Anybus AB6200 User guide

Anybus® CompactCom™ 40

HOST APPLICATION IMPLEMENTATION GUIDE

HMSI-27-334

Version 1.8

Publicaon date 2023-05-05

ENGLISH

Important User Informaon

Disclaimer

The informaon in this document is for informaonal purposes only. Please inform HMS Networks of any

inaccuracies or omissions found in this document. HMS Networks disclaims any responsibility or liability for

any errors that may appear in this document.

HMS Networks reserves the right to modify its products in line with its policy of connuous product

development. The informaon in this document shall therefore not be construed as a commitment on the

part of HMS Networks and is subject to change without noce. HMS Networks makes no commitment to

update or keep current the informaon in this document.

The data, examples and illustraons found in this document are included for illustrave purposes and

are only intended to help improve understanding of the funconality and handling of the product. In

view of the wide range of possible applicaons of the product, and because of the many variables and

requirements associated with any parcular implementaon, HMS Networks cannot assume responsibility

or liability for actual use based on the data, examples or illustraons included in this document nor for

any damages incurred during installaon of the product. Those responsible for the use of the product

must acquire sucient knowledge in order to ensure that the product is used correctly in their specic

applicaon and that the applicaon meets all performance and safety requirements including any applicable

laws, regulaons, codes and standards. Further, HMS Networks will under no circumstances assume liability

or responsibility for any problems that may arise as a result from the use of undocumented features or

funconal side eects found outside the documented scope of the product. The eects caused by any direct

or indirect use of such aspects of the product are undened and may include e.g. compability issues and

stability issues.

Contact Informaon

Postal address:

Box 4126

300 04 Halmstad, Sweden

E-Mail: inf[email protected]

Table of Contents

1. Preface .................................................................................................................................. 1

1.1. About this Document ........................................................................................................ 1

1.2. Related Documents ........................................................................................................... 1

1.3. Document History ............................................................................................................ 1

1.4. Document Convenons ..................................................................................................... 2

2. Introducon ........................................................................................................................... 4

2.1. Overview ........................................................................................................................ 5

2.2. Preparaons .................................................................................................................... 6

3. Step One ................................................................................................................................ 7

3.1. System Adaptaon and Applicaon Development ................................................................... 7

3.2. System Set-up .................................................................................................................. 7

3.2.1. Big- or Lile Endian ................................................................................................... 7

3.2.2. 16-bit Char System .................................................................................................... 7

3.2.3. Extended Bus Endian Dierence .................................................................................. 7

3.2.4. Data Types ............................................................................................................... 8

3.3. Anybus CompactCom Set-up ............................................................................................... 8

3.3.1. Communicaon Interfaces and Operang Modes ............................................................ 8

3.3.2. Parallel Operang Mode Specics ................................................................................ 9

3.3.3. SPI Operang Mode Specics ..................................................................................... 10

3.3.4. Module ID and Module Detect Sengs ........................................................................ 10

3.3.5. Message and Process Data Sengs ............................................................................. 11

3.3.6. Interrupt Handling ................................................................................................... 11

3.3.7. Communicaon Watchdog Sengs ............................................................................. 11

3.3.8. ADI Sengs ............................................................................................................ 11

3.3.9. Debug Event Print Sengs ......................................................................................... 12

3.3.10. Startup Time ......................................................................................................... 12

3.3.11. Sync Sengs ......................................................................................................... 13

3.4. System Adaptaon Funcons ............................................................................................. 14

3.4.1. General Funcons .................................................................................................... 14

3.4.2. SPI Operang Mode ................................................................................................. 15

3.4.3. Parallel Operang Mode ........................................................................................... 16

3.4.4. Serial Operang Mode .............................................................................................. 17

3.5. Object Conguraon ........................................................................................................ 17

3.6. Example Applicaon ........................................................................................................ 18

3.6.1. ADI and Process Data Mapping ................................................................................... 18

3.6.2. Main Loop .............................................................................................................. 18

3.6.3. Compile and Run ..................................................................................................... 20

4. Step Two ............................................................................................................................... 21

4.1. Adaptaons and Customizaons ........................................................................................ 21

4.1.1. Anybus CompactCom Setup ....................................................................................... 21

4.1.2. System Adaptaon Funcons ..................................................................................... 24

4.1.3. Network Idencaon .............................................................................................. 25

4.1.4. Soware Plaorm Porng ......................................................................................... 27

4.1.5. Example Applicaon ................................................................................................. 30

Appendix A. Soware Overview ................................................................................................... 42

1. Folders ............................................................................................................................. 42

2. Root Files ......................................................................................................................... 42

3. CompactCom Driver Interface (Read Only) .............................................................................. 42

Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8

4. Internal Driver Files (Read Only) ............................................................................................ 43

4.1. 8/16 Bit Parallel Event Specic Files ............................................................................... 43

4.2. SPI Specic Files ......................................................................................................... 43

4.3. 8 Bit Parallel Half Duplex Specic Files ............................................................................ 43

4.4. Serial Specic Files ...................................................................................................... 44

5. System Adaptaon Files ...................................................................................................... 44

Appendix B. API ......................................................................................................................... 45

1. API Documentaon ............................................................................................................ 45

Appendix C. Host Applicaon State Machine .................................................................................. 48

Appendix D. 30- and 40-series Modules in the Same Applicaon ....................................................... 51

1. Hardware Design Consideraons .......................................................................................... 51

2. Module Idencaon ......................................................................................................... 52

3. Enable Supported Communicaon Interfaces .......................................................................... 52

4. Select Operang Mode ....................................................................................................... 53

5. Message Data Size .............................................................................................................. 54

6. Process Data Size ............................................................................................................... 54

7. Supported Data Types ......................................................................................................... 54

Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8

1. Preface

1.1. About this Document

This document describes the host applicaon example code. It provides a guide for making a simple

implementaon and ps for further development.

For addional related documentaon and le downloads, please visit www.anybus.com/support.

1.2. Related Documents

Document Author Document ID

Anybus CompactCom 40 Soware Design Guide HMS HMSI-216-125

1.3. Document History

Version Date Descripon

1.00 2015-11-20 New document

1.10 2016-02-05 Fully revised revision

1.2 2017-01-10 Converted to DOX Major updates

1.3 2018-01-23 Added disclaimer Changed document type

1.4 2018-05-31 Updated API descripon

Added appendix on 30- and 40-series modules in the same applicaon Minor updates

1.5 2018-10-16 Minor updates to t latest soware release

1.6 2019-02-25 Rebranding

1.7 2020-03-09 Minor updates

1.8 2023-05-05 Document migrated to Paligo

Minor updates

Preface Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 1 of 54

1.4. Document Convenons

Lists

Numbered lists indicate tasks that should be carried out in sequence:

1. First do this

2. Then do this

Bulleted lists are used for:

• Tasks that can be carried out in any order

• Itemized informaon

User Interacon Elements

User interacon elements (buons etc.) are indicated with bold text.

Program Code and Scripts

Program code and script examples

Cross-References and Links

Cross-reference within this document: Document Convenons (page 2)

External link (URL): www.anybus.com

Safety Symbols

DANGER

Instrucons that must be followed to avoid an imminently hazardous situaon which, if not avoided,

will result in death or serious injury.

WARNING

Instrucons that must be followed to avoid a potenal hazardous situaon that, if not avoided, could

result in death or serious injury.

CAUTION

Instrucon that must be followed to avoid a potenal hazardous situaon that, if not avoided, could

result in minor or moderate injury.

IMPORTANT

Instrucon that must be followed to avoid a risk of reduced funconality and/or damage to the

equipment, or to avoid a network security risk.

Anybus® CompactCom™ 40 Document Convenons

Page 2 of 54 HMSI-27-334 Version 1.8

Informaon Symbols

NOTE

Addional informaon which may facilitate installaon and/or operaon.

TIP

Helpful advice and suggesons.

Document Convenons Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 3 of 54

2. Introducon

When starng an implementaon of the Anybus CompactCom 30 or the Anybus CompactCom 40, host

applicaon example code is available to speed up the development process. The host applicaon example

code includes a driver, which acts as glue between the Anybus CompactCom module and the host applicaon.

The driver has an API (Applicaon Programming Interface), which denes a common interface to the driver. Also

included in the example code is an example applicaon which makes use of the API to form an applicaon that

can be used as a base for the nal product.

NOTE

This guide is developed to describe a step-by-step implementaon of the Anybus CompactCom

driver and example applicaon. The programmer is requested to have basic knowledge in

the Anybus CompactCom object model and the communicaon protocol before starng the

implementaon.

This document is based on the contents of version 3.08 of the host applicaon example code.

The guide is divided into two steps:

1. The adaptaons needed for the target hardware are done here and a simple applicaon is

developed. The goal with this step is to make sure that the hardware specic code is working

and that it is possible to connect to the network and exchange a limited amount of data.

2. The code is adapted to the target product. The goal with this step is to customize the code and

add to it, to congure the data that will be sent on the network. Aer this, the applicaon can

be further extended and improved.

The driver is fully OS independent and it can even be used without an operang system, if required.

Furthermore, it can be used for Anybus CompactCom 30 modules as well as Anybus CompactCom 40 modules.

The driver supports mulple operang modes, where selecon of one of the implemented modes can be made

at runme.

It is possible to use modules from the 30- and the 40-series in the same applicaon, see

30- and 40-series Modules in the Same Applicaon, p. 51 (page 51).

The host applicaon example code is available in dierent versions for dierent plaorms. At this me, the

plaorms depicted below are available.

Each folder contains all les for a specic plaorm/development environment.

Plaorm Reference Project/Tool Chain Descripon

Generic - Can be ported to any plaorm

Xilinx, MicroZed GNU Used for the Microzed evaluaon plaorm with Anybus IP

ST, STM3240-EVAL Keil µVision Used for the STM3240-EVAL evaluaon plaorm

IAR Embedded Workbench Used for the STM3240-EVAL evaluaon plaorm

NXP, TWRP1025 Code Warrior Used for the NXP TWRP1025 evaluaon plaorm

HMS, USB II Board Visual Studio Used for the HMS Starter Kit hardware (USB board)

NUCLEO H743ZI2 ST CubeIDE Used for the NUCLEO H743ZI2 evaluaon plaorm

IAR Embedded Workbench Used for the NUCLEO H743ZI2 evaluaon plaorm

Anybus® CompactCom™ 40 Introducon

Page 4 of 54 HMSI-27-334 Version 1.8

2.1. Overview

Parts of the driver code need to be adapted to the host applicaon plaorm. This generally includes funcons

which access the Anybus host interface, or funcons which need to be adapted to integrate the driver into the

host system. The gure below shows the dierent parts of the host applicaon example code.

Host Applicaon Objects ADI/Process Data

CompactCom Applicaon Handler Main Loop

Example Applicaon

API

CompactCom Driver

System Adaptaon Layer

Anybus Physical Interface

Figure 1. Soware Overview

The host applicaon example code is divided into ve dierent folders depending on the funconality and

whether or not the les need to be adapted by the user.

Table 1. Folder Structure

/abcc_abp (part of the driver - read only) Contains all Anybus object and communicaon protocol denions.

Files may be updated when new Anybus CompactCom releases are

available.

These les are read only and must not be changed in any way by the

user.

/abcc_drv (part of the driver - read only) Contains source and header les for the driver. Files may be updated

when new Anybus CompactCom releases are available.

These les are read only and must not be changed in any way by the

user.

/abcc_adapt Contains conguraon les. These les must be modied by the user to

adapt the driver and the example code to the system environment.

NOTE

If using example code adjusted to a specic plaorm,

most of the adaptaons needed in this folder are

already completed.

/abcc_obj Includes all Anybus host applicaon object implementaons. These les

can be modied if needed, for opmizaon and/or addional features.

/example_app Example applicaon including:

• Main state machine to handle inializaon, restart, normal and error

states.

• State machine paerns to show how to send Anybus CompactCom

messages.

•Implementaon of callbacks required by the driver.

•Denion of ADIs, Applicaon Data Instances, and default process

data mapping setup.

These les have to be adapted to the applicaon by the programmer.

Addionally they may be modied for opmizaon and/or addional

features.

Overview Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 5 of 54

2.2. Preparaons

Before connuing, try to answer as many of the quesons below as possible. This will make decisions during

implementaon easier. It is also good to have access to the hardware schemacs of the target hardware during

the implementaon.

Step One

Consider the following quesons:

• What operang mode, or modes, shall be used in the design?

• What communicaon interfaces shall be used to communicate with the CompactCom in the design?

• Which networks shall be used in the design?

• Are the networks available in the CompactCom 40 series or is there also a need to use CompactCom 30 series

modules?

• Are the Module Idencaon pins connected to the host processor?

• Are the Module Detecon pins connected to the host processor?

Step Two

Consider the following quesons:

• Is the interrupt signal implemented in the hardware?

• Which parameters/data shall be communicated on the network in the nal product?

– Name

– Data type

– Number of elements

– Read/Write access

– Acyclic access, Cyclic access

– Max/Min/Default values

• Which events (diagnoscs) shall be reported on the network?

• What network idencaon parameters are available? E.g. Vendor ID, Product Code, ID number etc.

Anybus® CompactCom™ 40 Preparaons

Page 6 of 54 HMSI-27-334 Version 1.8

3. Step One

3.1. System Adaptaon and Applicaon Development

When this step is completed you will have...

• ...implemented the system specic funcons needed to communicate with the Anybus CompactCom.

• ...compiled the host applicaon example code with default sengs.

• ...exchanged data between the host applicaon and the network master/scanner.

3.2. System Set-up

These denes can be found in abcc_adapt/abcc_td.h.

General sengs for the system environment, to be used in the driver, are congured here.

3.2.1. Big- or Lile Endian

Congure if the host applicaon is a big endian system or a lile endian system. Dene

ABCC_SYS_BIG_ENDIAN if it is a big endian system. Do not dene (leave as default) if the host applicaon is a

lile endian system.

#define ABCC_SYS_BIG_ENDIAN /* Big endian host application */

/* #define ABCC_SYS_BIG_ENDIAN */ /* Little endian host application */

3.2.2. 16-bit Char System

Congure if the host applicaon is a 16-bit char system or an 8-bit char system (i.e. if the smallest addressable

type is 8-bit or 16-bit). Dene ABCC_SYS_16BIT_CHAR if it is a 16-bit char system. Do not dene (leave as

default) if it is an 8-bit char system. Conguring 16-bit char on an 8-bit char system is not recommended.

#define ABCC_SYS_16_BIT_CHAR /* 16 bit char system */

/* #define ABCC_SYS_16_BIT_CHAR */ /* 8 bit char system */

3.2.3. Extended Bus Endian Dierence

If the endianness for the external parallel data bus diers from the internal data bus endianness, enable this

dene. If parallel 16-bit operang mode is not used, this dene is ignored.

#define ABCC_CFG_PAR_EXT_BUS_ENDIAN_DIFF (FALSE)

Step One Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 7 of 54

3.2.4. Data Types

Dene the Data Types for the current system. For 16-bit char systems, all 8-bit types shall be typed to 16-bit

types. The following data types must be dened:

BOOL Standard boolean data type.

BOOL8 Standard boolean data type, 8-bit.

INT8 Standard signed 8-bit data type.

INT16 Standard singed 16-bit data type.

INT32 Standard signed 32-bit data type.

UINT8 Standard unsigned 8-bit data type.

UINT16 Standard unsigned 16-bit data type.

UINT32 Standard unsigned 32-bit data type.

FLOAT32 Float (according to IEC 60559).

3.3. Anybus CompactCom Set-up

These denes and funcons are found in abcc_adapt/abcc_drv_cfg.h. Detailed descripons are

available in abcc_drv/inc/abcc_cfg.h.

Sengs for how to use and communicate with the Anybus CompactCom. For example, Operang mode,

interrupt handling, and memory handling, are congured here.

3.3.1. Communicaon Interfaces and Operang Modes

Dene the communicaon interfaces and the operang mode between the host applicaon and the

CompactCom (Parallel, SPI, Serial), that will be used in the implementaon. There are several possibilies to

set the operang mode depending on how the host applicaon is intended to communicate with the Anybus and

also depending on how the operang mode is selected by the user.

• First, dene all communicaon interfaces that will be supported by the implementaon. All interfaces that will

be used must be dened here, otherwise an error will be reported later on. Only dene the interfaces that will

really be used, since every enabled interface will increase the compiled code size.

Only for 40-series.

#define ABCC_CFG_DRV_PARALLEL ( TRUE ) /* Parallel, 8/16-bit, event

mode */

#define ABCC_CFG_DRV_SPI ( FALSE ) /* SPI */

For both 30-series and 40-series.

#define ABCC_CFG_DRV_SERIAL ( FALSE ) /* Serial */

#define ABCC_CFG_DRV_PARALLEL_30 ( TRUE ) /* Parallel, 8-bit, half

duplex */

NOTE

ABCC_CFG_DRV_SERIAL and ABCC_CFG_DRV_PARALLEL_30 use the CompactCom half

duplex communicaon protocol, with limited data sizes for process data and message data.

Anybus® CompactCom™ 40 Anybus CompactCom Set-up

Page 8 of 54 HMSI-27-334 Version 1.8

• Get the operang mode from external hardware - If the operang mode is set e.g. via a dipswitch connected

to the host applicaon processor or via an HMI controller, dene the ABCC_CFG_OP_MODE_GETTABLE and

implement the funcon ABCC_SYS_GetOpmode() in abcc_adapt/abcc_sys_adapt.c.

#define ABCC_CFG_OP_MODE_GETTABLE ( TRUE )

If not dened, the operang mode denes must be explicitly dened for the specic module type. (See

ABCC_CFG_ABCC_OP_MODE_30 and ABCC_CFG_ABCC_OP_MODE_40 below (page 9)).

• If the operang mode pins on the CompactCom host connector can be controlled by the host processor,

dene ABCC_CFG_OP_MODE_SETTABLE and implement the funcon ABCC_SYS_SetOpmode() in

abcc_adapt/abcc_sys_adapt.c.

#define ABCC_CFG_OP_MODE_SETTABLE ( TRUE )

If not dened, it is assumed that the operang mode signals of the CompactCom host connector are xed or

controlled by external hardware, e.g. a dip-switch.

• If only one operang mode per module type (CompactCom 30 and CompactCom 40) is used, dene

the operang mode with ABCC_CFG_ABCC_OP_MODE_30 and ABCC_CFG_ABCC_OP_MODE_40. The

available operang modes (ABP_OP_MODE_X) can be found in abcc_abp/abp.h.

#define ABCC_CFG_ABCC_OP_MODE_30 ABP_OP_MODE_8_BIT_PARALLEL

#define ABCC_CFG_ABCC_OP_MODE_40 ABP_OP_MODE_16_BIT_PARALLEL

If none of these denes are set, ABCC_SYS_GetOpmode() must be implemented to retrieve the operang

mode from external hardware. See ABCC_CFG_OP_MODE_GETTABLE (page 9) above.

3.3.2. Parallel Operang Mode Specics

NOTE

If parallel operang mode (8-bit or 16-bit) is not used, this secon can be ignored.

If direct access to the CompactCom memory is available (the host controller provides dedicated signals to access

external SRAM), dene ABCC_CFG_MEMORY_MAPPED_ACCESS to TRUE and dene the base address with

ABCC_CFG_PARALLEL_BASE_ADR (this address must be dened to suit the host plaorm).

#define ABCC_CFG_MEMORY_MAPPED_ACCESS ( TRUE )

#define ABCC_CFG_PARALLEL_BASE_ADR ( 0x00000000 )

If direct access to the CompactCom memory is not available, several funcons to read and write

data must be implemented in abcc_adapt/abcc_sys_adapt.c (described in abcc_drv/inc/

abcc_sys_adapt_par.h).

NOTE

The recommendaon is to have direct access to the CompactCom memory if possible for a simpler

and most oen faster implementaon.

Anybus CompactCom Set-up Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 9 of 54

3.3.3. SPI Operang Mode Specics

NOTE

Only for 40-series. If SPI operang mode is not used, this secon can be ignored.

The length of an SPI message fragment in bytes per SPI transacon is dened with

ABCC_CFG_SPI_MSG_FRAG_LEN.

If the ABCC_CFG_SPI_MSG_FRAG_LEN value is less than the largest message to be transmied, the sending

or receiving of a message may be fragmented and take several SPI transacons to be completed. Each SPI

transacon will have a message eld of this length regardless if a message is present or not. If messages are

important the fragment length should be set to the largest message to avoid fragmentaon. If IO data are

important the message fragment length should be set to a smaller value to speed up the SPI transacon.

For high message performance a fragment length up to 1524 octets is supported. The message header is 12

octets, so 16 or 32 octets will be enough to support small messages without fragmentaon.

#define ABCC_CFG_SPI_MSG_FRAG_LEN ( 16 )

3.3.4. Module ID and Module Detect Sengs

• If the Module Idencaon pins (MI) on the CompactCom host connector are not connected

to the host processor, ABCC_CFG_MODULE_ID_PINS_CONN must be dened as FALSE, and

ABCC_CFG_ABCC_MODULE_ID must be dened to the correct CompactCom module ID that corresponds to

the module ID of the used device. If dened, it shall be set to the correct ABP_MODULE_ID_X denion from

abcc_abp/abp.h.

If ABCC_CFG_MODULE_ID_PINS_CONN is dened as TRUE, the funcon

ABCC_SYS_ReadModuleId() in abcc_adapt/abcc_sys_adapt.c must be implemented.

NOTE

The recommendaon is to connect the Module ID pins on the applicaon connector directly to

GPIO-pins on the host processor and implement the ABCC_SYS_ReadModuleId() funcon.

#define ABCC_CFG_ABCC_MODULE_ID ABP_MODULE_ID_ACTIVE_ABCC40

#define ABCC_CFG_MODULE_ID_PINS_CONN ( TRUE )

• If the Module Detect pins (MD) in the host applicaon connector are connected to the host processor, the

ABCC_CFG_MOD_DETECT_PINS_CONN shall be set to TRUE and the ABCC_SYS_ModuleDetect()

funcon in abcc_adapt/abcc_sys_adapt.c must be implemented.

#define ABCC_CFG_MOD_DETECT_PINS_CONN ( TRUE )

Anybus® CompactCom™ 40 Anybus CompactCom Set-up

Page 10 of 54 HMSI-27-334 Version 1.8

3.3.5. Message and Process Data Sengs

Leave the following denes with the default values for now.

#define ABCC_CFG_MAX_NUM_APPL_CMDS ( 2 )

#define ABCC_CFG_MAX_NUM_ABCC_CMDS ( 2 )

#define ABCC_CFG_MAX_MSG_SIZE ( 255 )

#define ABCC_CFG_MAX_PROCESS_DATA_SIZE ( 512 )

#define ABCC_CFG_REMAP_SUPPORT_ENABLED ( FALSE )

#define ABCC_CFG_CMD_SEQ_MAX_NUM_RETRIES ( 0 )

#define ABCC_CFG_MAX_NUM_CMD_SEQ ( 2 )

NOTE

The dierent plaorms can have dierent default values depending on the available resources.

3.3.6. Interrupt Handling

If the IRQ pin is connected the driver can be congured to check if an event has occurred

even if the interrupt is disabled. It can be used e.g. to detect the CompactCom power up event.

Dene ABCC_CFG_POLL_ABCC_IRQ_PIN to enable this funconality, and implement the funcon

ABCC_SYS_IsAbccInterruptActive() in abcc_adapt/abcc_sys_adapt.c.

#define ABCC_CFG_POLL_ABCC_IRQ_PIN ( TRUE )

In this step, we will not use the interrupt funconality, which means that we will dene

ABCC_CFG_INT_ENABLED as FALSE.

If the IRQ pin is not connected, this dene must be set to false.

#define ABCC_CFG_INT_ENABLED ( FALSE )

3.3.7. Communicaon Watchdog Sengs

The meout for the CompactCom communicaon watchdog is congured with ABCC_CFG_WD_TIMEOUT_MS.

If a meout occurs, the callback funcon ABCC_CbfWdTimeout() is called.

NOTE

The watchdog funconality is only supported by the SPI-, serial- and parallel30 (half duplex)

operang modes.

#define ABCC_CFG_WD_TIMEOUT_MS ( 1000 )

3.3.8. ADI Sengs

Leave the following denes with the default values for now.

#define ABCC_CFG_STRUCT_DATA_TYPE ( FALSE )

#define ABCC_CFG_ADI_GET_SET_CALLBACK ( FALSE )

#define ABCC_CFG_64BIT_ADI_SUPPORT ( FALSE )

Anybus CompactCom Set-up Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 11 of 54

3.3.9. Debug Event Print Sengs

For development purposes, a number of debug funcons are available for the developer. The following denes

aects debug printouts from the driver. If addional printouts are needed from the applicaon code, use the

ported funcon ABCC_PORT_DebugPrint() in abcc_adapt/abcc_sw_port.h.

• Enable or disable the error reporng callback funcon ABCC_CbfDriverError() with

ABCC_CFG_ERR_REPORTING_ENABLED. The funcon is described in abcc_drv/inc/abcc.h.

#define ABCC_CFG_ERR_REPORTING_ENABLED ( TRUE )

• Enable or disable driver support for print out of debug events within the driver

with ABCC_CFG_DEBUG_EVENT_ENABLED. ABCC_PORT_DebugPrint() in abcc_adapt/

abcc_sw_port.h will be used to print debug informaon.

#define ABCC_CFG_DEBUG_EVENT_ENABLED ( TRUE )

• Enable or disable printout of debug informaon, such as le name and line number, when

ABCC_CbfDriverError() is called with ABCC_CFG_DEBUG_ERR_ENABLED.

#define ABCC_CFG_DEBUG_ERR_ENABLED ( FALSE )

• Enable or disable printout of received and sent messages with ABCC_CFG_DEBUG_MESSAGING. Related

events such as buer allocaon and queuing informaon is also printed.

#define ABCC_CFG_DEBUG_MESSAGING ( FALSE )

• Enable or disable printout of command sequencer acons with ABCC_CFG_DEBUG_CMD_SEQ_ENABLED.

#define ABCC_CFG_DEBUG_CMD_SEQ_ENABLED ( FALSE )

3.3.10. Startup Time

If the CompactCom IRQ pin is connected, ABCC_CFG_STARTUP_TIME_MS will be used as

a meout while waing for the CompactCom to become ready for communicaon. An error

(APPL_MODULE_NOT_ANSWERING) will be reported if the start-up interrupt is not received within this me. If

the interrupt pin is not available ABCC_CFG_STARTUP_TIME_MS will serve as me to wait before starng to

communicate with the CompactCom. If not dened, the default value is 1500 ms.

#define ABCC_CFG_STARTUP_TIME_MS ( 1500 )

NOTE

If possible, the recommendaon is to use the startup interrupt (opon available for the SPI and

parallel communicaon interfaces).

Anybus® CompactCom™ 40 Anybus CompactCom Set-up

Page 12 of 54 HMSI-27-334 Version 1.8

3.3.11. Sync Sengs

NOTE

Only for 40-series.

Leave the following denes with the default values for now.

#define ABCC_CFG_SYNC_ENABLE ( FALSE )

#define ABCC_CFG_SYNC_MEASUREMENT_IP ( FALSE )

#define ABCC_CFG_SYNC_MEASUREMENT_OP ( FALSE )

Anybus CompactCom Set-up Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 13 of 54

3.4. System Adaptaon Funcons

A number of funcons must be implemented for the driver to be able to access the Anybus CompactCom.

The funcons shall be implemented in abcc_adapt/abcc_sys_adapt.c. The funcons are described per

operang mode in the les specied below.

• General funcons: abcc_drv/inc/abcc_sys_adapt.h

• SPI operang mode: abcc_drv/inc/abcc_sys_adapt_spi.h

• Parallel operang mode: abcc_drv/inc/abcc_sys_adapt_par.h

• Serial operang mode: abcc_drv/inc/abcc_sys_adapt_ser.h

3.4.1. General Funcons

These funcons can be found in abcc_drv/inc/abcc_sys_adapt.h.

ABCC_SYS_HwInit()

This funcon can be used to iniate the hardware required to communicate with the CompactCom device (e.g.

conguring the direcon and inial values of used host processor port pins). This funcon shall be called once

during the power up inializaon.

NOTE

Make sure that the CompactCom is kept in reset state when returning from this funcon.

ABCC_SYS_Init()

This funcon is called by the driver at start-up and restart of the driver. If needed, any hardware or system

dependent inializaon shall be done here. If not used, leave the funcon empty.

ABCC_SYS_Close()

Called from the driver if the driver is terminated. If resources were allocated in ABCC_SYS_Init() it is

recommended to close or free them in this funcon. If not used, leave the funcon empty.

ABCC_SYS_HWReset()

This funcon must be implemented to pull the reset pin on the Anybus CompactCom interface to low.

ABCC_SYS_HWReleaseReset()

This funcon must be implemented to set the reset pin on the Anybus CompactCom interface to high.

ABCC_SYS_AbccInterruptEnable()

For now, interrupt will be disabled. Leave this funcon empty.

ABCC_SYS_AbccInterruptDisable()

For now, interrupt will be disabled. Leave this funcon empty.

ABCC_SYS_IsAbccInterruptActive()

If the interrupt pin (IRQ) is connected to the host processor, this funcon shall read the interrupt signal from

the CompactCom and return TRUE if the interrupt pin is low (i.e. interrupt is acve) and return FALSE if

the interrupt pin is high (i.e. the interrupt is inacve). It is used to enable polling of the interrupt pin of the

CompactCom interface if interrupts are not enabled.

ABCC_SYS_SyncInterruptEnable()

For now, synchronizaon will be disabled. Leave this funcon empty.

ABCC_SYS_SyncInterruptDisable()

For now, synchronizaon will be disabled. Leave this funcon empty.

Anybus® CompactCom™ 40 System Adaptaon Funcons

Page 14 of 54 HMSI-27-334 Version 1.8

3.4.2. SPI Operang Mode

NOTE

Only for 40-series. If SPI operang mode is not used, the funcons below are never called, and this

secon can be ignored.

These funcons can be found in abcc_drv/inc/abcc_sys_adapt_spi.h.

ABCC_SYS_SpiRegDataReceived(ABCC_SYS_SpiDataReceivedCbfType pnDataReceived)

Registers the callback funcon that shall be called when new data is received (MISO frame received).

Example 1.

static ABCC_SYS_SpiDataReceivedCbfType pnDataReadyCbf;

void ABCC_SYS_SpiRegDataReceived(

ABCC_SYS_SpiDataReceivedCbfType pnDataReceived

)

{

pnDataReadyCbf = pnDataReceived;

}

ABCC_SYS_SpiSendReceive(void* pxSendDataBuffer, void* pxReceiveDataBuffer,

UINT16 iLength)

Handles sending and receiving of data in SPI mode.

Two buers are provided, one with a MOSI data frame to be sent and one buer to store the received MISO

frame.

System Adaptaon Funcons Anybus® CompactCom™ 40

HMSI-27-334 Version 1.8 Page 15 of 54

3.4.3. Parallel Operang Mode

These funcons can be found in abcc_drv/inc/abcc_sys_adapt_par.h.

NOTE

If parallel operang mode is not used, the funcons below are never called, and this secon can be

ignored.

NOTE

If parallel operang mode is used and ABCC_CFG_MEMORY_MAPPED_ACCESS is dened, this

secon can be ignored. See Parallel Operang Mode Specics (page 9) for more informaon about

ABCC_CFG_MEMORY_MAPPED_ACCESS.

ABCC_SYS_ParallelRead()

Reads an amount of octets from the CompactCom memory.

ABCC_SYS_ParallelRead8()

Only used for half duplex parallel operang mode.

Reads an octet from the CompactCom memory.

ABCC_SYS_ParallelRead16()

Reads a word from the CompactCom memory.

ABCC_SYS_ParallelWrite()

Writes an amount of octets to the CompactCom memory.

ABCC_SYS_ParallelWrite8()

Only used for half duplex parallel operang mode.

Writes an octet to the CompactCom memory.

ABCC_SYS_ParallelWrite16()

Writes a word to the CompactCom memory.

ABCC_SYS_ParallelGetRdPdBuffer()

Get the address to the received read process data.

ABCC_SYS_ParallelGetWrPdBuffer()

Get the address to store the write process data.

Anybus® CompactCom™ 40 System Adaptaon Funcons

Page 16 of 54 HMSI-27-334 Version 1.8

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