www.pudn.com > ethercat-slave-source-code.rar > mcihw.h, change:2013-05-03,size:8472b
/**
* \addtogroup MCI_HW Parallel ESC Access
* @{
*/
/**
\file mcihw.h
\author EthercatSSC@beckhoff.com
\brief Defines and Macros to access the ESC via a parallel interface
\version 5.10
<br>Changes to version V5.01:<br>
V5.10 HW4: Add volatile directive for direct ESC DWORD/WORD/BYTE access<br>
Add missing swapping in mcihw.c<br>
Add "volatile" directive vor dummy vairables in enable and disable SyncManger functions<br>
Add missing swapping in EL9800hw files<br>
<br>Changes to version - :<br>
V5.01 : Start file change log
*/
#ifndef _MCIHW_H_
#define _MCIHW_H_
/*-----------------------------------------------------------------------------------------
------
------ Includes
------
-----------------------------------------------------------------------------------------*/
#include <string.h>
#include <malloc.h>
#include "esc.h"
/*-----------------------------------------------------------------------------------------
------
------ Defines and Types
------
-----------------------------------------------------------------------------------------*/
#if ESC_32BIT_ACCESS
#define ESC_MEM_ADDR UINT32 /**< \brief ESC address type (32Bit)*/
#define ESC_MEM_SHIFT 2 /**< \brief shift to convert Byte address to ESC address type*/
#elif ESC_16BIT_ACCESS
#define ESC_MEM_ADDR UINT16 /**< \brief ESC address type (16Bit)*/
#define ESC_MEM_SHIFT 1 /**< \brief shift to convert Byte address to ESC address type*/
#else
#define ESC_MEM_ADDR UINT8 /**< \brief ESC address type (8Bit)*/
#define ESC_MEM_SHIFT 0 /**< \brief shift to convert Byte address to ESC address type*/
#endif
#if !ECAT_TIMER_INT || COE_SUPPORTED
#ifndef HW_GetTimer
/**
* \todo Define a macro or implement a function to get the hardware timer value.<br>See SSC Application Note for further details, http://www.beckhoff.com/english.asp?download/ethercat_development_products.htm?id=71003127100387
*/
#define HW_GetTimer()
#endif
#ifndef HW_ClearTimer
/**
* \todo Define a macro or implement a function to clear the hardware timer value.<br>See SSC Application Note for further details, http://www.beckhoff.com/english.asp?download/ethercat_development_products.htm?id=71003127100387
*/
#define HW_ClearTimer()
#endif
/**
* \todo Define the hardware timer ticks per millisecond.
*/
#define ECAT_TIMER_INC_P_MS
#warning "define access to timer register(counter)"
#endif //#if !ECAT_TIMER_INT || COE_SUPPORTED
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_GetALEventRegister() ((((volatile UINT16 ESCMEM *)pEsc)[((ESC_AL_EVENT_OFFSET)>>1)])) /**< \brief Returns the first 16Bit of the AL Event register (0x220)*/
/* ECATCHANGE_END(V5.10) HW4*/
#define HW_GetALEventRegister_Isr HW_GetALEventRegister /**< \brief Returns the first 16Bit of the AL Event register (0x220).<br>Called from ISRs.*/
#define HW_EscRead(pData,Address,Len) ESCMEMCPY((MEM_ADDR *)(pData), &((ESC_MEM_ADDR ESCMEM *) pEsc)[((Address) >> ESC_MEM_SHIFT)], (Len)) /**< \brief Generic ESC (register and DPRAM) read access.*/
#define HW_EscReadIsr HW_EscRead /**< \brief Generic ESC (register and DPRAM) read access.<br>Called for ISRs.*/
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscReadDWord(DWordValue, Address) ((DWordValue) = (UINT32)(((volatile UINT32 *)pEsc)[(Address>>2)])) /**< \brief 32Bit specific ESC (register and DPRAM) read access.*/
#define HW_EscReadDWordIsr(DWordValue, Address) ((DWordValue) = (UINT32)(((volatile UINT32 *)pEsc)[(Address>>2)])) /**< \brief 32Bit specific ESC (register and DPRAM) read access.<br>Called from ISRs.*/
/* ECATCHANGE_END(V5.10) HW4*/
#if !ESC_32BIT_ACCESS
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscReadWord(WordValue, Address) ((WordValue) = (((volatile UINT16 *)pEsc)[((Address)>>1)])) /**< \brief 16Bit specific ESC (register and DPRAM) read access.*/
/* ECATCHANGE_END(V5.10) HW4*/
#define HW_EscReadWordIsr(WordValue, Address) HW_EscReadWord(WordValue, Address) /**< \brief 16Bit specific ESC (register and DPRAM) read access.<br>Called from ISRs.*/
#if !ESC_16BIT_ACCESS
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscReadByte(ByteValue, Address) ((ByteValue) = (((volatile UINT8 *)pEsc)[(Address)])) /**< \brief 8Bit specific ESC (register and DPRAM) read access.*/
/* ECATCHANGE_END(V5.10) HW4*/
#define HW_EscReadByteIsr(ByteValue, Address) HW_EscReadByte(ByteValue, Address) /**< \brief 8Bit specific ESC (register and DPRAM) read access.<br>Called from ISRs.*/
#endif
#endif
#define HW_EscReadMbxMem(pData,Address,Len) ESCMBXMEMCPY((MEM_ADDR *)(pData), &((ESC_MEM_ADDR ESCMEM *) pEsc)[((Address) >> ESC_MEM_SHIFT)], (Len)) /**< \brief Macro to copy data from the application mailbox memory(not the ESC memory, this access is handled by HW_EscRead).*/
#define HW_EscWrite(pData,Address,Len) ESCMEMCPY(&((ESC_MEM_ADDR ESCMEM *) pEsc)[((Address)>>ESC_MEM_SHIFT)], (MEM_ADDR *)(pData), (Len)) /**< \brief Generic ESC (register and DPRAM) write access.*/
#define HW_EscWriteIsr HW_EscWrite /**< \brief Generic ESC (register and DPRAM) write access.<br>Called for ISRs.*/
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscWriteDWord(DWordValue, Address) ((((volatile UINT32 *)pEsc)[(Address>>2)]) = (DWordValue)) /**< \brief 32Bit specific ESC (register and DPRAM) write access.*/
#define HW_EscWriteDWordIsr(DWordValue, Address)((((volatile UINT32 *)pEsc)[(Address>>2)]) = (DWordValue)) /**< \brief 32Bit specific ESC (register and DPRAM) write access.<br>Called from ISRs.*/
/* ECATCHANGE_END(V5.10) HW4*/
#if !ESC_32BIT_ACCESS
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscWriteWord(WordValue, Address) ((((volatile UINT16 *)pEsc)[((Address)>>1)]) = (WordValue)) /**< \brief 16Bit specific ESC (register and DPRAM) write access.*/
/* ECATCHANGE_END(V5.10) HW4*/
#define HW_EscWriteWordIsr(WordValue, Address) HW_EscWriteWord(WordValue, Address) /**< \brief 16Bit specific ESC (register and DPRAM) write access.<br>Called from ISRs.*/
#if !ESC_16BIT_ACCESS
/* ECATCHANGE_START(V5.10) HW4*/
#define HW_EscWriteByte(ByteValue, Address) ((((volatile UINT8 *)pEsc)[(Address)]) = (ByteValue)) /**< \brief 8Bit specific ESC (register and DPRAM) write access.*/
/* ECATCHANGE_END(V5.10) HW4*/
#define HW_EscWriteByteIsr(ByteValue, Address) HW_EscWriteByte(ByteValue, Address) /**< \brief 8Bit specific ESC (register and DPRAM) write access.<br>Called from ISRs.*/
#endif
#endif
#define HW_EscWriteMbxMem(pData,Address,Len) ESCMBXMEMCPY(&((ESC_MEM_ADDR ESCMEM *) pEsc)[((Address)>>ESC_MEM_SHIFT)],(MEM_ADDR *)(pData), (Len)) /**< \brief Macro to copy data from the application mailbox memory (not the ESC memory, this access is handled by HW_EscWrite).*/
#ifndef TIMER_INT_HEADER
#define TIMER_INT_HEADER /**< \brief Compiler directive before the hardware timer ISR function*/
#endif
#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.*/
#endif//_MCIHW_H_
/*-----------------------------------------------------------------------------------------
------
------ Global variables
------
-----------------------------------------------------------------------------------------*/
#if _MCIHW_
#define PROTO
#else
#define PROTO extern
#endif
PROTO MEM_ADDR ESCMEM * pEsc; /**< \brief Pointer to the ESC.<br>Shall be initialized in HW_Init().*/
/*-----------------------------------------------------------------------------------------
------
------ Global functions
------
-----------------------------------------------------------------------------------------*/
#if UC_SET_ECAT_LED
PROTO void HW_SetLed(BOOL RunLed,BOOL ErrLed);
#endif //#if UC_SET_ECAT_LED
PROTO UINT16 HW_Init(void);
PROTO void HW_Release(void);
PROTO void HW_ResetALEventMask(UINT16 intMask);
PROTO void HW_SetALEventMask(UINT16 intMask);
#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);
#undef PROTO
/** @}*/