Merge pull request #33 from nakarlsson/master

pass AL event mask to the interrupt worker thread instead of hard coding it

CMakeLists.txt

@@ -6,7 +6,7 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 project (SOES)
 
 set (SOES_VERSION_MAJOR 2)
-set (SOES_VERSION_MINOR 0)
+set (SOES_VERSION_MINOR 1)
 set (SOES_VERSION_PATCH 0)
 
 # Generate version numbers

README.md

@@ -12,7 +12,7 @@ SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
 to use. All users are invited to study the source to get an understanding
 how an EtherCAT slave functions.
 
-Features as of 2.0.0:
+Features as of 2.1.0:
  - Address offset based HAL for easy ESC read/write access via any
    interface
  - Mailbox with data link layer

applications/rtl_xmc4_irq/slave.c

@@ -156,7 +156,7 @@ void DIG_process (uint8_t flags)
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
          if(ESCvar.dcsync > 0)
          {
-            CC_ATOMIC_ADD(ESCvar.synccounter,1);
+            CC_ATOMIC_ADD(ESCvar.synccounter, 1);
          }
          /* Set outputs */
          cb_set_LEDgroup0();
@@ -174,7 +174,7 @@ void DIG_process (uint8_t flags)
 
       if((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0)
       {
-         CC_ATOMIC_SUB(ESCvar.synccounter,1);
+         CC_ATOMIC_SUB(ESCvar.synccounter, 1);
       }
 
       if((ESCvar.dcsync > 0) &&
@@ -212,11 +212,11 @@ void DIG_process (uint8_t flags)
 }
 
 /**
- * ISR function. It should be called from ISR for applications entirely driven by
- * interrupts.
- * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
+ * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
+ * control what interrupts that should be served and re-activated with
+ * event mask argument
  */
-void ecat_slv_isr (void)
+void ecat_slv_worker (uint32_t event_mask)
 {
    do
    {
@@ -239,15 +239,22 @@ void ecat_slv_isr (void)
          (ESCvar.esc_hw_eep_handler)();
       }
 
-      CC_ATOMIC_SET(ESCvar.ALevent,ESC_ALeventread());
+      CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
 
-   }while(ESCvar.ALevent & (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-         | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP));
+   }while(ESCvar.ALevent & event_mask);
 
-   ESC_ALeventmaskwrite(ESC_ALeventmaskread()
-         | (ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
-         | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1
-         | ESCREG_ALEVENT_EEP));
+   ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
+}
+
+/**
+ * ISR function. It should be called from ISR for applications entirely driven by
+ * interrupts.
+ * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
+ */
+void ecat_slv_isr (void)
+{
+   ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
+            | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
 }
 
 /**

applications/rtl_xmc4_irq/slave.h

@@ -37,11 +37,21 @@ void cb_post_write_variableRW(int subindex);
  */
 void DIG_process (uint8_t flags);
 
+/**
+ * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
+ * control what interrupts that should be served and re-activated with
+ * event mask argument
+ *
+ * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
+ *                           after served
+ */
+void ecat_slv_worker (uint32_t event_mask);
+
 /**
  * ISR for SM0/1, EEPROM and AL CONTROL events in a SM/DC
  * synchronization application
  */
-void ecat_slv_isr (void);
+CC_DEPRECATED void ecat_slv_isr (void);
 
 /**
  * Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization

soes/hal/rt-kernel-xmc4/esc_hw.c

@@ -237,7 +237,8 @@ static void isr_run(void * arg)
    while(1)
    {
       sem_wait(ecat_isr_sem);
-      ecat_slv_isr();
+      ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
+            | ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);
    }
 }
 

soes/include/sys/gcc/cc.h

@@ -28,6 +28,8 @@ extern "C"
 #define CC_ASSERT(exp) assert (exp)
 #define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
 
+#define CC_DEPRECATED   __attribute__((deprecated))
+
 #define CC_SWAP32(x) __builtin_bswap32 (x)
 #define CC_SWAP16(x) ((uint16_t)(x) >> 8 | ((uint16_t)(x) & 0xFF) << 8)