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Comment: Added EtherCAT DC functions.
Edited Typo and Style.

...

uGOAL describes a software package, which allows integration of of the irj45/SoM module into applications without using a full GOAL framework platform. By stripping down the required dependencies from the GOAL industrial communication framework, integration is possible into a wide range of platforms from a simple ATMEGA 8-bit CPU with 2KB of RAM up to a linux PC.

...

uGOAL contains a core which includes the basic GOAL framework functionality required for Remote Procedere Call (RPC) wrappers. Following RPC wrappers are available for uGOAL:

RPC wrapper

functionality

remarks

pnio

Profinet Stack

fully supported

ecat

EtherCAT Stack

fully supported

eip

EtherNet/IP Stack

fully supported

http

Web Server

only recommended for on targets with > 32kByte RAM available

net

UDP and TCP channels

only recommended for on targets with > 32kByte RAM available

ccm

ccm module management

fully supported

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Function

Signature

Remark

plat_init

Code Block
languagec
void plat_init(
    void
);

This function is called upon start of the application. It is required to initialize the required hardware peripherals here:

  • SPI

  • Timer

  • I2C (optional)

  • Memory HEAP

plat_spiTransfer

Code Block
int plat_spiTransfer(
    const char *txBuf,                          /**< [in] transmission buffer */
    char *rxBuf,                                /**< [out] receive buffer */
    int size                                    /**< size of valid buffer sizes */
);

This function needs to transfer the given data (txBuf) with a length of size to the CCM module. The response data needs to be propagated into the rxBuf buffer. Only the amount of data (size) is allowed to write into rxBuf.

This function is called cyclically by the uGOAL framework.

plat_ledSet

Code Block
languagec
int plat_ledSet(
    uint32_t state                              /**< led state field */
);

This function can be used to set LED states acquired from the CC module, which may be required for some fieldbus protocol implementations.

plat_heapAllocDone

Code Block
void plat_heapAllocDone(
    void
);

This function is called when dynamic memory allocation is done. It can be used to evaluate the memory utilisation.

plat_getMsTimer

Code Block
GOAL_TIMESTAMP_T plat_getMsTimer(
    void
);

This function needs to return the number of milliseconds from start of the system. It is needed for timed operations and timeouts.

Following optional functions are necessary to support EtherCAT DC.

plat_eventRegister

Code Block
int plat_eventRegister(
    GOAL_BOOL_T flgAutostart,
    GOAL_MA_EVENT_NOTIFY fNotify
)

This optiona function registers a callback function for external interrupts used e.g. for EtherCAT DC. It also initializes the interrupts configured in the specific platform.

plat_eventEnable

Code Block
int plat_eventEnable(
    void
)

Enables the configured events.

plat_eventDisable

Code Block
int plat_eventDisable(
    void
)

Disables the configured events.

Multitasking

The software delivery does not specifically consider issues of multi tasking systems. Thus if one wants to integration the code into a multitasking application, all uGOAL relevant functions should be concentrated and called from one single task. Data exchange with other tasks should be done in a protected way (locking, messages, semaphores, queues). This is not scope of the software delivery.

...

Configuration

Default value

Description

CONFIG_UGOAL_HEAP_BUFFER

0

By default UGOAL uGOAL uses malloc for initial memory allocation. It can be forced to use a statically allocated buffer for initial memory allocation, if e.g. the underlying platform does not provide such functionality. In each case, behaviour will be the same. Only initially memory is allocated. During runtime of the application memory is static.

CONFIG_UGOAL_HEAP_BUFFER_ALIGNMENT

0

With this option allocated memory hunks can be forced to a specific alignment. This may be useful for platform specific adoption.

CONFIG_UGOAL_HEAP_BUFFER_SIZE

0

If the static memory buffer is enabled, with this option the size of the buffer needs to be defined.

CONFIG_UGOAL_DATAMAPPER

0

The data mapper provides an abstraction of the cyclic data channel. If enabled, the RPC stack wrappers will map process data to this entity. Thus access to process data is convenient. Without the data mapper process data needs to be accessed within the raw SPI frame. Usage of the data mapper costs some memory.

CONFIG_UGOAL_TIMEOUT_RPC

5000

This is the time (in milliseconds) before a RPC request is considered to be timed out. For debugging purpose this value may be set to 0, so a pause in execution of the application does not lead to communication errors. For production purpose this value is not allowed to be 0.

CONFIG_UGOAL_TIMEOUT_MEDIA

1000

This is the time (in milliseconds) before missing communication on the SPI is considered to be a fault. For debugging purpose this may be set to 0, so a pause in execution of the application does not lead to communication errors. For production purpose this value is not allowed to be 0.

CONFIG_UGOAL_INSTANCE

01

This option enables the optional support for instances of components in UGOAL. The data mapper and HTTP requires and automatically enables this feature. Otherwise it is not required, since it costs some memory.

CONFIG_UGOAL_MAINLOOP_REG

01

This option enables support for registration of cyclic functions during the execution of the application. The data mapper requires and automatically enables this feature. Otherwise it is not required, since it costs some memory.

CONFIG_UGOAL_LOGGING

0

This option enables UART logging.

CONFIG_UGOAL_RPC_RB_SIZE

274

This option configures the size of an entry within the RPC ring buffer. It defines the maximum size of a RPC request. This value is optimized for memory footprint. Some applications may require larger values, if e.g. larger amounts of data are transported via RPC.

CONFIG_UGOAL_RPC_RB_ENTRIES

1

This option configures the length of the ring buffer in chunks of CONFIG_UGOAL_RPC_RB_SIZE.

CONFIG_UGOAL_RPC_HANDLES

2

This option configures the amount of available RPC handles. Each component (e.g. a communication Stack wrapper) requires a handle. One handle is allocated by the base system.

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