Copyright (c) 2024 KUNBUS GmbH.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define TIESC_HW 0
#define PRU_200MHZ 1
#include "project.h"
#include "ecSlvCiA402.h"
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (1==FBTLIMPL_LINEUART)
#include "sysLib_lineUart.h"
#else
#include <sysLib_sharedMemory.h>
#endif
#endif
#include <osal.h>
#include <ESL_os.h>
#include <ESL_BOARD_config.h>
#include <ESL_BOARD_OS_config.h>
#include <ESL_cia402Obd.h>
#include <ESL_version.h>
#include <ecSlvApi.h>
static OSAL_PJumpBuf_t farJumpBuf_cia;
static void EC_SLV_APP_CIA_loopTask(void *pArg_p)
{
char *pProductName = NULL;
uint32_t vendorId = 0;
uint32_t productCode = 0;
uint16_t alErrorCode = 0;
if (!pApplicationInstance)
{
goto Exit;
}
EC_SLV_APP_CIA_initBoardFunctions(pApplicationInstance);
EC_SLV_APP_CIA_registerStacklessBoardFunctions(pApplicationInstance);
error = EC_API_SLV_stackInit();
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
EC_SLV_APP_cia402_initAxisObjects(pApplicationInstance);
EC_API_SLV_getVendorId(pApplicationInstance->
ptEcSlvApi, &vendorId);
EC_API_SLV_getProductCode(pApplicationInstance->
ptEcSlvApi, &productCode);
error = EC_API_SLV_getProductName(pApplicationInstance->
ptEcSlvApi, &pProductName);
OSAL_printf("%s - %xh / %xh\r\n", pProductName, vendorId, productCode);
ESL_dumpVersions(pApplicationInstance->
ptEcSlvApi);
error = EC_SLV_APP_CiA_fetchAxisObjects(pApplicationInstance);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
for(;;)
{
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
ESL_GPIO_testPins_set(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK);
#endif
#endif
EC_API_SLV_mainLoopCyclic();
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
ESL_GPIO_testPins_clear(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK);
#endif
#endif
EC_API_SLV_getState(pApplicationInstance->
ptEcSlvApi, &state, &alErrorCode);
{
OSAL_SCHED_yield();
}
else
{
OSAL_SCHED_sleep(10);
}
}
Exit:
ESL_OS_taskLeave();
return;
}
static void EC_SLV_APP_CIA_mainTask(void *pArg_p)
{
uint32_t retVal = OSAL_ERR_NoError;
if (!applicationInstance)
{
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Application instance missing!!!\r\n");
goto Exit;
}
if (OSAL_ERR_NoError != retVal)
{
OSAL_error(__func__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
}
OSAL_registerPrintOut(NULL, ESL_OS_printf);
retVal = EC_SLV_APP_CIA_remoteInit(applicationInstance);
if(!((OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal) || (OSAL_ERR_NoError == retVal)))
{
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Fatal error remote API init!!!\r\n");
goto Exit;
}
{
EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1);
applicationInstance->
loopThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_CIA_loopTask
,applicationInstance
#if !(defined FBTL_REMOTE) || (0==FBTL_REMOTE)
,OSAL_TASK_Prio_Normal
#else
,OSAL_TASK_Prio_Idle
#endif
,(uint8_t*)EC_SLV_APP_applLoopTaskStack_g
,APPLLOOP_TASK_SIZE_BYTE
,0
,"Appl_LoopTask");
{
OSAL_printf("Error return start Loop Task\r\n");
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
for (;;)
{
OSAL_SCHED_sleep(1000);
}
}
else
{
for (;;)
{
for (;;)
{
OSAL_printf("long jmp restart\r\n");
OSAL_SCHED_sleep(1000);
}
}
}
Exit:
return;
}
int main(int argc, char *argv[])
{
static uint32_t selectedPruInstance = UINT32_MAX;
uint32_t error = OSAL_ERR_NoError;
ESL_OS_init();
#if !(defined FBTL_REMOTE)
selectedPruInstance = ESL_DEFAULT_PRUICSS;
#endif
if (1 < argc)
{
char *inst = argv[1];
selectedPruInstance = strtoul(inst, NULL, 0);
}
#if (defined OSAL_TIRTOS)
if (0x1000 == argc)
{
PRUICSS_pruDisable(NULL, 0);
PRUICSS_pruDisable(NULL, 1);
PRUICSS_registerIrqHandler(NULL, 0, 0, 0, 0, NULL);
}
#endif
OSAL_init();
#if (defined OSAL_FREERTOS)
TaskP_Params_init(&applicationInstance.mainThreadParam);
applicationInstance.mainThreadParam.name = "mainThread";
applicationInstance.mainThreadParam.stackSize = MAIN_TASK_SIZE_BYTE;
applicationInstance.mainThreadParam.stack = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
applicationInstance.mainThreadParam.priority = (TaskP_PRIORITY_LOWEST+1);
applicationInstance.mainThreadParam.taskMain = (TaskP_FxnMain)EC_SLV_APP_CIA_mainTask;
applicationInstance.mainThreadParam.args = (void*)&applicationInstance;
,&applicationInstance.mainThreadParam);
if (SystemP_SUCCESS != error)
{
OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
#elif (defined OSAL_FREERTOS_JACINTO)
TaskP_Params_init(&applicationInstance.mainThreadParam);
applicationInstance.mainThreadParam.name = (uint8_t*)"mainThread";
applicationInstance.mainThreadParam.stacksize = MAIN_TASK_SIZE_BYTE;
applicationInstance.mainThreadParam.stack = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
applicationInstance.mainThreadParam.priority = (configMAX_PRIORITIES-1);
applicationInstance.mainThreadParam.arg0 = (void*)&applicationInstance;
applicationInstance.
mainThreadHandle = TaskP_create(EC_SLV_APP_CIA_mainTask, &applicationInstance.mainThreadParam);
{
OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
#else
applicationInstance.
mainThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_CIA_mainTask, &applicationInstance,
OSAL_TASK_Prio_Idle,
(uint8_t*)EC_SLV_APP_mainTaskStack_g,
MAIN_TASK_SIZE_BYTE, 0, "MainTask");
{
OSAL_printf("Error return start Main Task\r\n");
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
error = OSAL_STACK_INIT_ERROR;
}
#endif
OSAL_startOs();
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Not reachable by design!!!\r\n");
return error;
}
{
uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
if (!applicationInstance)
{
goto Exit;
}
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (FBTLIMPL_LINEUART==1)
retVal = SYSLIB_createLibInstanceLine( FBTL_LINE_UART_NAME,
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN,
FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
,true
#else
,false
#endif
);
#else
retVal = SYSLIB_createLibInstanceShm(FBTLSHARED_MEM_NAME, FBTLSHARED_MEM_SIZE, false,
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN, FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
,true
#else
,false
#endif
);
#endif
#else
OSALUNREF_PARM(applicationInstance);
retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
#endif
if(OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal)
{
OSAL_printf("\r\nLocal Implementation\r\n");
}
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
{
retVal = EC_API_SLV_FBTL_configuration(applicationInstance->
remoteHandle);
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
goto Exit;
}
}
#endif
else
{
;
}
Exit:
if((OSAL_ERR_NoError != retVal) && (OSAL_CONTAINER_LOCALIMPLEMENTATION != retVal))
{
OSAL_printf("%s:%d::> err ret = 0x%x\r\n", __func__, __LINE__, retVal);
}
return retVal;
}
void EC_SLV_APP_CIA_applicationInit(EC_SLV_APP_CIA_Application_t *pAppInstance_p)
Initialize slave application example.
Definition ecSlvCiA402.c:958
@ EC_API_eERR_NONE
Definition ecSlvApiDef_error.h:45
enum EC_API_SLV_EEsmState EC_API_SLV_EEsmState_t
EC_STATE_T EtherCAT State Machine states.
@ EC_API_SLV_eESM_uninit
Uninitialized State.
Definition ecSlvApi_types.h:70
@ EC_API_SLV_eESM_init
Init State.
Definition ecSlvApi_types.h:71
void * loopThreadHandle
Definition ecSlvCiA402.h:171
void * mainThreadHandle
Definition ecSlvCiA402.h:169
uint32_t selectedPruInstance
Definition ecSlvCiA402.h:159
EC_API_SLV_SHandle_t * ptEcSlvApi
Definition ecSlvCiA402.h:211
void * remoteHandle
Definition ecSlvCiA402.h:175
Definition ecSlvCiA402.h:158