/** * Initialize the slave stack. */ void ecat_slv_init (esc_cfg_t * config) { DPRINT ("Slave stack init started\n"); ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX); ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX); /* Init watchdog */ watchdog = config->watchdog_cnt; /* Call stack configuration */ ESC_config (config); /* Call HW init */ ESC_init (config); /* wait until ESC is started up */ while ((ESCvar.DLstatus & 0x0001) == 0) { ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus, sizeof (ESCvar.DLstatus)); ESCvar.DLstatus = etohs (ESCvar.DLstatus); } /* Init FoE */ FOE_init(); /* reset ESC to init state */ ESC_ALstatus (ESCinit); ESC_ALerror (ALERR_NONE); ESC_stopmbx(); ESC_stopinput(); ESC_stopoutput(); }
/** SOES main loop. Start by initializing the stack software followed by * the application loop for cyclic read the EtherCAT state and staus, update * of I/O. */ void soes (void *arg) { DPRINT ("SOES (Simple Open EtherCAT Slave)\n"); TXPDOsize = SM3_sml = sizeTXPDO (); RXPDOsize = SM2_sml = sizeRXPDO (); /* Setup post config hooks */ static esc_cfg_t config = { .pre_state_change_hook = NULL, .post_state_change_hook = post_state_change_hook }; ESC_config ((esc_cfg_t *)&config); ESC_reset(); ESC_init (spi_name); task_delay (tick_from_ms (200)); /* wait until ESC is started up */ while ((ESCvar.DLstatus & 0x0001) == 0) { ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus, sizeof (ESCvar.DLstatus)); ESCvar.DLstatus = etohs (ESCvar.DLstatus); } /* Pre FoE to set up Application information */ bootstrap_foe_init (); /* Init FoE */ FOE_init(); /* reset ESC to init state */ ESC_ALstatus (ESCinit); ESC_ALerror (ALERR_NONE); ESC_stopmbx (); ESC_stopinput (); ESC_stopoutput (); DPRINT ("Application_loop GO\n"); /* application run loop */ while (1) { /* On init restore PDO mappings to default size */ if((ESCvar.ALstatus & 0x0f) == ESCinit) { txpdomap = DEFAULTTXPDOMAP; rxpdomap = DEFAULTRXPDOMAP; txpdoitems = DEFAULTTXPDOITEMS; rxpdoitems = DEFAULTTXPDOITEMS; } /* Read local time from ESC*/ ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time)); ESCvar.Time = etohl (ESCvar.Time); /* Check the state machine */ ESC_state (); /* If else to two separate execution paths * If we're running BOOSTRAP * - MailBox * - FoE * Else we're running normal execution * - MailBox * - CoE */ if(local_boot_state) { if (ESC_mbxprocess ()) { ESC_foeprocess (); ESC_xoeprocess (); } bootstrap_state (); } else { if (ESC_mbxprocess ()) { ESC_coeprocess (); ESC_xoeprocess (); } DIG_process (); } }; }