BECKHOFF ET9300 - Manual (Page 18)

16 Application Note ET9300
5.1 Interrupt Handler
The following functions are provided by the generic Slave Stack Code (defined in ecatappl.h) and
need to be called from the hardware access layer.
Prototype: void ECAT_CheckTimer (void)
Parameter void
Return void
Description This function needs to be called every 1ms from a timer ISR
(ECAT_TIMER_INT = 1). If no timer interrupt is supported this function is called
automatically when 1ms is elapsed (based on the provided timer).
Prototype: void PDI_Isr (void)
Parameter void
Return void
Description This function need to be called from the PDI ISR. For the PDI specific pin
naming and the interrupt generation logic please refer to [6] . To support PDI
interrupt handling it is also required to set “AL_EVENT_ENABLED” to 1.
Prototype: void Sync0_Isr (void)
Parameter void
Return void
Description This function needs to be called from the Sync0 ISR. The Sync0 interrupt is
generated by the DC Unit of the ESC. It is currently not supported by default to
map the Sync0 signal to the PDI interrupt. To support Dc synchronization
“DC_SUPPORTED” need to be set.
Prototype: void Sync1_Isr (void)
Parameter void
Return void
Description This function needs to be called from the Sync1 ISR. The Sync1 interrupt is
generated by the DC Unit of the ESC. It is currently not supported by default to
map the Sync1 signal to the PDI interrupt. To support Dc synchronization
“DC_SUPPORTED” need to be set.
5.2 Interface Functions/Macros
The functions and macros listed in this chapter need to be implemented by the hardware access layer.