General Description

Macros
#define	HW_EscReadDWord(DWordValue, Address) ((DWordValue) = (UINT32)(((volatile UINT32 *)pEsc)[((Address)>>2)]))
	32Bit ESC read access.

#define	HW_EscReadDWordIsr(DWordValue, Address) HW_EscReadDWord(DWordValue, Address)
	Interrupt specific 32Bit ESC read access.

#define	HW_EscReadWord(WordValue, Address) ((WordValue) = (((volatile UINT16 *)pEsc)[((Address)>>1)]))
	16Bit ESC read access.

#define	HW_EscReadWordIsr(WordValue, Address) HW_EscReadWord(WordValue, Address)
	Interrupt specific 16Bit ESC read access.

#define	HW_EscReadByte(ByteValue, Address) ((ByteValue) = (((volatile UINT8 *)pEsc)[(Address)]))
	8Bit ESC read access.

#define	HW_EscReadByteIsr(ByteValue, Address) HW_EscReadByte(ByteValue, Address)
	Interrupt specific 8Bit ESC read access.

#define	HW_EscWriteDWord(DWordValue, Address) ((((volatile UINT32 *)pEsc)[(Address>>2)]) = (DWordValue))
	16Bit ESC write access.

#define	HW_EscWriteDWordIsr(DWordValue, Address) HW_EscWriteWord(DWordValue, Address)
	Interrupt specific 32Bit ESC write access.

#define	HW_EscWriteWord(WordValue, Address) ((((volatile UINT16 *)pEsc)[((Address)>>1)]) = (WordValue))
	16Bit ESC write access.

#define	HW_EscWriteWordIsr(WordValue, Address) HW_EscWriteWord(WordValue, Address)
	Interrupt specific 16Bit ESC write access.

#define	HW_EscWriteByte(ByteValue, Address) ((((volatile UINT8 *)pEsc)[(Address)]) = (ByteValue))
	8Bit ESC write access.

#define	HW_EscWriteByteIsr(ByteValue, Address) HW_EscWriteByte(ByteValue, Address)
	Interrupt specific 8Bit ESC write access.

Functions
void	mtb_xmc_ecat_timer_stop_reset (void)

void	mtb_xmc_ecat_timer_start (void)

E_EEPROM_XMC4_STATUS_t	mtb_xmc_ecat_eeprom_init (void)

uint32_t	mtb_xmc_ecat_init (void)

__STATIC_INLINE void	HW_EscRead (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE void	HW_EscReadIsr (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE void	HW_EscReadMbxMem (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE void	HW_EscWrite (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE void	HW_EscWriteIsr (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE void	HW_EscWriteMbxMem (MEM_ADDR *pData, UINT16 Address, UINT16 Len)

__STATIC_INLINE UINT16	HW_GetALEventRegister (void)

__STATIC_INLINE UINT16	HW_GetALEventRegister_Isr (void)

void	ENABLE_ESC_INT (void)

void	DISABLE_ESC_INT (void)

void	mtb_xmc_enable_user_int (void)

void	mtb_xmc_disable_user_int (void)

UINT32	HW_GetTimer (void)

void	HW_ClearTimer (void)

UINT16	HW_Init (void)

void	HW_Release (void)

void	HW_RestartTarget (void)

UINT16	HW_EepromRead (UINT32 wordaddr)

UINT16	HW_EepromWrite (UINT32 wordaddr)

UINT16	HW_EepromReload (void)

Function Documentation

◆ mtb_xmc_ecat_timer_stop_reset()

void mtb_xmc_ecat_timer_stop_reset ( void )

Parameters: None

Returns: None

Description:: This function stops and resets a timer for the EtherCAT.

◆ mtb_xmc_ecat_timer_start()

void mtb_xmc_ecat_timer_start ( void )

Parameters: None

Returns: None

Description:: This function starts a timer for the EtherCAT.

◆ mtb_xmc_ecat_eeprom_init()

E_EEPROM_XMC4_STATUS_t mtb_xmc_ecat_eeprom_init ( void )

Parameters: None

Returns: E_EEPROM_XMC4_STATUS_t

Description:: This function initializes an EEPROM for the EtherCAT.

◆ mtb_xmc_ecat_init()

uint32_t mtb_xmc_ecat_init ( void )

Parameters: None

Returns: Status 0, if the operation was successful.
greater than 0, an error has occurred.

Description:: This function initializes the EtherCAT using EEPROM, timer, ECAT slave hardware, and generic slave stack initialization functions.

◆ HW_EscRead()

__STATIC_INLINE void HW_EscRead	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local destination buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: 16Bit ESC read access. Reads from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.

◆ HW_EscReadIsr()

__STATIC_INLINE void HW_EscReadIsr	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local destination buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: Interrupt specific 16Bit ESC read access. Reads from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.

◆ HW_EscReadMbxMem()

__STATIC_INLINE void HW_EscReadMbxMem	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local destination mailbox buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: Reads data from the ESC and copies to slave mailbox memory. If the local mailbox memory is also located in the application memory this function is equal to HW_EscRead.

◆ HW_EscWrite()

__STATIC_INLINE void HW_EscWrite	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local source buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: 16Bit ESC write access. Writes from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.

◆ HW_EscWriteIsr()

__STATIC_INLINE void HW_EscWriteIsr	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local source buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: Interrupt specific 16Bit ESC write access. Writes from the EtherCAT Slave Controller. This function is used to access ESC registers and the DPRAM area.

◆ HW_EscWriteMbxMem()

__STATIC_INLINE void HW_EscWriteMbxMem	(	MEM_ADDR *	pData,
		UINT16	Address,
		UINT16	Len
	)

Parameters

pData	Pointer to local source mailbox buffer.
Address	EtherCAT Slave Controller address. Specifies the offset within the ESC memory area in Bytes.
Len	Access size in Bytes

Returns: None

Description:: Writes data from the slave mailbox memory to ESC memory. If the local mailbox memory is also located in the application memory this function is equal to HW_EscWrite.

◆ HW_GetALEventRegister()

__STATIC_INLINE UINT16 HW_GetALEventRegister ( void )

Parameters: None

Returns: Content of register 0x220-0x221

Description:: Get the first two bytes of the AL Event register.

◆ HW_GetALEventRegister_Isr()

__STATIC_INLINE UINT16 HW_GetALEventRegister_Isr ( void )

Parameters: None

Returns: None

Description:: Get the first two bytes of the AL Event register from ISR. Special function for ESC access from interrupt service routines if required, otherwise this function is defined as HW_GetALEventRegister.

◆ ENABLE_ESC_INT()

void ENABLE_ESC_INT ( void )

Parameters: None

Returns: None

Description:: Function to enable the XMC EtherCAT slave controller interrupt.

◆ DISABLE_ESC_INT()

void DISABLE_ESC_INT ( void )

Parameters: None

Returns: None

Description:: Function to disable the XMC EtherCAT slave controller interrupt.

◆ mtb_xmc_enable_user_int()

void mtb_xmc_enable_user_int ( void )

Parameters: None

Returns: None

Description:: This routine is called from ECAT_APP on request of SSC stack once specific EtherCAT interrupts (sync1/sync0) need to be enabled.

◆ mtb_xmc_disable_user_int()

void mtb_xmc_disable_user_int ( void )

Parameters: None

Returns: None

Description:: This routine is called from ECAT_APP on request of SSC stack once specific EtherCAT interrupts (sync1/sync0) need to be disabled.

◆ HW_GetTimer()

UINT32 HW_GetTimer ( void )

Parameters: None

Returns: Current timer value

Description:: Reads the hardware timer value in ticks. The timer ticks value (increments / ms) is defined in ECAT_TIMER_INC_P_MS. This function is required, if no timer interrupt is supported (ECAT_TIMER_INT = 0) and to calculate the bus cycle time.

◆ HW_ClearTimer()

void HW_ClearTimer ( void )

Parameters: None

Returns: None

Description:: Clears the hardware timer value.

◆ HW_Init()

UINT16 HW_Init ( void )

Parameters: None

Returns: 0 if initialization was successful,
Else, if error has occurred while initialization

Description:: Initializes the host controller, process data interface (PDI) and allocates resources which are required for hardware access.

◆ HW_Release()

void HW_Release ( void )

Parameters: None

Returns: None

Description:: Release allocated reserved resources.

◆ HW_RestartTarget()

void HW_RestartTarget ( void )

Parameters: None

Returns: None

Description:: Resets the hardware. This function is only required if BOOTSTRAPMODE_SUPPORTED is set.

◆ HW_EepromRead()

UINT16 HW_EepromRead ( UINT32 wordaddr )

Parameters

wordaddr start word address within the EEPROM memory

Returns: 0, if the operation was successful.
greater than 0, an error has occurred.

Description:: Copies EEPROM data to the ESC EEPROM data register. This is only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT== 0). This function shall copy EEPROM data to the ESC EEPROM data register (0x508:0x50F/0x50B).The EEPROM data starting at the specified word address and the length specified with "EEPROM_READ_SIZE". The data shall be copied to the ESC EEPROM buffer (ESC offset 0x508).

◆ HW_EepromWrite()

UINT16 HW_EepromWrite ( UINT32 wordaddr )

Parameters

wordaddr start word address within the EEPROM memory

Returns: 0, if the operation was successful.
greater than 0, an error has occurred.

Description:: Writes the EEPROM configuration information from ESC data register to EEPROM. This is only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT== 0). This function shall copy data from the ESC EEPROM data register (0x508:0x50F/0x50B).The EEPROM data starting at the specified word address and the length specified with "EEPROM_WRITE_SIZE".

◆ HW_EepromReload()

UINT16 HW_EepromReload ( void )

Parameters: None

Returns: 0, if the operation was successful.
greater than 0, an error has occurred.

Description:: Reloads the EEPROM configuration information to ESC data registers. This is only required if EEPROM_EMULATION is enabled and no EEPROM content is created (CREATE_EEPROM_CONTENT== 0). This function shall copy the EEPROM reload information to the ESC EEPROM data register (0x508:0x50F/0x50B).

General Description

Macros

Functions

Function Documentation

◆ mtb_xmc_ecat_timer_stop_reset()

◆ mtb_xmc_ecat_timer_start()

◆ mtb_xmc_ecat_eeprom_init()

◆ mtb_xmc_ecat_init()

◆ HW_EscRead()

◆ HW_EscReadIsr()

◆ HW_EscReadMbxMem()

◆ HW_EscWrite()

◆ HW_EscWriteIsr()

◆ HW_EscWriteMbxMem()

◆ HW_GetALEventRegister()

◆ HW_GetALEventRegister_Isr()

◆ ENABLE_ESC_INT()

◆ DISABLE_ESC_INT()

◆ mtb_xmc_enable_user_int()

◆ mtb_xmc_disable_user_int()

◆ HW_GetTimer()

◆ HW_ClearTimer()

◆ HW_Init()

◆ HW_Release()

◆ HW_RestartTarget()

◆ HW_EepromRead()

◆ HW_EepromWrite()

◆ HW_EepromReload()