/** Mandatory: Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process (void)
{
if (wd_cnt)
{
wd_cnt--;
}
if (App.state & APPSTATE_OUTPUT)
{
/* SM2 trigger ? */
if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2;
RXPDO_update ();
wd_cnt = WD_RESET;
/* dummy output point */
//gpio_set(GPIO_LED, Wb.LED & BIT(0));
}
if (!wd_cnt)
{
DPRINT("DIG_process watchdog tripped\n");
ESC_stopoutput ();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
}
else
{
wd_cnt = WD_RESET;
}
if (App.state)
{
//Rb.button = gpio_get(GPIO_WAKEUP);
Rb.button = (flash_drv_get_active_swap() && 0x8);
Cb.reset_counter++;
Rb.encoder = Cb.reset_counter;
TXPDO_update ();
}
}
/** Mandatory: Function to update local I/O, call read ethercat outputs, call
* write ethercat inputs. Implement watch-dog counter to count-out if we have
* made state change affecting the App.state.
*/
void DIG_process (uint8_t flags)
{
/* Handle watchdog */
if((flags & DIG_PROCESS_WD_FLAG) > 0)
{
if (CC_ATOMIC_GET(watchdog) > 0)
{
CC_ATOMIC_SUB(watchdog, 1);
}
if ((CC_ATOMIC_GET(watchdog) <= 0) &&
((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0))
{
DPRINT("DIG_process watchdog expired\n");
ESC_stopoutput();
/* watchdog, invalid outputs */
ESC_ALerror (ALERR_WATCHDOG);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
}
else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
{
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
}
}
/* Handle Outputs */
if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
{
if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
(ESCvar.ALevent & ESCREG_ALEVENT_SM2))
{
RXPDO_update();
CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
if(ESCvar.dcsync > 0)
{
CC_ATOMIC_ADD(ESCvar.synccounter, 1);
}
/* Set outputs */
cb_set_LEDgroup0();
cb_set_LEDgroup1();
}
else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
{
RXPDO_update();
}
}
/* Call application */
if ((flags & DIG_PROCESS_APP_HOOK_FLAG) > 0)
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
CC_ATOMIC_SUB(ESCvar.synccounter, 1);
}
if((ESCvar.dcsync > 0) &&
((CC_ATOMIC_GET(ESCvar.synccounter) < -ESCvar.synccounterlimit) ||
(CC_ATOMIC_GET(ESCvar.synccounter) > ESCvar.synccounterlimit)))
{
if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
{
DPRINT("sync error = %d\n", ESCvar.synccounter);
ESC_stopoutput();
/* Sync error */
ESC_ALerror (ALERR_SYNCERROR);
/* goto safe-op with error bit set */
ESC_ALstatus (ESCsafeop | ESCerror);
CC_ATOMIC_SET(ESCvar.synccounter, 0);
}
}
/* Call application callback if set */
if (ESCvar.application_hook != NULL)
{
(ESCvar.application_hook)();
}
}
/* Handle Inputs */
if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
{
if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
{
/* Update inputs */
cb_get_Buttons();
TXPDO_update();
}
}
}
