Ny structure. Start of the "main" branch

2024-11-20 11:18:13 +01:00
parent 31b896871d
commit 1918604586
415 changed files with 202039 additions and 21080 deletions
--- a/Cards/EaserCAT-2000/Firmware/lib/soes/esc_coe.h
+++ b/Cards/EaserCAT-2000/Firmware/lib/soes/esc_coe.h
@@ -0,0 +1,135 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+ /** \file
+ * \brief
+ * Headerfile for esc_coe.c
+ */
+
+#ifndef __esc_coe__
+#define __esc_coe__
+
+#include <cc.h>
+
+CC_PACKED_BEGIN
+typedef struct CC_PACKED
+{
+   uint16_t subindex;
+   uint16_t datatype;
+   uint16_t bitlength;
+   uint16_t flags;
+   const char *name;
+   uint32_t value;
+   void *data;
+} _objd;
+CC_PACKED_END
+
+CC_PACKED_BEGIN
+typedef struct CC_PACKED
+{
+   uint16_t index;
+   uint16_t objtype;
+   uint8_t maxsub;
+   uint8_t pad1;
+   const char *name;
+   const _objd *objdesc;
+} _objectlist;
+CC_PACKED_END
+
+typedef struct
+{
+   const _objd * obj;
+   uint16_t offset;
+} _SMmap;
+
+#define OBJH_READ               0
+#define OBJH_WRITE              1
+
+#define OTYPE_DOMAIN            0x0002
+#define OTYPE_DEFTYPE           0x0005
+#define OTYPE_DEFSTRUCT         0x0006
+#define OTYPE_VAR               0x0007
+#define OTYPE_ARRAY             0x0008
+#define OTYPE_RECORD            0x0009
+
+#define DTYPE_BOOLEAN           0x0001
+#define DTYPE_INTEGER8          0x0002
+#define DTYPE_INTEGER16         0x0003
+#define DTYPE_INTEGER32         0x0004
+#define DTYPE_UNSIGNED8         0x0005
+#define DTYPE_UNSIGNED16        0x0006
+#define DTYPE_UNSIGNED32        0x0007
+#define DTYPE_REAL32            0x0008
+#define DTYPE_VISIBLE_STRING    0x0009
+#define DTYPE_OCTET_STRING      0x000A
+#define DTYPE_UNICODE_STRING    0x000B
+#define DTYPE_INTEGER24         0x0010
+#define DTYPE_UNSIGNED24        0x0016
+#define DTYPE_INTEGER64         0x0015
+#define DTYPE_UNSIGNED64        0x001B
+#define DTYPE_REAL64            0x0011
+#define DTYPE_PDO_MAPPING       0x0021
+#define DTYPE_IDENTITY          0x0023
+#define DTYPE_BITARR8           0x002D
+#define DTYPE_BITARR16          0x002E
+#define DTYPE_BITARR32          0x002F
+#define DTYPE_BIT1              0x0030
+#define DTYPE_BIT2              0x0031
+#define DTYPE_BIT3              0x0032
+#define DTYPE_BIT4              0x0033
+#define DTYPE_BIT5              0x0034
+#define DTYPE_BIT6              0x0035
+#define DTYPE_BIT7              0x0036
+#define DTYPE_BIT8              0x0037
+#define DTYPE_ARRAY_OF_INT      0x0260
+#define DTYPE_ARRAY_OF_SINT     0x0261
+#define DTYPE_ARRAY_OF_DINT     0x0262
+#define DTYPE_ARRAY_OF_UDINT    0x0263
+
+#define ATYPE_Rpre              0x01
+#define ATYPE_Rsafe             0x02
+#define ATYPE_Rop               0x04
+#define ATYPE_Wpre              0x08
+#define ATYPE_Wsafe             0x10
+#define ATYPE_Wop               0x20
+#define ATYPE_RXPDO             0x40
+#define ATYPE_TXPDO             0x80
+
+#define ATYPE_RO                (ATYPE_Rpre | ATYPE_Rsafe | ATYPE_Rop)
+#define ATYPE_WO                (ATYPE_Wpre | ATYPE_Wsafe | ATYPE_Wop)
+#define ATYPE_RW                (ATYPE_RO | ATYPE_WO)
+#define ATYPE_RWpre             (ATYPE_Wpre | ATYPE_RO)
+
+#define TX_PDO_OBJIDX           0x1c13
+#define RX_PDO_OBJIDX           0x1c12
+
+#define COMPLETE_ACCESS_FLAG    (1 << 15)
+
+void ESC_coeprocess (void);
+int16_t SDO_findsubindex (int16_t nidx, uint8_t subindex);
+int32_t SDO_findobject (uint16_t index);
+uint16_t sizeOfPDO (uint16_t index, int * nmappings, _SMmap * sm, int max_mappings);
+void SDO_abort (uint16_t index, uint8_t subindex, uint32_t abortcode);
+void COE_initDefaultValues (void);
+
+void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
+void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
+uint8_t COE_maxSub (uint16_t index);
+
+extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
+extern uint32_t ESC_download_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags);
+extern uint32_t ESC_upload_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags);
+extern uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
+extern const _objectlist SDOobjects[];
+
+#endif