Ny structure. Start of the "main" branch

Cards/EaserCAT-2000/Firmware/lib/soes/ecat_slv.h

@@ -0,0 +1,69 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef __ECAT_SLV_H__
+#define __ECAT_SLV_H__
+
+#include "ecat_options.h"
+#include "esc.h"
+
+/**
+ * This function is called when to get input values
+ */
+void cb_get_inputs();
+
+/**
+ * This function is called when to set outputs values
+ */
+void cb_set_outputs();
+
+/** Set the watchdog count value
+ *
+ * @param[in] watchdogcnt  = new watchdog count value
+ */
+void APP_setwatchdog(int watchdogcnt);
+
+#define DIG_PROCESS_INPUTS_FLAG 0x01
+#define DIG_PROCESS_OUTPUTS_FLAG 0x02
+#define DIG_PROCESS_WD_FLAG 0x04
+#define DIG_PROCESS_APP_HOOK_FLAG 0x08
+/** Implements the watch-dog counter to count if we should make a state change
+ * due to missing incoming SM2 events. Updates local I/O and run the application
+ * in the following order, call read EtherCAT outputs, execute user provided
+ * application hook and call write EtherCAT inputs.
+ *
+ * @param[in]   flags     = User input what to execute
+ */
+void DIG_process(uint16_t ALEvent, uint8_t flags);
+
+/**
+ * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
+ * control what interrupts that should be served and re-activated with
+ * event mask argument
+ *
+ * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
+ *                           after served
+ */
+void ecat_slv_worker(uint32_t event_mask);
+
+/**
+ * Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
+ * application
+ */
+void ecat_slv_poll(void);
+
+/**
+ * Poll all events in a free-run application
+ */
+void ecat_slv(void);
+
+/**
+ * Initialize the slave stack
+ *
+ * @param[in]   config     = User input how to configure the stack
+ */
+void ecat_slv_init(esc_cfg_t *config);
+
+#endif /* __ECAT_SLV_H__ */