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Following table shows the basic structure of the SPI frame.
Range | Length | Description |
|---|---|---|
0 .. 3 | 4 byte | MCTC SPI header |
4 .. 76 | 73 byte | cyclic data (data mapper) |
77 .. 126 | 50 byte | RPC data |
127 | 1 byte | reserved |
The block MCTC SPI Header contains the following elements:
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The RPC synchronisation follows a state machine with the following states:
State | Description | |
|---|---|---|
GOAL_MI_MCTC_RPC_STATE_INIT | Initial state | Entered initially or in error case |
GOAL_MI_MCTC_RPC_STATE_SYNC_REQ | Initial request state | Entered after INIT state |
GOAL_MI_MCTC_RPC_STATE_SYNC_ACK_LOCAL | Initial acknowledge state | Entered after SYNC REQ state |
GOAL_MI_MCTC_RPC_STATE_SYNC_ACK_REMOTE | Initial sync request was acknowledged | Entered if SYNC request was acknowledged, the peer module received our request! |
GOAL_MI_MCTC_RPC_STATE_RUN_ONCE | Setup state after Sync | Entered when SYNC was successful |
GOAL_MI_MCTC_RPC_STATE_RUN | Normal operating state | Entered after SYNC is done |
So if the state GOAL_MI_MCTC_RPC_STATE_SYNC_ACK_REMOTE is entered, the communication module received the frames sent by the application controller.
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| Code Block | ||
|---|---|---|
| ||
/* for debugging purpose disable any timeout detection on the peer */ #define CONFIG_UGOAL_TIMEOUT_RPC 0 #define CONFIG_UGOAL_TIMEOUT_MEDIA 0 |
or using the make system, using the command in a project directory, like ugoal/projects/ugoal/02_profinet/gcc:
| Code Block | ||
|---|---|---|
| ||
user: ~/.../02_profinet/gcc: make debug
removed directory: build/
*** Debugging Mode enabled *** |
and building the project:
| Code Block |
|---|
user: ~/ugoal/projects/ugoal/02_profinet/gcc: make PLATFORM=stm32f429zi
*** Debugging Mode enabled - note that: ***
> this mode should only be used for debugging purposes
> peer-loss detection on application controller is disabled
> logging might be enabled
*** Disabling per 'make debug' ***
platform pre
[CC] plat/stm32/plat.c
... |
| Info |
|---|
To switch the Debugging Mode off, use ‘make debug’ too |
For GOAL based application, following code needs to be called before any other functions. So best place the following calls in appl_init():
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