inosdefine.h

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//******************************************************************************
//******************************************************************************
 
#if !defined( INC_INOSDEFINE_H )
#define INC_INOSDEFINE_H
 
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
 
#define INOS_LITTLE_ENDIAN  1234
 
#define INOS_BIG_ENDIAN     4321
 
#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
#define INOS_BYTE_ORDER     INOS_LITTLE_ENDIAN
#else
#define INOS_BYTE_ORDER     INOS_BIG_ENDIAN
// Define 'WORDS_BIGENDIAN', which seems to be a standard by GNU autotools and
// is therefore widely used by open source software
#define WORDS_BIGENDIAN 1
#endif
 
#define INOS_INLINE inline __attribute__((always_inline))
 
#define INOS_NOEXCEPT noexcept
 
//------------------------------------------------------------------------------
// 32/64 bit related
//------------------------------------------------------------------------------
 
#if !defined(__ASSEMBLER__)
#if defined(INOS_64)
#if defined(INOS_WINDOWS)
typedef signed long long intptr;
typedef unsigned long long uintptr;
#else
typedef signed long intptr;
typedef unsigned long uintptr;
#endif
#else // end of 64 bit
typedef signed long intptr;
typedef unsigned long uintptr;
#endif
#endif
 
//------------------------------------------------------------------------------
// CPU defines
//------------------------------------------------------------------------------
 
#define DF_INOS_CPU_CACHE_LINE_SIZE 32
 
#define DF_INOS_CPU_CACHE_LINE_MASK 0xffffffe0
 
#define DF_INOS_MEMORY_ALLOC_ALIGNMENT      16
 
//------------------------------------------------------------------------------
// TARGET offsets
//------------------------------------------------------------------------------
 
#define DF_INOS_TARGET_OFFSET_OPTIONS       0x00000040
 
#define DF_INOS_TARGET_OFFSET_VERSION       0x00000080
 
//------------------------------------------------------------------------------
// TARGET defines
//------------------------------------------------------------------------------
 
#define DF_INOS_TARGET_CHAR_FLOATING        0x00000001
 
#define DF_INOS_TARGET_CHAR_LITTLE_ENDIAN   0x00000002
 
#define DF_INOS_TARGET_CHAR_64BIT           0x00000004
 
#define DF_INOS_TARGET_CHAR_RES0            0x00000010
#define DF_INOS_TARGET_CHAR_RES1            0x00001000
#define DF_INOS_TARGET_CHAR_RES2            0x00100000
#define DF_INOS_TARGET_CHAR_RES3            0x10000000
 
//------------------------------------------------------------------------------
// SAFETY defines
//------------------------------------------------------------------------------
 
#define DF_INOS_SAFETY_INVALID_UID          0xffffffff
 
//------------------------------------------------------------------------------
// KERNEL defines
//------------------------------------------------------------------------------
 
#define DF_INOS_MAX_CORES               4
#define DF_INOS_MAX_CORES_MASK          ((1<<DF_INOS_MAX_CORES)-1)
 
#define DF_INOS_CORE_DEFAULT            0xFF
 
#define DF_INOS_MAX_WATCHPOINTS             1
 
//--- CINOSKernel --------------------------------------------------------------
 
#define DF_INOS_TASK_PRIO_HIGHEST           0
 
#define DF_INOS_TASK_PRIO_LOWEST            31
 
#define DF_INOS_TASK_PRIO_REALTIME_HIGHEST  0
 
#define DF_INOS_TASK_PRIO_ICC      3
 
#define DF_INOS_TASK_PRIO_REALTIME          8
 
#define DF_INOS_TASK_PRIO_REALTIME_LOWEST   15
 
#define DF_INOS_TASK_PRIO_COMMUNICATION_HIGHEST     16
 
#define DF_INOS_TASK_PRIO_COMMUNICATION             20
 
#define DF_INOS_TASK_PRIO_COMMUNICATION_DISPATCHER  20
 
#define DF_INOS_TASK_PRIO_COMMUNICATION_LOWEST      23
 
#define DF_INOS_TASK_PRIO_USER_HIGHEST      24
 
#define DF_INOS_TASK_PRIO_USER              28
 
#define DF_INOS_TASK_PRIO_USER_LOWEST       30
 
#define DF_INOS_TASK_PRIO_BACKGROUND        31
 
#if defined(INOS_MULTICORE)
#define INOS_MULTICORE_KERNEL           1
#else
#undef INOS_MULTICORE_KERNEL
#endif
 
//------------------------------------------------------------------------------
// INCO defines
//------------------------------------------------------------------------------
 
//--- INCO protocol numbers ----------------------------------------------------
 
#define DF_INCO_PROTOCOL_CLASSIC        0
 
#define DF_INCO_PROTOCOL_STRIPPED       1
 
#define DF_INCO_PROTOCOL_SPLITTED       2
 
#define DF_INCO_PROTOCOL_RESERVED       16
 
//--- INCO device numbers ------------------------------------------------------
 
#define DF_INCO_DEVICE_NUMBER_COM0      0
 
#define DF_INCO_DEVICE_NUMBER_INFOLINK  1
 
#define DF_INCO_DEVICE_NUMBER_COM1      2
 
#define DF_INCO_DEVICE_NUMBER_ETH0      3
 
#define DF_INCO_DEVICE_NUMBER_GINLINK   4
 
#define DF_INCO_DEVICE_NUMBER_PDP       5
 
#define DF_INCO_DEVICE_NUMBER_COP       6
 
#define DF_INCO_DEVICE_NUMBER_ETH1      7
 
#define DF_INCO_DEVICE_NUMBER_GIN_COP   8
 
#define DF_INCO_DEVICE_NUMBER_ETH2      10
 
#define DF_INCO_DEVICE_NUMBER_ETH3      11
 
#define DF_INCO_DEVICE_NUMBER_ETH4      12
 
#define DF_INCO_DEVICE_NUMBER_GINLINK1  13
 
#define DF_INCO_DEVICE_NUMBER_GINLINK2  14
 
#define DF_INCO_DEVICE_NUMBER_GINLINK3  15
 
#define DF_INCO_DEVICE_NUMBER_CORE0X    0x10
 
#define DF_INCO_DEVICE_NUMBER_CORE10    0x11
 
#define DF_INCO_DEVICE_NUMBER_CORE20    0x12
 
#define DF_INCO_DEVICE_NUMBER_CORE30    0x13
 
#define DF_INCO_DEVICE_NUMBER_CORE40    0x14
 
#define DF_INCO_DEVICE_NUMBER_CORE50    0x15
 
#define DF_INCO_DEVICE_NUMBER_CORE60    0x16
 
#define DF_INCO_DEVICE_NUMBER_CORE70    0x17
 
#define DF_INCO_DEVICE_NUMBER_CORE80    0x18
 
#define DF_INCO_DEVICE_NUMBER_CORE90    0x19
 
#define DF_INCO_DEVICE_NUMBER_COREA0    0x1A
 
#define DF_INCO_DEVICE_NUMBER_COREB0    0x1B
 
#define DF_INCO_DEVICE_NUMBER_COREC0    0x1C
 
#define DF_INCO_DEVICE_NUMBER_CORED0    0x1D
 
#define DF_INCO_DEVICE_NUMBER_COREE0    0x1E
 
#define DF_INCO_DEVICE_NUMBER_COREF0    0x1F
 
#define DF_INCO_DEVICE_NUMBER_ETHERCAT  0x20
 
#define DF_INCO_DEVICE_NUMBER_ETHERCAT1 0x21
 
#define DF_INCO_DEVICE_NUMBER_ETHERCAT2 0x22
 
#define DF_INCO_DEVICE_NUMBER_ETHERCAT3 0x23
 
#define DF_INCO_DEVICE_NUMBER_LOOPBACK  0xFF
 
//------------------------------------------------------------------------------
// Axis param extension id's
//------------------------------------------------------------------------------
 
#define DF_INOS_PARAM_EXTENSION_NAME                "extension"
#define DF_INOS_PARAM_EXTENSION_ID_INPUT_SHAPING    1
#define DF_INOS_PARAM_EXTENSION_NAME_INPUT_SHAPING  "shaping"
 
 //------------------------------------------------------------------------------
 // misc
 //------------------------------------------------------------------------------
 
#define DF_INOS_ETHERNET_SHUTDOWN       (-2)
 
#ifndef MDNS_MAX_SERVICES
#define MDNS_MAX_SERVICES               3
#endif
 
//------------------------------------------------------------------------------
// singleton's
//------------------------------------------------------------------------------
 
#define INCO (*pINCOItems)
 
#define DISPATCHER (*CINCODispatcher::m_pInstance[GetCoreId()])
 
#define DISPATCHER_EMG (*CINCODispatcher::m_pInstanceEmg[GetCoreId()])
 
#if defined(INOS_CPU_CORTEXA9)
#define ICC (*CINOSHwIcc::m_pInstance[GetCoreId(true)])
#else
#define ICC (*CINOSHwIcc::m_pInstance[GetCoreId()])
#endif
 
//------------------------------------------------------------------------------
// target resource singleton's
//------------------------------------------------------------------------------
 
#define ENVIRONMENT CINOSMcTargetEnvironment::Instance()
 
#define SYSTEM CINOSMcTargetSystem::Instance()
 
#define DTB CINOSMcTargetDtb::Instance()
 
#define DT2 CINOSMcTargetDt2::Instance()
 
#define DATA CINOSMcTargetData::Instance()
 
#define NVRAM CINOSMcTargetNvRam::Instance()
 
#define IMAGE CINOSMcTargetImage::Instance()
 
#define IMAGETRANSFER CINOSMcTargetImageTransfer::Instance()
 
#define COMM CINOSMcTargetComm::Instance()
 
#define MCTARGET CINOSMcTarget::Instance()
 
#define SLAVE CINOSMcTargetFieldbusSlave::Instance()
 
#define KRNLOG CINOSMcTargetKernelLogger::Instance()
 
#define MS CINOS1ms::Instance()
 
#define LVDT CINOSLVDT::Instance()
 
#define MOTION CINOSMcTargetMotionController::Instance()
 
#define SAFETY CINOSMcTargetSafety::Instance()
 
#define SYNC CINOSMcTargetTimeSync::Instance()
 
#define ASYNC (*CINCOAsyncResultMgr::Instance())
 
#define MOVEPATH CINOSMcTargetMovePath::Instance()
 
#if defined(INOS_CPU_CORTEXA72) || defined(INOS_CPU_P50XX) || defined(INOS_CPU_P2020) || defined(INOS_CPU_PPC750) || defined(INOS_DESKTOP)
#define DBG CINOSHwDbg::Instance()
#define DBG_CLASS CINOSHwDbg
#else
#define DBG (*g_pBreakpoints)
#define DBG_CLASS CINOSBreakpoints
#endif
 
#if defined(FEATURE_INOS_CANBUS)
#define CAN CINOSMcTargetCanbus::Instance()
#endif
 
#define IRQ CINOSHwIrq::Instance()
 
#if defined(FEATURE_INOS_ONNX)
#define ONNX CINOSMcTargetOnnx::Instance()
#endif
 
//------------------------------------------------------------------------------
// target related includes
//------------------------------------------------------------------------------
 
#if defined(INOS_CPU_CORTEXA9)
#include <inosdefine_cortexa9.h>
#elif defined(INOS_CPU_CORTEXA72)
#include <inosdefine_cortexa72.h>
#elif defined(INOS_CPU_P50XX)
#include <inosdefine_p50xx.h>
#elif defined(INOS_CPU_P2020)
#include <inosdefine_p2020.h>
#elif defined(INOS_CPU_PPC750)
#include <inosdefine_ppc750.h>
#elif defined(INOS_WINDOWS)
#include <inosdefine_windows.h>
#elif defined(INOS_LINUX)
#include <inosdefine_linux.h>
#endif
#include <inosdefine_deprecated.h>
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_INOSDEFINE_H