www.pudn.com > ethercat-slave-source-code.rar > el9800hw.h, change:2013-05-03,size:11758b
/**
* \addtogroup EL9800_HW EL9800 Platform (Serial ESC Access)
* @{
*/
/**
\file el9800hw.h
\author EthercatSSC@beckhoff.com
\brief Defines to access the EL9800 specific periphery and ESC (via SPI)
\version 5.01
<br>Changes to version - :<br>
V5.01 : Start file change log
*/
#ifndef _EL9800HW_H_
#define _EL9800HW_H_
/*-----------------------------------------------------------------------------------------
------
------ Includes
------
-----------------------------------------------------------------------------------------*/
#include "esc.h"
#if _PIC18
#include <pic18.h>
#elif _PIC24
#include <p24Hxxxx.h>
#endif
/*-----------------------------------------------------------------------------------------
------
------ Defines and Types
------
-----------------------------------------------------------------------------------------*/
#define ESC_RD 0x02 /**< \brief Indicates a read access to ESC or EEPROM*/
#define ESC_WR 0x04 /**< \brief Indicates a write access to ESC or EEPROM.*/
/*---------------------------------------------
- Microcontroller definitions
-----------------------------------------------*/
#if defined(_18F242) || defined(_18F252) || defined(_18F442) || defined(_18F452)
#define ADREG ADCON1
#define ADREG_ALL_DIG_IO 0x07
#elif defined(_18F2420) || defined(_18F2520) || defined(_18F4420) || defined(_18F4520)
#define ADREG ADCON1
#define ADREG_ALL_DIG_IO 0x0F
#elif defined(_18F23K20) || defined(_18F24K20) || defined(_18F25K20) || defined(_18F43K20) || defined(_18F44K20) || defined(_18F45K20)
#define ADREG ANSEL
#define ADREG_ALL_DIG_IO 0x00
#endif
#if _PIC24
#define PORT_CFG {TRISD = 0xFFFF; TRISB = 0x0008; TRISF = 0xFFCC; TRISG = 0x210C; PORTB = 0x00F4; PORTF = 0x0030; PORTG = 0x1243;}
#define SWITCH_1 PORTDbits.RD7 /**< \brief Access to switch 1 input*/
#define SWITCH_2 PORTDbits.RD6 /**< \brief Access to switch 2 input*/
#define SWITCH_3 PORTDbits.RD5 /**< \brief Access to switch 3 input*/
#define SWITCH_4 PORTDbits.RD4 /**< \brief Access to switch 4 input*/
#define SWITCH_5 PORTDbits.RD3 /**< \brief Access to switch 5 input*/
#define SWITCH_6 PORTDbits.RD2 /**< \brief Access to switch 6 input*/
#define SWITCH_7 PORTDbits.RD1 /**< \brief Access to switch 7 input*/
#define SWITCH_8 PORTDbits.RD0 /**< \brief Access to switch 8 input*/
#define LED_1 LATBbits.LATB8 /**< \brief Access to led 1 output*/
#define LED_2 LATBbits.LATB9 /**< \brief Access to led 2 output*/
#define LED_3 LATBbits.LATB10 /**< \brief Access to led 3 output*/
#define LED_4 LATBbits.LATB11 /**< \brief Access to led 4 output*/
#define LED_5 LATBbits.LATB12 /**< \brief Access to led 5 output*/
#define LED_6 LATBbits.LATB13 /**< \brief Access to led 6 output*/
#define LED_7 LATBbits.LATB14 /**< \brief Access to led 7 output*/
#define LED_8 LATBbits.LATB15 /**< \brief Access to led 8 output*/
#elif _PIC18
#define PORT_CFG {PORTB = 0x00; TRISB = 0x0D; PORTC = 0x00; TRISC = 0x10; TRISD = 0x0F; PORTD = 0x00;}
#define SWITCH_1 RD0 /**< \brief Access to switch 1 input*/
#define SWITCH_2 RD1 /**< \brief Access to switch 2 input*/
#define SWITCH_3 RD2 /**< \brief Access to switch 3 input*/
#define SWITCH_4 RD3 /**< \brief Access to switch 4 input*/
#define LED_1 RD4 /**< \brief Access to led 1 output*/
#define LED_2 RD5 /**< \brief Access to led 2 output*/
#define LED_3 RD6 /**< \brief Access to led 3 output*/
#define LED_4 RD7 /**< \brief Access to led 4 output*/
#endif
/*---------------------------------------------
- hardware timer settings
-----------------------------------------------*/
#if _PIC24
#define ECAT_TIMER_INC_P_MS 0x271 /**< \brief 625 ticks per ms*/
#elif _PIC18
#define ECAT_TIMER_INC_P_MS 0x15F9 /**< \brief 5628 ticks per ms*/
#endif
/*---------------------------------------------
- Interrupt and Timer defines
-----------------------------------------------*/
#if _PIC24
#ifndef DISABLE_ESC_INT
#define DISABLE_ESC_INT() {(_INT1IE)=0;} /**< \brief Disable interrupt source INT1*/
#endif
#ifndef ENABLE_ESC_INT
#define ENABLE_ESC_INT() {(_INT1IE)=1;} /**< \brief Enable interrupt source INT1*/
#endif
#ifndef HW_GetTimer
#define HW_GetTimer() ((UINT16)(TMR7)) /**< \brief Access to the hardware timer*/
#endif
#ifndef HW_ClearTimer
#define HW_ClearTimer() {(TMR7) = 0;} /**< \brief Clear the hardware timer*/
#endif
#elif _PIC18
#ifndef DISABLE_ESC_INT
#define DISABLE_ESC_INT() (INT0IE)=0 /**< \brief Disable interrupt source INT0*/
#endif
#ifndef ENABLE_ESC_INT
#define ENABLE_ESC_INT() (INT0IE)=1 /**< \brief Enable interrupt source INT0*/
#endif
#ifndef HW_GetTimer
#define HW_GetTimer() ((UINT16)TMR3) /**< \brief Access to the hardware timer*/
#endif
#ifndef HW_ClearTimer
#define HW_ClearTimer() {(TMR3) = 0;} /**< \brief Clear the hardware timer*/
#endif
#endif //#elif _PIC18
#if !INTERRUPTS_SUPPORTED
#define HW_GetALEventRegister_Isr HW_GetALEventRegister /**< \brief No interrupts are supported so the default Get AL Event register (0x220) function is used*/
#endif
#define HW_EscReadWord(WordValue, Address) HW_EscRead(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief 16Bit ESC read access*/
#define HW_EscReadDWord(DWordValue, Address) HW_EscRead(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief 32Bit ESC read access*/
#if !ESC_16BIT_ACCESS
#define HW_EscReadByte(ByteValue, Address) HW_EscRead(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief 8Bit ESC read access*/
#endif
#define HW_EscReadMbxMem(pData,Address,Len) HW_EscRead(((MEM_ADDR *)(pData)),((UINT16)(Address)),(Len)) /**< \brief The mailbox data is stored in the local uC memory therefore the default read function is used.*/
#if INTERRUPTS_SUPPORTED
#define HW_EscReadWordIsr(WordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief Interrupt specific 16Bit ESC read access*/
#define HW_EscReadDWordIsr(DWordValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief Interrupt specific 32Bit ESC read access*/
#if !ESC_16BIT_ACCESS
#define HW_EscReadByteIsr(ByteValue, Address) HW_EscReadIsr(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief Interrupt specific 8Bit ESC read access*/
#endif
#else
#define HW_EscReadIsr(pData, Address, Len ) HW_EscRead(((MEM_ADDR *)(pData)),((UINT16)(Address)),(Len)) /**< \brief No Interrupts are supported so the generic ESC write access function is used*/
#define HW_EscReadWordIsr(WordValue, Address) HW_EscRead(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief No Interrupts are used so the generic (16Bit) ESC read access function is used*/
#define HW_EscReadDWordIsr(DWordValue, Address) HW_EscRead(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief No Interrupts are used so the generic (32Bit) ESC read access function is used*/
#if !ESC_16BIT_ACCESS
#define HW_EscReadByteIsr(ByteValue, Address) HW_EscRead(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief No Interrupts are used so the generic (8Bit) ESC read access function is used*/
#endif //#if !ESC_16BIT_ACCESS
#endif// #if else INTERRUPTS_SUPPORTED
#define HW_EscWriteWord(WordValue, Address) HW_EscWrite(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief 16Bit ESC write access*/
#define HW_EscWriteDWord(DWordValue, Address) HW_EscWrite(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief 32Bit ESC write access*/
#if !ESC_16BIT_ACCESS
#define HW_EscWriteByte(ByteValue, Address) HW_EscWrite(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief 8Bit ESC write access*/
#endif
#define HW_EscWriteMbxMem(pData,Address,Len) HW_EscWrite(((MEM_ADDR *)(pData)),((UINT16)(Address)),(Len)) /**< \brief The mailbox data is stored in the local uC memory therefore the default write function is used.*/
#if INTERRUPTS_SUPPORTED
#define HW_EscWriteWordIsr(WordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief Interrupt specific 16Bit ESC write access*/
#define HW_EscWriteDWordIsr(DWordValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief Interrupt specific 32Bit ESC write access*/
#if !ESC_16BIT_ACCESS
#define HW_EscWriteByteIsr(ByteValue, Address) HW_EscWriteIsr(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief Interrupt specific 8Bit ESC write access*/
#endif
#else
#define HW_EscWriteIsr(pData, Address, Len ) HW_EscWrite(((MEM_ADDR *)(pData)),((UINT16)(Address)),(Len)) /**< \brief No Interrupts are supported so the generic ESC write access function is used*/
#define HW_EscWriteWordIsr(WordValue, Address) HW_EscWrite(((MEM_ADDR *)&(WordValue)),((UINT16)(Address)),2) /**< \brief No Interrupts are used so the generic (16Bit) ESC write access function is used*/
#define HW_EscWriteDWordIsr(DWordValue, Address) HW_EscWrite(((MEM_ADDR *)&(DWordValue)),((UINT16)(Address)),4) /**< \brief No Interrupts are used so the generic (32Bit) ESC write access function is used*/
#if !ESC_16BIT_ACCESS
#define HW_EscWriteByteIsr(ByteValue, Address) HW_EscWrite(((MEM_ADDR *)&(ByteValue)),((UINT16)(Address)),1) /**< \brief No Interrupts are used so the generic (8Bit) ESC write access function is used*/
#endif
#endif
#endif //_EL9800HW_H_
#if _EL9800HW_
#define PROTO
#else
#define PROTO extern
#endif
/*-----------------------------------------------------------------------------------------
------
------ Global variables
------
-----------------------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------------------
------
------ Global functions
------
-----------------------------------------------------------------------------------------*/
PROTO UINT8 HW_Init(void);
PROTO void HW_Release(void);
PROTO UINT16 HW_GetALEventRegister(void);
#if INTERRUPTS_SUPPORTED
PROTO UINT16 HW_GetALEventRegister_Isr(void);
#endif//#if INTERRUPTS_SUPPORTED
#if AL_EVENT_ENABLED
PROTO void HW_ResetALEventMask(UINT16 intMask);
PROTO void HW_SetALEventMask(UINT16 intMask);
#endif
#if UC_SET_ECAT_LED
PROTO void HW_SetLed(UINT8 RunLed,UINT8 ErrLed);
#endif //#if UC_SET_ECAT_LED
PROTO void HW_EscRead( MEM_ADDR * pData, UINT16 Address, UINT16 Len );
#if INTERRUPTS_SUPPORTED
PROTO void HW_EscReadIsr( MEM_ADDR *pData, UINT16 Address, UINT16 Len );
#endif
PROTO void HW_EscWrite( MEM_ADDR *pData, UINT16 Address, UINT16 Len );
#if INTERRUPTS_SUPPORTED
PROTO void HW_EscWriteIsr( MEM_ADDR *pData, UINT16 Address, UINT16 Len );
#endif
#if BOOTSTRAPMODE_SUPPORTED
PROTO void HW_RestartTarget(void);
#endif
PROTO void HW_DisableSyncManChannel(UINT8 channel);
PROTO void HW_EnableSyncManChannel(UINT8 channel);
PROTO TSYNCMAN ESCMEM *HW_GetSyncMan(UINT8 channel);
/*---------------------------------------------
- ESC Access macros
-----------------------------------------------*/
#if _EL9800HW_
#endif //#if _EL9800HW_
#undef PROTO
/** @}*/