_AL_ALLBUTINITMASK 0x0e

#define ESCREG_AL_ERRACKMASK 0x0f

#define ESCREG_AL_STATEMASK 0x001f

#define ESCREG_ALCONTROL 0x0120

#define ESCREG_ALERROR 0x0134

#define ESCREG_ALEVENT_CONTROL 0x0001

#define ESCREG_ALEVENT_SM2 0x0400

#define ESCREG_ALEVENT_SM3 0x0800

#define ESCREG_ALEVENT_SM_MASK 0x0310

#define ESCREG_ALEVENT_SMCHANGE 0x0010

#define ESCREG_ALSTATUS 0x0130

#define ESCREG_DLSTATUS 0x0110

#define ESCREG_LOCALTIME 0x0910

#define ESCREG_SM0 0x0800

#define ESCREG_SM0PDI (ESCREG_SM0 + 7)

#define ESCREG_SM0STATUS (ESCREG_SM0 + 5)

#define ESCREG_SM1 (ESCREG_SM0 + 0x08)

#define ESCREG_SM2 (ESCREG_SM0 + 0x10)

#define ESCREG_SM3 (ESCREG_SM0 + 0x18)

#define ESCREG_SMENABLE_BIT 0x01

#define ESCREG_WDSTATUS 0x0440

#define ESCsafeop 0x04

#define FLASHSTORE const

#define FOE_DATA_SIZE (MBXSIZEBOOT - (MBXHSIZE+FOEHSIZE))

#define FOE_ERR_ACCESS 0x8002

#define FOE_ERR_BOOTSTRAPONLY 0x8008

#define FOE_ERR_DISKFULL 0x8003

#define FOE_ERR_EXISTS 0x8006

#define FOE_ERR_ILLEGAL 0x8004

#define FOE_ERR_NORIGHTS 0x800A

#define FOE_ERR_NOTDEFINED 0x8000

#define FOE_ERR_NOTFOUND 0x8001

#define FOE_ERR_NOTINBOOTSTRAP 0x8009

#define FOE_ERR_NOUSER 0x8007

#define FOE_ERR_PACKETNO 0x8005

#define FOE_ERR_PROGERROR 0x800B

#define FOE_OP_ACK 4

#define FOE_OP_BUSY 6

#define FOE_OP_DATA 3

#define FOE_OP_ERR 5

#define FOE_OP_RRQ 1

#define FOE_OP_WRQ 2

#define FOE_READY 0

#define FOE_WAIT_FOR_ACK 1

#define FOE_WAIT_FOR_DATA 3

#define FOE_WAIT_FOR_FINAL_ACK 2

#define FOEHSIZE (sizeof(_FOEh))

#define INIT_TO_BOOT 0x31

#define INIT_TO_INIT 0x11

#define INIT_TO_OP 0x81

#define INIT_TO_PREOP 0x21

#define INIT_TO_SAFEOP 0x41

#define MBX0_sma 0x1000

#define MBX0_sma_b 0x1000

#define MBX0_smc 0x26

#define MBX0_smc_b 0x26

#define MBX0_sme MBX0_sma+MBX0_sml-1

#define MBX0_sme_b MBX0_sma_b+MBX0_sml_b-1

#define MBX0_sml MBXSIZE

#define MBX0_sml_b MBXSIZEBOOT

#define MBX1_sma 0x1080

#define MBX1_sma_b 0x1080

#define MBX1_smc 0x22

#define MBX1_smc_b 0x22

#define MBX1_sme MBX1_sma+MBX1_sml-1

#define MBX1_sme_b MBX1_sma_b+MBX1_sml_b-1

#define MBX1_sml MBXSIZE

#define MBX1_sml_b MBXSIZEBOOT

#define MBXAOE 0x01

#define MBXBUFFERS 3

#define MBXCOE 0x03

#define MBXDSIZE MBXSIZE-MBXHSIZE

#define MBXED 0x30

#define MBXEOE 0x02

#define MBXERR 0x00

#define MBXERR_INVALIDCHANNEL 0x0003

#define MBXERR_INVALIDHEADER 0x0005

#define MBXERR_INVALIDSIZE 0x0008

#define MBXERR_NOMOREMEMORY 0x0007

#define MBXERR_SERVICENOTSUPPORTED 0x0004

#define MBXERR_SIZETOOSHORT 0x0006

#define MBXERR_SYNTAX 0x0001

#define MBXERR_UNSUPPORTEDPROTOCOL 0x0002

#define MBXFOE 0x04

#define MBXHSIZE sizeof(_MBXh)

#define MBXOD 0x20

#define MBXODL 0x10

#define MBXSED 0x50

#define MBXSEU 0x40

#define MBXSIZE 0x80

#define MBXSIZEBOOT 0x80

#define MBXstate_again 0x06

#define MBXstate_backup 0x05

#define MBXstate_idle 0x00

#define MBXstate_inclaim 0x01

#define MBXstate_outclaim 0x02

#define MBXstate_outpost 0x04

#define MBXstate_outreq 0x03

#define OP_TO_BOOT 0x38

#define OP_TO_INIT 0x18

#define OP_TO_OP 0x88

#define OP_TO_PREOP 0x28

#define OP_TO_SAFEOP 0x48

#define PACKED __attribute__((__packed__))

#define PREOP_TO_BOOT 0x32

#define PREOP_TO_INIT 0x12

#define PREOP_TO_OP 0x82

#define PREOP_TO_PREOP 0x22

#define PREOP_TO_SAFEOP 0x42

#define SAFEOP_TO_BOOT 0x34

#define SAFEOP_TO_INIT 0x14

#define SAFEOP_TO_OP 0x84

#define SAFEOP_TO_PREOP 0x24

#define SAFEOP_TO_SAFEOP 0x44

#define SM2_act 0x01

#define SM2_sma 0x1100

#define SM2_smc 0x24

#define SM3_act 0x01

#define SM3_sma 0x1180

#define SM3_smc 0x20

#define SMRESULT_ERRSM0 0x01

#define SMRESULT_ERRSM1 0x02

#define SMRESULT_ERRSM2 0x04

#define SMRESULT_ERRSM3 0x08

Typedef Documentation

typedef FLASHSTORE struct PACKED _ESCsmCompact

Function Documentation

void APP_safeoutput ( )

void ESC_ALerror ( uint16 errornumber )

Write AL Status Code to the ESC.

Parameters:

[in] errornumber = Write an by EtherCAT specified Error number register 0x134 AL Status Code

void ESC_ALevent ( void )

void ESC_ALstatus ( uint8 status )

Write AL Status to the ESC.

Parameters:

[in] status = Write current slave status to register 0x130 AL Status reflecting actual state and error indication if present

uint8 ESC_claimbuffer ( void )

Allocate and prepare a mailbox buffer. Take the first Idle buffer from the End. Set Mailbox control state to be used for outbox and fill the mailbox buffer with address master and mailbox next CNT value between 1-7.

Returns:: The index of Mailbox buffer prepared for outbox. IF no buffer is available return 0.

void ESC_config ( esc_cfg_t * cfg )

Function copying the application configuration variable to the stack local pointer variable.

Parameters:

[in] cfg = Pointer to by the Application static declared configuration variable holding application specific details. Ex. post- and pre state change hooks

void ESC_init ( void * arg )

uint8 ESC_mbxprocess ( void )

Mailbox routine for implementing the low-level part of the mailbox protocol used by Application Layers running on-top of mailboxes. It takes care of sending a mailbox, re-sending a mailbox, reading a mailbox and handles a mailbox full event.

Returns:: =0 if nothing to do. =1 if something to be handled by mailbox protocols.

uint8 ESC_read	(	uint16	address,
		void *	buf,
		uint16	len,
		void *	tALevent
	)

void ESC_SMstatus ( uint8 n )

Read SM Status register 0x805(+ offset to SyncManager n) and save the result in global variable ESCvar.SM[n].

Parameters:

[in] n = Read Sync Manager no. n

uint8 ESC_startinput ( uint8 state )

Function trying to enable start updating the process data inputs. It calls the check SM 2 & 3 routine, based on the result from there if enables or disables the Input SyncManager, in addition it updates the ALStatusCode case something didn't pass the check.

Parameters:

[in] state = Requested state.

Returns:: = state, incoming state request if every thing checks out OK. =state (PREOP | ERROR) if something isn't correct.

uint8 ESC_startmbx ( uint8 state )

Try to start mailboxes for current ALControl state request by enabling SyncManager 0 and 1. If all mailbox settings is correct we return incoming state request, otherwise we return state Init with Error flag set and update local ALerror with code 0x16 Invalid mailbox configuration.

Parameters:

[in] state = Current state request read from ALControl 0x0120

Returns:: if all Mailbox values is correct we return incoming state, otherwise we return state Init with Error flag set.

uint8 ESC_startoutput ( uint8 state )

Unconditional start of updating outputs by enabling Sync Manager 2. Set the App.state to APPSTATE_OUTPUT.

Parameters:

[in] state = Not used.

Returns:: = state unchanged.

void ESC_state ( void )

The state handler acting on ALControl Bit(0) and SyncManager Activation BIT(4) events in the Al Event Request register 0x220.

void ESC_stopinput ( void )

Unconditional stop of updating inputs by disabling Sync Manager 2 & 3. Set the App.state to APPSTATE_IDLE.

void ESC_stopmbx ( void )

Stop mailboxes by disabling SyncManager 0 and 1. Clear local mailbox variables stored in ESCvar.

void ESC_stopoutput ( void )

Unconditional stop of updating outputs by disabling Sync Manager 2. Set the App.state to APPSTATE_ONPUT. Call application hook APP_safeoutput letting the user to set safe state values on outputs.

uint8 ESC_WDstatus ( void )

Read Watchdog Status register 0x440. Result Bit0 0= Expired, 1= Active or disabled.

Returns:: value of register Watchdog Status.

uint8 ESC_write	(	uint16	address,
		void *	buf,
		uint16	len,
		void *	tALevent
	)

void ESC_xoeprocess ( void )

Handler for incorrect or unsupported mailbox data. Write error response in Mailbox.

void MBX_error ( uint16 error )

Allocate and prepare a mailbox buffer for sending an error message. Take the first Idle buffer from the end. Set Mailbox control state to be used for outbox and fill the mailbox buffer with error information.

Parameters:

[in] n = Error number to be sent in mailbox error message.