/** ESC and CPU related HW init
*
* @param[in] arg = esc_cfg provided by the application
*/
void ESC_init (const esc_cfg_t * config)
{
eep_config_t ecat_config;
ESC_reset();
scu_configure_ethercat_signals(&port_control);
/* read config from emulated EEPROM */
memset(&ecat_config, 0, sizeof(eep_config_t));
EEP_read (0, (uint8_t *) &ecat_config, sizeof(eep_config_t));
ESC_enable();
/* words 0x0-0x3 */
ecat0->EEP_DATA[0U] = ecat_config.dword[0U];
ecat0->EEP_DATA[1U] = ecat_config.dword[1U];
ecat0->EEP_CONT_STAT |= (uint16_t)(BIT(10)); /* ESI EEPROM Reload */
/* words 0x4-0x7 */
ecat0->EEP_DATA[0U] = ecat_config.dword[2U];
ecat0->EEP_DATA[1U] = ecat_config.dword[3U];
ecat0->EEP_CONT_STAT |= (uint16_t)(BIT(10)); /* ESI EEPROM Reload */
while (ecat0->EEP_CONT_STAT & BIT(12)) /* ESI EEPROM loading status */
{
/* Wait until the EEPROM_Loaded signal is active */
}
/* Configure CPU interrupts */
if(config->use_interrupt != 0)
{
// ecat_isr_sem = sem_create(0);
// task_spawn ("soes_isr", isr_run, 9, 2048, NULL);
use_all_interrupts = 0;
ecat0->AL_EVENT_MASK = 0;
ecat0->AL_EVENT_MASK = (ESCREG_ALEVENT_SMCHANGE |
ESCREG_ALEVENT_EEP |
ESCREG_ALEVENT_CONTROL |
ESCREG_ALEVENT_SM0 |
ESCREG_ALEVENT_SM1);
int_connect (IRQ_ECAT0_SR0, ecat_isr, NULL);
int_enable (IRQ_ECAT0_SR0);
// /* Activate for running external sync IRQ */
// scu_put_peripheral_in_reset (SCU_PERIPHERAL_ERU1);
// scu_ungate_clock_to_peripheral (SCU_PERIPHERAL_ERU1);
// scu_release_peripheral_from_reset (SCU_PERIPHERAL_ERU1);
//
// eru_configure(&cfg);
// /* Let the stack decide when to enable */
// int_disable(cfg.irq);
}
}
/** 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 ();
}
};
}
