ecSubDeviceSimple.h

EtherCAT^® SubDevice Example interface.

EtherCAT^® SubDevice Example interface.

Author

Texas Instruments Incorporated

Copyright

Copyright (C) 2021 Texas Instruments Incorporated

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#if !(defined PROTECT_ECSSUBDEVICEIMPLE_H)
#define PROTECT_ECSUBDEVICESIMPLE_H 1
 
#include <osal.h>
#include "ecSlvApi.h"
 
#include <ESL_os.h>
 
/*-----------------------------------------------------------------------------------------
------
------    Includes
------
-----------------------------------------------------------------------------------------*/
 
typedef struct EC_SLV_APP_SS_application
{
    uint32_t                        selectedPruInstance;
 
    /* Threads */
    TaskP_Object                    mainThreadHandle;
    TaskP_Params                    mainThreadParam;
    void*                           loopThreadHandle;
 
    /* Resources */
    void*                           gpioHandle;
    void*                           remoteHandle;
    void*                           ioexpLedHandle;
 
    int32_t                         msec;
    int32_t                         trigger;
 
    uint8_t                         state;
    uint8_t                         rsvd[3]; /* better be uint32_t aligned */
    clock_t                         prev;
    clock_t                         diff;
 
    EC_API_SLV_SCoE_Object_t*       ptRecObjOut;
    EC_API_SLV_SCoE_Object_t*       pt2002RecObj;
    EC_API_SLV_SCoE_Object_t*       pt2007RecObj;
    EC_API_SLV_SCoE_Object_t*       pt200FRecObj;
    EC_API_SLV_SCoE_Object_t*       ptA000RecObj;
    EC_API_SLV_SCoE_Object_t*       pt0800EnumObj;
 
    EC_API_SLV_Pdo_t*               ptRxPdo1600;
    EC_API_SLV_Pdo_t*               ptRxPdo1601;
    EC_API_SLV_Pdo_t*               ptTxPdo1A00;
    EC_API_SLV_Pdo_t*               ptTxPdo1A01;
 
    EC_API_SLV_SHandle_t*           ptEcSlvApi;
 
    uint8_t                         pdBuffer[128];
} EC_SLV_APP_SS_Application_t;
 
#if (defined __cplusplus)
extern "C" {
#endif
 
extern void EC_SLV_APP_SS_initBoardFunctions             (EC_SLV_APP_SS_Application_t*     pAppInstance_p);
extern void EC_SLV_APP_SS_registerStacklessBoardFunctions(EC_SLV_APP_SS_Application_t*     pAppInstance_p);
extern void EC_SLV_APP_SS_applicationInit                (EC_SLV_APP_SS_Application_t*     pAppInstance_p);
 
#if (defined __cplusplus)
}
#endif
 
#endif /* PROTECT_ECSUBDEVICEIMPLE_H */