ETHERCAT从站参考代码

/** \addtogroup ESM EtherCAT State Machine @{ */ /** \file ecatslv.c \author EthercatSSC@beckhoff.com \brief Implementation This file contains the EtherCAT State Machine. \version 5.11 <br>Changes to version V5.10:<br> V5.11 COE3: change 0x10F3.2 (Sync Error limit) from UINT32 to UINT16 (according to the ETG.1020)<br> V5.11 DIAG4: change parameter handling in DIAG_CreateNewMessage()<br> V5.11 ECAT10: change PROTO handling to prevent compiler errors<br> V5.11 ECAT4: enhance SM/Sync monitoring for input/output only slaves<br> V5.11 ECAT5: "Add missing ""bEscAlEventEnbaled"" initialization if ""AL_EVENT_ENBALED"" is 0"""<br> V5.11 ECAT7: add missing big endian swapping<br> V5.11 ESC1: update max address calculation<br> V5.11 ESM1: update calculation of subordinated cycles<br> V5.11 ESM2: DC_SUPPORTED, Sync0 is not supported and Sync0 is generated according register values the state transition to SafeOP shall be rejected<br> V5.11 ESM3: update checking of the user configured sync type<br> V5.11 ESM4: prevent to go from ErrSafeOP to OP without re enabling Sync0/1<br> V5.11 ESM5: DPRAM range was double checked<br> V5.11 ESM6: in the SO transition wait by default until the master has send process data<br> V5.11 HW1: "move hardware independent functions ""HW_DisableSyncManChannel()"", ""HW_EnableSyncManChannel()"", ""HW_GetSyncMan()"", ""HW_ResetALEventMask()"", ""HW_SetALEventMask()"" to ecatalv.c"<br> V5.11 HW2: check during ESM handling if the SM address and length is aligned according the ESC access<br> V5.11 TEST9: "add behaviour 0x2020.7 (SDO requests on 0x3006.0 are set to pending until an FoE read request on ""UnlockSdoResp"" is received or in case that no mbx queue is supported when a new mbx request was received)"<br> <br>Changes to version V5.01:<br> V5.10 COE1: Define one entry description for all 0x1C3x objects and change data type of SI11,12,13 to UINT16 (according ETG.1020)<br> V5.10 DIAG1: Define diagmessage textIDs<br> V5.10 ECAT13: Update Synchronisation handling (FreeRun,SM Sync, Sync0, Sync1)<br> Compare DC UINT configuration (by ESC Config data) vs. DC activation register settings<br> Update 0x1C3x entries<br> V5.10 ESC2: Check if defined SM settings do not exceed the available DPRAM range (in error case AL Status 0x14 is returned)<br> V5.10 ESC3: Handle DC cControl register values in case of 32Bit ESC access (a Sync activation mask need to defined/used)<br> V5.10 ESC4: Mask lower 4 Bit of AL status to get Run led value<br> Invalid RunLed code was calculated if ESC set ECAT Run Led<br> V5.10 ESC5: Add missing swapping<br> V5.10 ESM2: Update "bApplEsmPending" flag during a transition to a lower state<br> V5.10 ESM3: Add "volatile" directive for ESM dummy variables<br> V5.10 HW5: Block ESC interrupts during Timer ISR<br> V5.10 TEST9: Add option to prevent SM3 unlock during PS<br> <br>Changes to version V5.0:<br> V5.01 APPL3: Include library demo application<br> V5.01 ESC2: Add missed value swapping<br> V5.01 ESM1: Don't overwrite the error reason in case of an failed PS transition<br> V5.01 ESM2: Don't check the "appl trigger" flag in case on an regular transition to a lower state (OS, SP, PI).<br> V5.01 ESM3: Call Error acknowledge indication only if error was acknowledged by the master<br> V5.01 HW3: Update blink code of an SM watchdog error<br> <br>Changes to version V4.42:<br> V5.0 ECAT1: Support Explicit Device ID.<br> V5.0 ECAT2: Application specific functions are moved to application files.<br> V5.0 ECAT3: Global dummy variables used for dummy ESC operations.<br> V5.0 ESC1: ESC 32Bit Access added.<br> V5.0 ESC2: Support ESC EtherCAT LED Indication.<br> V5.0 ESC3: Support EEPROM Emulation.<br> V5.0 ESM1: Update "LocalErrorFlag" handling.<br> V5.0 ESM2: Update Error Acknowledge by ALControl INIT (without error acknowledge)<br> V5.0 ESM3: Handle pending ESM transition<br> V5.0 ESM4: ECAT_StateChange() will only be called form application. In case of an communication error AL_ControlInd is called.<br> V5.0 MBX1: Support configuration without mailbox protocol support.<br> V5.0 TEST1: Add test application. See Application Note ET9300 for more details.<br> <br>Changes to version V4.40:<br> V4.42 ESM1: Reset local error flag if master set the acknowledge bit (0x120.4)<br> <br>Changes to version V4.30:<br> V4.40 ESM5: Enable output SyncManager if local error acknowledged<br> V4.40 HW0: Use common hardware access functions<br> V4.40 PDO3: Add support if only input process data is used<br> V4.40 ECAT4: Add read SM activation register to acknowledge SM Change event<br> V4.40 PDO2: Check if max process data size was exceed<br> V4.40 DIAG1: add diagnosis message support<br> V4.40 ESM4: Change Check WD setup; add define OP_PD_REQUIRED (defines if process data required in state change to OP)<br> V4.40 WD1: change WD behaviour depending if process data required in OP state<br> V4.40 MBX4: Change processing order of mailbox SyncManager flags<br> V4.40 ECAT1: Merge content of HW_Main (spihw.c /mcihw.c) to ECAT_Main<br> V4.40 ECAT2: Added CheckIfLocalError() to check local flags and set ALStatus /Al Status code if required. This function is called cyclic from MainLoop.<br> V4.40 ESM2: Add AL_ControlRes() to complete pending state requests. Change SafeOP to OP state response<br> V4.40 ESM1: Prevent double call of StopOutputHandler()<br> V4.40 BOOT1: Enable Mailbox SyncManger on state change to BOOT state (to enable FoE)<br> V4.40 ESM3: Change State machine behaviour according to ETG.1000 V1.0.2 (state change #26)<br> V4.40 LED1: Set error blink code<br> V4.40 TIMER1: Added DC_CheckWatchdog() triggered from ECAT_CheckTimer(). Change local Sync0 watchdog variables. Change bus cycle calculation<br> V4.40 WD1: Change check process data watchdog settings<br> <br>Changes to version V4.20:<br> V4.30 OBJ 3: initialize the object dictionary in state change INIT->PREOP; clear object dictionary in state change PREOP->INIT<br> V4.30 SYNC: add 0x1C32:10; 0x1C33:10 (Sync0 cycle), change synchronisation control functionality<br> V4.30 CiA402: add CiA402_Init() call in state change from PREOP to SAFEOP if DC synchronisation is enabled,<br> else the Init function is called when bus cycle time is calculated [CalcSMCycleTime() ].<br> trigger error handling if the EtherCAT state machine gets a transition from OP to an "lower" state<br> V4.20 ECAT 1: add LEGACY_MODE behaviour in ECAT_CheckWatchdog()<br> V4.20 DC 1: Add DC pending state machine handling and Dc watchdog functionality<br> V4.20 ESM 2: Add State transition from BOOT to INIT<br> V4.20 ESM 1: Non LEGACY_MODE State change handling<br> V4.11 Renamed the function parameter "code" of Function "SendSmFailedEmergency() to avoid<br> problems with some compilers"<br> V4.11 ECAT 1: Fixed a possible problem with state change Init -> SafeOP. The output syncmanager<br> was enabled by the state change-flag and not by the actual state<br> V4.11 LED 1: Clear the error LED during error acknowledgement<br> V4.11 ESC 1: fixed size of MBXHEADER in the TFOEMBX struct <br> <br>Changes to version V4.08:<br> V4.10 ECAT 1: clear bEcatOutputsReceived in startMailboxhandler()<br> V4.10 ECAT 2: clear bEcatOutputsReceived in stopMailboxhandler()<br> V4.10 ECAT 3: when switching from INIT to BOOT the SM settings shall be checked<br> V4.10 ECAT 4: APPL_StartInputHandler shall always be called and bEcatInputUpdateRunning shall always be set<br> in StartInputHandler independent of the input size<br> V4.10 ECAT 5: AL_ControlInd: the error acknowledge behaviour was changed<br> according to the protocol enhancements and the conformance test<br> V4.10 ECAT 6: AL_ControlInd: if a state transitions failed the corresponding stop function is<br> called to get a consistent set of variables<br> V4.10 ECAT 7: the local appl