examples/gene_SYNC_HCS12/appli.c
author greg
Tue, 19 Feb 2008 14:53:59 +0100
changeset 403 57d5da3b6228
parent 378 d2abf6c8c27b
child 801 32d146b64a35
permissions -rwxr-xr-x
add changes in configure to force xeno --library-dir
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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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}
0
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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));
0
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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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0
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  switch (baudrate) {
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  case 0x40:
0
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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:
0
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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:
0
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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);
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 )
0
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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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0
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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;
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0
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}
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//------------------------------------------------------------------------------
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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
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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
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		UNS16 mask1 = 0x0FFF;   // Mask NMT
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		UNS16 accept2 = 0xE000; // Accept NMT error control (heartbeat, nodeguard)
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		UNS16 mask2 = 0x0FFF;   // Mask NMT error control (heartbeat, nodeguard)
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		canBusFilterInit filterConfiguration = 
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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				{// filters 3 and 4 not used, so configured like filter 1.
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		  	0x01,  /* Filter on 16 bits. See Motorola Block Guide V02.14 */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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     	    /*canidarx, canidmrx */                        
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 1 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)accept1       , (UNS8)mask1, 		       /* filter 1 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)(accept2 >> 8), (UNS8)(mask2 >> 8),    /* filter 2 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)accept2       , (UNS8)mask2, 		       /* filter 2 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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       		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 3 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)accept1       , (UNS8)mask1, 		       /* filter 3 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8),    /* filter 4 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)accept1       , (UNS8)mask1 		       /* filter 4 id2 ... */     	
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	 	 	};
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	 		canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	 		MSG_WAR (0x3F03, "Internal CAN Rcv filter applied ", 0); 
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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    	} 
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	  else { // Apply filters downnloaded
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   			canBusFilterInit filterConfiguration = 
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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				{// filters 3 and 4 not used, so configured like filter 1.
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   		  	0x01,  /* Filter on 16 bits. See Motorola Block Guide V02.14 */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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     	    /*canidarx, canidmrx */                        
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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      		(UNS8)( acceptanceFilter1>> 8), (UNS8)(mask1 >> 8),    /* filter 1 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   354
      		(UNS8)acceptanceFilter1       , (UNS8)mask1, 		       /* filter 1 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   355
      		(UNS8)(acceptanceFilter2 >> 8), (UNS8)(mask2 >> 8),     /* filter 2 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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diff changeset
   356
      		(UNS8)acceptanceFilter2       , (UNS8)mask2, 		       /* filter 2 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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diff changeset
   357
       		(UNS8)(acceptanceFilter3 >> 8), (UNS8)(mask3 >> 8),    /* filter 3 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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diff changeset
   358
      		(UNS8)acceptanceFilter3       , (UNS8)mask3, 		       /* filter 3 id2 ... */
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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diff changeset
   359
      		(UNS8)(acceptanceFilter4 >> 8), (UNS8)(mask4 >> 8),    /* filter 4 id10...3*/
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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diff changeset
   360
      		(UNS8)acceptanceFilter4       , (UNS8)mask4 		       /* filter 4 id2 ... */     	
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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   361
   	 	 	};
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	 		canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);  		
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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   	 		MSG_WAR (0x3F04, "Downloaded CAN Rcv filter applied ", 0); 
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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diff changeset
   364
   	}
0
4472ee7c6c3e Commit a new cvs repo.
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}
4472ee7c6c3e Commit a new cvs repo.
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parents:
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   366
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   367
//------------------------------------------------------------------------------
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
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void gene_SYNC_stopped(CO_Data* d)
0
4472ee7c6c3e Commit a new cvs repo.
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parents:
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   369
{
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   370
  MSG_WAR (0x3F02, "Entering in STOPPED ", 0); 
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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  IO_PORTS_8(PORTB) |=   0x0E; // leds 1, 2, 3, 4   : OFF
0
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}
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   373
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// End functions which are part of Canfestival
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//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
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4472ee7c6c3e Commit a new cvs repo.
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   377
4472ee7c6c3e Commit a new cvs repo.
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   378
/******************************************************************************/
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   379
/********************************* MAIN ***************************************/
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   380
/******************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
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   381
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   382
 
4472ee7c6c3e Commit a new cvs repo.
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   383
UNS8 main (void)
4472ee7c6c3e Commit a new cvs repo.
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{
4472ee7c6c3e Commit a new cvs repo.
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   385
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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  MSG_WAR(0x3F34, "Entering in the main ", 0);
0
4472ee7c6c3e Commit a new cvs repo.
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  //----------------------------- INITIALISATION --------------------------------
149
fe50ada8020b Changes in the API:
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  gene_SYNC_Data.heartbeatError = gene_SYNC_heartbeatError;
fe50ada8020b Changes in the API:
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  gene_SYNC_Data.initialisation = gene_SYNC_initialisation;
fe50ada8020b Changes in the API:
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  gene_SYNC_Data.preOperational = gene_SYNC_preOperational;
fe50ada8020b Changes in the API:
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  gene_SYNC_Data.preOperational = gene_SYNC_operational;
fe50ada8020b Changes in the API:
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  gene_SYNC_Data.stopped = gene_SYNC_stopped;
fe50ada8020b Changes in the API:
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   393
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
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diff changeset
   394
  
0
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  /* Put the node in Initialisation mode */
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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  MSG_WAR(0x3F35, "Will entering in INIT ", 0);
0
4472ee7c6c3e Commit a new cvs repo.
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  setState(&gene_SYNC_Data, Initialisation);
4472ee7c6c3e Commit a new cvs repo.
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   398
4472ee7c6c3e Commit a new cvs repo.
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   399
  //----------------------------- START -----------------------------------------
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   400
  /* Put the node in pre-operational mode */
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  //MSG_WAR(0x3F36, "va passer en pre-op", 0);
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   402
  //setState(&gene_SYNC_Data, Pre_operational);
4472ee7c6c3e Commit a new cvs repo.
etisserant
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   403
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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diff changeset
   404
	// Loop of receiving messages
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
parents: 0
diff changeset
   405
  while (1) {
0
4472ee7c6c3e Commit a new cvs repo.
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parents:
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   406
	Message m;
4472ee7c6c3e Commit a new cvs repo.
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   407
	if (f_can_receive(0, &m)) {
365
9b76e0881beb Changed cob_id from struct{UNS32} to UNS16
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   408
	  //MSG_WAR(0x3F36, "Msg received", m.cob_id);
56
904abfb26abf lock interrupt before candispatch
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diff changeset
   409
	  lock(); // Not to have interruptions by timer, which can corrupt the data
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
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   410
	  canDispatch(&gene_SYNC_Data, &m);
56
904abfb26abf lock interrupt before candispatch
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diff changeset
   411
	  unlock();
54
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
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diff changeset
   412
	}  
a2ca09ac1523 Tested. OK on Canfestival 3 rc2
frdupin
parents: 0
diff changeset
   413
    	}
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   414
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
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   415
  return (0); 
4472ee7c6c3e Commit a new cvs repo.
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diff changeset
   416
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
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   417
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419