1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#ifndef __APPLICFG_HC12__

    24

#define __APPLICFG_HC12__

    25

    26

#include <string.h>

    27

#include <stdio.h>

    28

    29

#include <../include/hcs12/asm-m68hc12/portsaccess.h>

    30

#include <../include/hcs12/asm-m68hc12/ports_def.h>

    31

#include <../include/hcs12/asm-m68hc12/ports.h>

    32

#include <../include/hcs12/interrupt.h>

    33

    34

    35

/// Define the architecture : little_endian or big_endian

    36

// -----------------------------------------------------

    37

// Test :

    38

// UNS32 v = 0x1234ABCD;

    39

// char *data = &v;

    40

//

    41

// Result for a little_endian architecture :

    42

// data[0] = 0xCD;

    43

// data[1] = 0xAB;

    44

// data[2] = 0x34;

    45

// data[3] = 0x12;

    46

//

    47

// Result for a big_endian architecture :

    48

// data[0] = 0x12;

    49

// data[1] = 0x34;

    50

// data[2] = 0xAB;

    51

// data[3] = 0xCD;

    52

    53

    54

#define CANOPEN_BIG_ENDIAN

    55

    56

// Use or not the PLL

    57

//#define USE_PLL

    58

    59

#ifdef USE_PLL

    60

#  define BUS_CLOCK 24 // If the quartz on the board is 16 MHz. If different, change this value

    61

#else 

    62

#  define BUS_CLOCK 8  // If the quartz on the board is 16 MHz. If different, change this value

    63

#endif

    64

    65

/// Configuration of the serials port SCI0 and SCI1

    66

// Tested : 

    67

//   SERIAL_SCI0_BAUD_RATE 9600      BUS_CLOCK 8   Send OK      Receive not tested

    68

//   SERIAL_SCI0_BAUD_RATE 19200     BUS_CLOCK 8   Send OK      Receive not tested

    69

//   SERIAL_SCI0_BAUD_RATE 38400     BUS_CLOCK 8   Send OK      Receive not tested

    70

//   SERIAL_SCI0_BAUD_RATE 57600     BUS_CLOCK 8   Send Failed  Receive not tested

    71

//   SERIAL_SCI0_BAUD_RATE 115200    BUS_CLOCK 8   Send Failed  Receive not tested

    72

    73

//   SERIAL_SCI0_BAUD_RATE 9600      BUS_CLOCK 24  Send OK      Receive not tested

    74

//   SERIAL_SCI0_BAUD_RATE 19200     BUS_CLOCK 24  Send OK      Receive not tested

    75

//   SERIAL_SCI0_BAUD_RATE 38400     BUS_CLOCK 24  Send OK but init problems     Receive not tested

    76

//   SERIAL_SCI0_BAUD_RATE 57600     BUS_CLOCK 24  Send Failed  Receive not tested

    77

//   SERIAL_SCI0_BAUD_RATE 115200    BUS_CLOCK 24  Send Failed  Receive not tested

    78

    79

#define SERIAL_SCI0_BAUD_RATE 19200

    80

#define SERIAL_SCI1_BAUD_RATE 9600

    81

    82

    83

    84

    85

    86

    87

// Several hardware definitions functions

    88

// --------------------------------------

    89

    90

    91

/// Initialisation of the serial port 0

    92

extern void initSCI_0 (void);

    93

    94

/// Initialisation of the serial port 1

    95

extern void initSCI_1 (void);

    96

    97

/// Convert an integer to a string in hexadecimal format

    98

/// If you do not wants to use a lastCar, put lastCar = '\0' (end of string)

    99

/// ex : value = 0XABCDEF and lastCar = '\n'

   100

/// buf[0] = '0'

   101

/// buf[1] = 'X'

   102

/// buf[2] = 'A'

   103

/// ....

   104

/// buf[7] = 'F'

   105

/// buf[8] = '\n'

   106

/// buf[9] = '\0'

   107

extern char *

   108

hex_convert (char *buf, unsigned long value, char lastCar);

   109

   110

/// Print the string to the serial port sci 

   111

/// (sci takes the values SCI0 or SCI1)

   112

extern void printSCI_str (char sci, const char * str); 

   113

   114

/// Print the number in hexadecimal  to the serial port sci 

   115

/// (sci takes the values SCI0 or SCI1)

   116

extern void printSCI_nbr (char sci, unsigned long nbr, char lastCar);

   117

   118

/// to start using the PLL. Bus clock becomes 24 MHz if the quartz 

   119

/// on the board is at 16 MHz

   120

extern void initPLL (void);

   121

   122

/// Put here all the code to init the HCS12

   123

extern void initHCS12 (void);

   124

   125

// Integers

   126

#define INTEGER8 signed char

   127

#define INTEGER16 short

   128

#define INTEGER24

   129

#define INTEGER32 long

   130

#define INTEGER40

   131

#define INTEGER48

   132

#define INTEGER56

   133

#define INTEGER64

   134

   135

// Unsigned integers

   136

#define UNS8   unsigned char

   137

#define UNS16  unsigned short

   138

#define UNS32  unsigned long

   139

#define UNS24

   140

#define UNS40

   141

#define UNS48

   142

#define UNS56

   143

#define UNS64 

   144

   145

// Whatever your microcontroller, the timer wont work if 

   146

// TIMEVAL is not at least on 32 bits

   147

#define TIMEVAL UNS32 

   148

   149

// The timer of the hcs12 counts from 0000 to 0xFFFF

   150

#define TIMEVAL_MAX 0xFFFF

   151

   152

// The timer is incrementing every 4 us.

   153

#define MS_TO_TIMEVAL(ms) (ms * 250)

   154

#define US_TO_TIMEVAL(us) (us>>2)

   155

   156

   157

// Reals

   158

#define REAL32	float

   159

#define REAL64 double

   160

   161

#include "can.h"

   162

   163

   164

/// Definition of MSG_ERR

   165

// ---------------------

   166

#ifdef DEBUG_ERR_CONSOLE_ON

   167

#    define MSG_ERR(num, str, val)            \

   168

          initSCI_0();                        \

   169

          printSCI_nbr(SCI0, num, ' ');       \

   170

          /* large printing on console  */    \

   171

          printSCI_str(SCI0, str);            \

   172

          printSCI_nbr(SCI0, val, '\n');      

   173

#else

   174

#    define MSG_ERR(num, str, val)

   175

#endif

   176

   177

/// Definition of MSG_WAR

   178

// ---------------------

   179

#ifdef DEBUG_WAR_CONSOLE_ON

   180

#    define MSG_WAR(num, str, val)          \

   181

        initSCI_0();                        \

   182

        printSCI_nbr(SCI0, num, ' ');       \

   183

        /* large printing on console  */    \

   184

        printSCI_str(SCI0, str);            \

   185

        printSCI_nbr(SCI0, val, '\n');      

   186

#else

   187

#    define MSG_WAR(num, str, val)

   188

#endif

   189

   190

   191

#endif

   192

   193