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/*

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

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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

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

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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

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

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

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*/

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// Uncomment if you don't need console informations.

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#define DEBUG_WAR_CONSOLE_ON

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#define DEBUG_ERR_CONSOLE_ON

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#include <stddef.h> /* for NULL */

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#include <asm-m68hc12/portsaccess.h>

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#include <asm-m68hc12/ports_def.h>

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#include <asm-m68hc12/ports.h>

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#include  <interrupt.h>

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#include "../include/data.h"

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#include <applicfg.h>

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#include "../include/hcs12/candriver.h"

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#include "../include/hcs12/canOpenDriver.h"

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#include "../include/def.h"

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#include "../include/can.h"

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#include "../include/objdictdef.h"

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#include "../include/objacces.h"

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#include "../include/sdo.h"

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#include "../include/pdo.h"

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#include "../include/timer.h"

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#include "../include/lifegrd.h"

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#include "../include/sync.h"

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#include "../include/nmtSlave.h"

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// File created by the GUI 

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#include "objdict.h"

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// HCS12 configuration

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

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enum E_CanBaudrate 

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{

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   CAN_BAUDRATE_250K,

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   CAN_BAUDRATE_500K,

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   CAN_BAUDRATE_1M,

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};

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const canBusTime CAN_Baudrates[] =

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{

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   {

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      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */

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      3,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */

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      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */

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      0,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */

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      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */

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     12,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */

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      /*

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      With these values, 

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      - The width of the bit time is 16 time quantum :

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          - 1 tq for the SYNC segment (could not be modified)

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          - 13 tq for the TIME 1 segment (tseg1 = 12)

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          - 2 tq for the TIME 2 segment (tseg2 = 1)

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      - Because the bus clock of the MSCAN is 16 MHZ, and the 

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        freq of the time quantum is 4 MHZ (brp = 3+1), and  there are 16 tq in the bit time,

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        so the freq of the bit time is 250 kHz.

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      */

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   },

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   {

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      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */

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      1,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */

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      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */

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      0,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */

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      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */

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     12,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */

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      /*

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      With these values, 

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      - The width of the bit time is 16 time quantum :

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          - 1 tq for the SYNC segment (could not be modified)

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          - 13 tq for the TIME 1 segment (tseg1 = 12)

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          - 2 tq for the TIME 2 segment (tseg2 = 1)

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      - Because the bus clock of the MSCAN is 16 MHZ, and the 

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        freq of the time quantum is 8 MHZ (brp = 1+1), and  there are 16 tq in the bit time,

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        so the freq of the bit time is 500 kHz.

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      */

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    },

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	{

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      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */

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      1,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */

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      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */

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      0,  /* samp : chose btw 0 and 3 (2 bits) (samp +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId());    1 ) samples per bit              */

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      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */

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      4,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */

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      /*

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      With these values, 

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      - The width of the bit time is 16 time quantum :

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          - 1 tq for the SYNC segment (could not be modified)

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          - 5 tq for the TIME 1 segment (tseg1 = 4)

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          - 2 tq for the TIME 2 segment (tseg2 = 1)

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      - Because the bus clock of the MSCAN is 16 MHZ, and the 

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        freq of the time quantum is 8 MHZ (brp = 1+1), and  there are 8 tq in the bit time,

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        so the freq of the bit time is 1 MHz.

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      */

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    }

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};

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/**************************prototypes*****************************************/

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//Init can bus and Canopen

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void initCanopencapteur (void);

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// Init the sensor

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void initSensor(void);

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void initPortB(void);

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void initPortH(void);

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

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//Initialisation of the port B for the leds.

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void initPortB(void)

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{

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  // Port B is output

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  IO_PORTS_8(DDRB)= 0XFF;

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  // RAZ

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  IO_PORTS_8(PORTB) = 0xFF;

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}

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

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// Init of port H to choose the CAN rate by switch, and the nodeId

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void initPortH(void)

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{

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  // Port H is input

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  IO_PORTS_8(DDRH)= 0X00;

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  // Enable pull device

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  IO_PORTS_8(PERH) = 0XFF;

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  // Choose the pull-up device

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  IO_PORTS_8(PPSH) = 0X00;

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}

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

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void initSensor(void)

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{ 

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  UNS8 baudrate = 0; 

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  UNS8 nodeId = 0; 

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  // Init led control

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  initPortB(); 

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  IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON

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  initPortH();

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    /* Defining the node Id */

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  // Uncomment to have a fixed nodeId

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  //setNodeId(&gene_SYNC_Data, 0x03);

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  // Comment below to have a fixed nodeId

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  nodeId = ~(IO_PORTS_8(PTH)) & 0x3F;

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  if (nodeId == 0) {

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  	MSG_WAR(0x3F33, "Using default nodeId :  ", getNodeId(&gene_SYNC_Data));

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  }

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  else	

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    setNodeId(&gene_SYNC_Data, nodeId);

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  MSG_WAR(0x3F33, "My nodeId is :  ", getNodeId(&gene_SYNC_Data));

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  canBusInit bi0 = {

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    0,    /* no low power                 */ 

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    0,    /* no time stamp                */

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    1,    /* enable MSCAN                 */

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    0,    /* clock source : oscillator (In fact, it is not used)   */

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    0,    /* no loop back                 */

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    0,    /* no listen only               */

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    0,    /* no low pass filter for wk up */

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	CAN_Baudrates[CAN_BAUDRATE_250K],

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    {

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      0x00,    /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */

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      0x00, 0xFF, /* filter 0 hight accept all msg      */

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      0x00, 0xFF, /* filter 0 low accept all msg        */

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      0x00, 0xFF, /* filter 1 hight filter all of  msg  */

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      0x00, 0xFF, /* filter 1 low filter all of  msg    */

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      0x00, 0xFF, /* filter 2 hight filter most of  msg */

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      0x00, 0xFF, /* filter 2 low filter most of  msg   */

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      0x00, 0xFF, /* filter 3 hight filter most of  msg */

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      0x00, 0xFF, /* filter 3 low filter most of  msg   */

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    }

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  };

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  //Init the HCS12 microcontroler for CanOpen 

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  initHCS12();

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  // Chose the CAN rate (On our board, whe have switch for all purpose)

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  //  7    8

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  //  ON   ON   => 1000 kpbs

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  //  OFF  ON   =>  500 kpbs

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  //  ON   OFF  =>  250 kpbs

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  baudrate = ~(IO_PORTS_8(PTH)) & 0xC0;

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  // Uncomment to have a fixed baudrate of 250 kbps

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  //baudrate = 1;

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  switch (baudrate) {

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  case 0x40:

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    bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K];

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    MSG_WAR(0x3F30, "CAN 250 kbps ", 0);

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    break;

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  case 0x80:

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    bi0.clk = CAN_Baudrates[CAN_BAUDRATE_500K];

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    MSG_WAR(0x3F31, "CAN 500 kbps ", 0);

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    break;

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  case 0xC0:

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    bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M];

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    MSG_WAR(0x3F31, "CAN 1000 kbps ", 0);

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    break;   

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  default:

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    bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K];

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    MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED => 250 kbps ", 0);

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  }

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  MSG_WAR(0x3F33, "SYNC signal generator ", 0);

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  canInit(CANOPEN_LINE_NUMBER_USED, bi0);  //initialize filters...

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  initTimer(); // Init hcs12 timer used by CanFestival. (see timerhw.c)

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  unlock(); // Allow interruptions  

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}

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//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

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// FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here.

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

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void gene_SYNC_heartbeatError(CO_Data* d,  UNS8 heartbeatID )

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{

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  MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID);

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}

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

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void gene_SYNC_initialisation(CO_Data* d)

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{  

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  MSG_WAR (0x3F00, "Entering in INIT ", 0); 

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  initSensor();  

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  IO_PORTS_8(PORTB) &= ~ 0x01; // led  0         : ON

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  IO_PORTS_8(PORTB) |=   0x0E; // leds 1, 2, 3   : OFF

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}

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

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void gene_SYNC_preOperational(CO_Data* d)

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{

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  MSG_WAR (0x3F01, "Entering in PRE-OPERATIONAL ", 0); 

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  IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1      : ON

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  IO_PORTS_8(PORTB) |=   0x0C; // leds 2, 3      : OFF

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    /* default values for the msg CAN filters */

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  /* Accept all */

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    {

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   	  canBusFilterInit filterConfiguration = 

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   	  {

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   	  0x01,  /* Filter on 16 bits. See Motorola Block Guide V02.14 */

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      /*canidarx, canidmrx */                        

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      0x00, 0xFF,          /* filter 0 */

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      0x00, 0xFF, 		   /* filter 0 */

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      0x00, 0xFF,          /* filter 1 */

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      0x00, 0xFF, 		   /* filter 1 */

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      0x00, 0xFF,          /* filter 2 */

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      0x00, 0xFF, 		   /* filter 2 */

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      0x00, 0xFF,          /* filter 3 */

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      0x00, 0xFF, 	       /* filter 3 */

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   	 };

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   	 canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);

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   } 

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   // Reset the automatic change by SDO

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   applyDownloadedFilters = 0;

   309

   310

}

   311

   312

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

   314

void gene_SYNC_operational(CO_Data* d)

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{ 

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   MSG_WAR (0x3F02, "Entering in OPERATIONAL ", 0); 

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   IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2   : ON

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   IO_PORTS_8(PORTB) |=   0x08; // leds 3         : OFF

   319

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   // Filtering the CAN received msgs.

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   // 2 ways

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   // First :applying an automatic filter

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   // Second : The values of the filtering registers are mapped in the object dictionary,

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   // So that a filtering configuration can be downloaded by SDO in pre-operational mode

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   	if (applyDownloadedFilters == 0) {// No downloaded configuration to apply

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  		UNS16 accept1 = 0x0000; // Accept NMT

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   		UNS16 mask1 = 0x0FFF;   // Mask NMT

   329

   		UNS16 accept2 = 0xE000; // Accept NMT error control (heartbeat, nodeguard)

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   		UNS16 mask2 = 0x0FFF;   // Mask NMT error control (heartbeat, nodeguard)

   331

   332

   		canBusFilterInit filterConfiguration = 

   333

				{// filters 3 and 4 not used, so configured like filter 1.

   334

   		  	0x01,  /* Filter on 16 bits. See Motorola Block Guide V02.14 */

   335

     	    /*canidarx, canidmrx */                        

   336

      		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 1 id10...3*/

   337

      		(UNS8)accept1       , (UNS8)mask1, 		       /* filter 1 id2 ... */

   338

      		(UNS8)(accept2 >> 8), (UNS8)(mask2 >> 8),    /* filter 2 id10...3*/

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      		(UNS8)accept2       , (UNS8)mask2, 		       /* filter 2 id2 ... */

   340

       		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 3 id10...3*/

   341

      		(UNS8)accept1       , (UNS8)mask1, 		       /* filter 3 id2 ... */

   342

      		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 4 id10...3*/

   343

      		(UNS8)accept1       , (UNS8)mask1 		       /* filter 4 id2 ... */     	

   344

   	 	 	};

   345

   	 		canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);

   346

   	 		MSG_WAR (0x3F03, "Internal CAN Rcv filter applied ", 0); 

   347

    	} 

   348

   	  else { // Apply filters downnloaded

   349

   			canBusFilterInit filterConfiguration = 

   350

				{// filters 3 and 4 not used, so configured like filter 1.

   351

   		  	0x01,  /* Filter on 16 bits. See Motorola Block Guide V02.14 */

   352

     	    /*canidarx, canidmrx */                        

   353

      		(UNS8)( acceptanceFilter1>> 8), (UNS8)(mask1 >> 8),    /* filter 1 id10...3*/

   354

      		(UNS8)acceptanceFilter1       , (UNS8)mask1, 		       /* filter 1 id2 ... */

   355

      		(UNS8)(acceptanceFilter2 >> 8), (UNS8)(mask2 >> 8),     /* filter 2 id10...3*/

   356

      		(UNS8)acceptanceFilter2       , (UNS8)mask2, 		       /* filter 2 id2 ... */

   357

       		(UNS8)(acceptanceFilter3 >> 8), (UNS8)(mask3 >> 8),    /* filter 3 id10...3*/

   358

      		(UNS8)acceptanceFilter3       , (UNS8)mask3, 		       /* filter 3 id2 ... */

   359

      		(UNS8)(acceptanceFilter4 >> 8), (UNS8)(mask4 >> 8),    /* filter 4 id10...3*/

   360

      		(UNS8)acceptanceFilter4       , (UNS8)mask4 		       /* filter 4 id2 ... */     	

   361

   	 	 	};

   362

   	 		canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);  		

   363

   	 		MSG_WAR (0x3F04, "Downloaded CAN Rcv filter applied ", 0); 

   364

   	}

   365

}

   366

   367

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

   368

void gene_SYNC_stopped(CO_Data* d)

   369

{

   370

  MSG_WAR (0x3F02, "Entering in STOPPED ", 0); 

   371

  IO_PORTS_8(PORTB) |=   0x0E; // leds 1, 2, 3, 4   : OFF

   372

}

   373

   374

// End functions which are part of Canfestival

   375

//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   376

   377

   378

/******************************************************************************/

   379

/********************************* MAIN ***************************************/

   380

/******************************************************************************/

   381

   382

   383

UNS8 main (void)

   384

{

   385

   386

  MSG_WAR(0x3F34, "Entering in the main ", 0);

   387

  //----------------------------- INITIALISATION --------------------------------

   388

  gene_SYNC_Data.heartbeatError = gene_SYNC_heartbeatError;

   389

  gene_SYNC_Data.initialisation = gene_SYNC_initialisation;

   390

  gene_SYNC_Data.preOperational = gene_SYNC_preOperational;

   391

  gene_SYNC_Data.preOperational = gene_SYNC_operational;

   392

  gene_SYNC_Data.stopped = gene_SYNC_stopped;

   393

   394

   395

  /* Put the node in Initialisation mode */

   396

  MSG_WAR(0x3F35, "Will entering in INIT ", 0);

   397

  setState(&gene_SYNC_Data, Initialisation);

   398

   399

  //----------------------------- START -----------------------------------------

   400

  /* Put the node in pre-operational mode */

   401

  //MSG_WAR(0x3F36, "va passer en pre-op", 0);

   402

  //setState(&gene_SYNC_Data, Pre_operational);

   403

   404

	// Loop of receiving messages

   405

  while (1) {

   406

	Message m;

   407

	if (f_can_receive(0, &m)) {

   408

	  //MSG_WAR(0x3F36, "Msg received", m.cob_id);

   409

	  lock(); // Not to have interruptions by timer, which can corrupt the data

   410

	  canDispatch(&gene_SYNC_Data, &m);

   411

	  unlock();

   412

	}  

   413

    	}

   414

   415

  return (0); 

   416

}

   417

   418

   419