EtherCAT_SubDevice_CiA402.c

EtherCAT^® SubDevice Example Application with CiA402 Profile.

EtherCAT^® SubDevice Example Application with CiA402 Profile.

Author

Texas Instruments Incorporated

Copyright

Copyright (C) 2021 Texas Instruments Incorporated

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of Texas Instruments Incorporated nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

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 OWNER 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
 
/* this one shall the only one to be using it ! */
#include "project.h"
#include "ecSubDeviceCiA402.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
 
/* OS */
#include <osal.h>
 
/* ESL */
#include <ESL_os.h>
#include <ESL_BOARD_config.h>
#include <ESL_BOARD_OS_config.h>
#include <ESL_cia402Obd.h>
#include <ESL_version.h>
#if (defined SOC_AM263PX)
#include <ESL_BOARD_pinmux.h>
#endif //SOC_AM263PX
 
/* stack */
#include <ecSlvApi.h>
 
#if (defined SOC_AM263PX) || (defined SOC_AM261X)
#define FrameProc   ECAT_FrameProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_frame_handler_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/m_v2.3/ecat_frame_handler_bin.h>
#define HostProc   ECAT_HostProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_host_interface_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/m_v2.3/ecat_host_interface_bin.h>
#else
#define FrameProc   ECAT_FrameProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_frame_handler_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/ecat_frame_handler_bin.h>
#define HostProc   ECAT_HostProcAPP
// FREERTOS contained FW #include <source/networking/ethercat_slave/icss_fwhal/ecat_host_interface_bin.h>
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/ecat_host_interface_bin.h>
 
#if (defined INCLUDE_MDIO_MANUAL_MODE_WORKAROUND)
#define PRUFirmware   PRUMDIOFirmwareECATAPP
#include <industrial_comms/ethercat_slave/icss_fwhal/firmware/g_v1.3/mdio_fw_bin.h>
#endif
#endif
 
#define TIESC_HW    0
#define PRU_200MHZ  1
 
#define THREAD_IDLE_TIMEOUT   (100U)     /* 100msec idle timeout */
 
static void EC_SLV_APP_Pinmux_config(void)
{
#if !(defined DPRAM_REMOTE) && !(defined FBTL_REMOTE)
#if (defined SOC_AM263PX)
    //TODO: Put this into a function
    Pinmux_config(gPruicssPinMuxCfg, PINMUX_DOMAIN_ID_MAIN);
 
    #define MSS_CTRL_ICSSM_PRU_GPIO_OUT_CTRL_VALUE  (0x0001077F)
    #define MSS_CTRL_ICSSM_PRU1_GPIO_OUT_CTRL_VALUE (0x0001037F)
 
    // Set bits for input pins in ICSSM_PRU0_GPIO_OUT_CTRL and ICSSM_PRU1_GPIO_OUT_CTRL registers
    HW_WR_REG32(CSL_MSS_CTRL_U_BASE + CSL_MSS_CTRL_ICSSM_PRU0_GPIO_OUT_CTRL, MSS_CTRL_ICSSM_PRU_GPIO_OUT_CTRL_VALUE);
    HW_WR_REG32(CSL_MSS_CTRL_U_BASE + CSL_MSS_CTRL_ICSSM_PRU1_GPIO_OUT_CTRL, MSS_CTRL_ICSSM_PRU1_GPIO_OUT_CTRL_VALUE);
 
    uint32_t pinNum[CONFIG_GPIO_NUM_INSTANCES] = {CONFIG_ICSSM_MUX_SEL_PIN, CONFIG_ICSSM_MUX_EN_PIN, CONFIG_MUX_ENABLE_PIN, CONFIG_USER_LED_PIN};
    uint32_t pinDir[CONFIG_GPIO_NUM_INSTANCES] = {CONFIG_ICSSM_MUX_SEL_DIR, CONFIG_ICSSM_MUX_EN_DIR, CONFIG_MUX_ENABLE_DIR, CONFIG_USER_LED_DIR};
 
    for(uint32_t index = 0; index < CONFIG_GPIO_NUM_INSTANCES-1; index++)
    {
        /* Address translate */
        uint32_t gGpioBaseAddr = (uint32_t) AddrTranslateP_getLocalAddr(CONFIG_ICSSM_MUX_SEL_BASE_ADDR);
 
        /* Setup GPIO for ICSSM MDIO Mux selection */
        GPIO_setDirMode(gGpioBaseAddr, pinNum[index], pinDir[index]);
        GPIO_pinWriteHigh(gGpioBaseAddr, pinNum[index]);
    }
 
    OSAL_SCHED_sleep(300);
#endif //SOC_AM263PX
#endif
}
 
static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance);
 
static void EC_SLV_APP_CIA_loopTask(void *pArg_p)
{
    /* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
    /* cppcheck-suppress misra-c2012-11.5 */
    EC_SLV_APP_CIA_Application_t *pApplicationInstance      = (EC_SLV_APP_CIA_Application_t*)pArg_p;
    uint32_t                        error                   = EC_API_eERR_NONE;
    char *pProductName = NULL;
    uint32_t vendorId = 0;
    uint32_t productCode = 0;
    EC_API_SLV_EEsmState_t          state                   = EC_API_SLV_eESM_uninit;
    uint16_t                        alErrorCode             = 0;
 
    if (!pApplicationInstance)
    {
        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
        /* cppcheck-suppress misra-c2012-15.1 */
        goto Exit;
    }
 
    EC_SLV_APP_CIA_initBoardFunctions(pApplicationInstance);
    EC_SLV_APP_CIA_registerStacklessBoardFunctions(pApplicationInstance);
 
#if !(defined FBTL_REMOTE) && !(defined DPRAM_REMOTE)
    /* inject firmware */
    error = EC_API_SLV_stackInsertPruFirmware((uint32_t*)ECAT_FrameProcAPP, sizeof(ECAT_FrameProcAPP),
                                              (uint32_t*)ECAT_HostProcAPP, sizeof(ECAT_HostProcAPP));
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
 
#if (defined INCLUDE_MDIO_MANUAL_MODE_WORKAROUND)
    error = EC_API_SLV_stackInsertMdioManualFirmware((uint32_t*)PRUMDIOFirmwareECATAPP, sizeof(PRUMDIOFirmwareECATAPP));
    if (error != EC_API_eERR_NONE)
    {
        OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
        OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
    }
#endif
#endif
 
    error = EC_API_SLV_stackInit(); // EtherCAT stack init
    if (error != EC_API_eERR_NONE)
    {
        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_SLV_APP_CIA_applicationInit(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);
 
    // Read ID from the DIP switches and set as an Explicit Device ID (In CTT test case TF-1201, 0x0005 is used as an Explicit Device ID)
    EC_API_SLV_setExplicitDeviceId(pApplicationInstance->ptEcSlvApi,0x0005);
 
    uint16_t explicitDeviceID = 0;
    EC_API_SLV_getExplicitDeviceId(pApplicationInstance->ptEcSlvApi,&explicitDeviceID);
 
    OSAL_printf("Explicit Device ID : 0x%4x\r\n",explicitDeviceID);
 
    /* spit out versions */
    ESL_dumpVersions(pApplicationInstance->ptEcSlvApi);
 
    error = EC_SLV_APP_CiA_fetchAxisObjects(pApplicationInstance);
    if (error != EC_API_eERR_NONE)
    {
        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/*|ESL_TESTPIN_1_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);
        if (EC_API_SLV_eESM_init < state)
        {
            OSAL_SCHED_yield();
        }
        else
        {
            /* for carve up give some air */
            OSAL_SCHED_sleep(10);
        }
    }
    // not reachable
    //EC_SLV_APP_applicationDeInit();
Exit:
    ESL_OS_taskLeave();
 
    return;
}
 
static void EC_SLV_APP_CIA_mainTask(void *pArg_p)
{
    /* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
    /* cppcheck-suppress misra-c2012-11.5 */
    EC_SLV_APP_CIA_Application_t *applicationInstance = (EC_SLV_APP_CIA_Application_t*)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;
    }
 
    retVal = ESL_OS_boardInit(applicationInstance->selectedPruInstance);
    if (OSAL_ERR_NoError != retVal)
    {
        OSAL_error(__func__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
    }
 
    retVal = ESL_OS_printfMutexInit();
    if (OSAL_ERR_NoError != retVal)
    {
      // @cppcheck_justify{misra-c2012-15.1} use goto Exit for single point of return
      //cppcheck-suppress misra-c2012-15.1
      goto Exit;
    }
 
    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");
        /* @cppcheck_justify{misra-c2012-15.1} assure single point of exit */
        /* cppcheck-suppress misra-c2012-15.1 */
        goto Exit;
    }
 
    EC_SLV_APP_Pinmux_config();
 
    retVal = EC_API_SLV_load(NULL /* &applErrHandler*/, applicationInstance->selectedPruInstance);
 
    if (EC_API_eERR_NONE == retVal)
    {
        EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1,
                                KBECSLV_STACKSIZE_PDI, KBECSLV_STACKSIZE_LED, KBECSLV_STACKSIZE_SYNC0,
                                KBECSLV_STACKSIZE_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");
        if ( NULL == applicationInstance->loopThreadHandle)
        {
            OSAL_printf("Error return start Loop Task\r\n");
            OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
        }
 
        OSAL_SCHED_joinTask(applicationInstance->loopThreadHandle);
 
        /* No default tasks (run forever) here, so introduce a wait cycle */
        for (;;)
        {
            OSAL_SCHED_sleep(1000);
        }
    }
    else
    {
        for (;;)
        {
 
            for (;;)
            {
                OSAL_printf("long jmp restart\r\n");
                OSAL_SCHED_sleep(1000);
            }
        }
    }
 
    // not reachable
 
    //ESL_OS_boardDeinit();
    //EC_API_SLV_unLoad();
 
    //return 0;
Exit:
    return;
}
 
int main(int argc, char *argv[])
{
    /* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
    /* cppcheck-suppress threadsafety-threadsafety */
    static uint32_t                     selectedPruInstance     = UINT32_MAX;
    /* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
    /* cppcheck-suppress threadsafety-threadsafety */
    static EC_SLV_APP_CIA_Application_t applicationInstance     = {0};
    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);
    }
 
    /* Init osal */
    OSAL_init();
 
    applicationInstance.selectedPruInstance = selectedPruInstance;
 
    TaskP_Params_init(&applicationInstance.mainThreadParam);
 
    applicationInstance.mainThreadParam.name        = "mainThread";
    applicationInstance.mainThreadParam.stackSize   = MAIN_TASK_SIZE_BYTE; /* FreeRTOS wants Stacksize in Units, when called direct, using TaskP it's bytes */
    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;
 
    error = TaskP_construct(&applicationInstance.mainThreadHandle
                           ,&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);
    }
 
    OSAL_startOs();
 
    OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Not reachable by design!!!\r\n");
 
    // not reachable
    //EC_API_SLV_unLoad();
 
    return error;
}
 
static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance)
{
    uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
 
    if (!applicationInstance)
    {
        /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
        /* cppcheck-suppress misra-c2012-15.1 */
        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
                                      ,&(applicationInstance->remoteHandle)
    );
#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
            ,&(applicationInstance->remoteHandle)
    );
#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)
    else if(EC_API_eERR_NONE == retVal)
    {
        retVal = EC_API_SLV_FBTL_configuration(applicationInstance->remoteHandle);
        if(EC_API_eERR_NONE != retVal)
        {
            OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
            OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
            /* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
            /* cppcheck-suppress misra-c2012-15.1 */
            goto Exit;
        }
    }
#endif
    else
    {
        /* nothing to do */
        ;
    }
 
    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;
}