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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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#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 <applicfg.h>
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#include <candriver.h>
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#include <timerhw.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/canOpenDriver.h"
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#include "../include/sdo.h"
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#include "../include/pdo.h"
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#include "../include/init.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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// 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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CAN_BAUDRATE_OLD_VALUE
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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 + 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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1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */
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0, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */
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1, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */
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1, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */
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4, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */
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9, /* 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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- 10 tq for the TIME 1 segment (tseg1 = 9)
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- 5 tq for the TIME 2 segment (tseg2 = 4)
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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 16 MHZ (brp = 0), and there are 16 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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// The variables sent or updated by PDO
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// -----------------------------------------------------
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extern UNS8 seconds; // Mapped at index 0x2000, subindex 0x1
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extern UNS8 minutes; // Mapped at index 0x2000, subindex 0x2
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extern UNS8 hours; // Mapped at index 0x2000, subindex 0x3
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extern UNS8 day; // Mapped at index 0x2000, subindex 0x4
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extern UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x0
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extern UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x0
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// Required definition variables
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// -----------------------------
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// The variables that you should define for debugging.
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// They are used by the macro MSG_ERR and MSG_WAR in applicfg.h
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// if the node is a slave, they can be mapped in the object dictionnary.
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// if not null, allow the printing of message to the console
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// Could be managed by PDO
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UNS8 printMsgErrToConsole = 1;
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UNS8 printMsgWarToConsole = 1;
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/*************************User's variables declaration**************************/
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UNS8 softCount = 0;
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UNS8 lastMinute = 0;
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UNS8 lastSecond = 0;
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UNS8 sendingError = 0;
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//--------------------------------FONCTIONS-------------------------------------
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/* You *must* have these 2 functions in your code*/
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void heartbeatError(UNS8 heartbeatID);
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void SD0timeoutError(UNS8 bus_id, UNS8 line);
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// Interruption timer 3. (The timer 4 is used by CanOpen)
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void __attribute__((interrupt)) timer3Hdl (void);
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void incDate(void);
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void initLeds(void);
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void initTimerClk(void);
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void initCanHCS12 (void);
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void initialisation(void);
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void preOperational(void);
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void operational(void);
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void stopped(void);
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//------------------------------------------------------------------------------
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//------------------------------------------------------------------------------
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// Interruption timer 3
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void __attribute__((interrupt)) timer3Hdl (void)
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{
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//IO_PORTS_8(PORTB) ^= 0x10;
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//IO_PORTS_8(PORTB) &= ~0x20;
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IO_PORTS_8(TFLG1) = 0x08; // RAZ du flag interruption timer 3
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// Calcul evt suivant. Clock 8 MHz -> 8000 evt de 1 ms!! Doit tenir sur 16 bits
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// Attention, ça change si on utilise la pll
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// Lorsque le timer atteindra la valeur de TC3 (16 bits), l'interruption timer3Hdl sera déclenchée
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// Si on utilise la PLL à 24 MHZ, alors la vitesse du bus est multipliée par 3.
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/* Assume that our board uses a 16 MHz quartz */
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/* Without pre-division, 8000 counts takes 1 ms. */
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/* We are using a pre-divisor of 32. (register TSCR2) See in CanOpenDriverHC12/timerhw.c */
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/* So 10000 counts takes 40 ms. */
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/* We must have a soft counter of 25 to count a second. */
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IO_PORTS_16(TC3H) += (10000); // IT every 40000 count.
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softCount++;
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if (softCount == 25) {
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softCount = 0;
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incDate();
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}
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}
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//------------------------------------------------------------------------------
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void heartbeatError(UNS8 heartbeatID)
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{
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MSG_ERR(0x1F00, "!!! No heart beat received from node : ", heartbeatID);
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}
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//------------------------------------------------------------------------------
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void SD0timeoutError (UNS8 bus_id, UNS8 line)
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{
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// Informations on what occurs are in transfers[bus_id][line]....
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// See scanSDOtimeout() in sdo.c
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}
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//------------------------------------------------------------------------------
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// Incrementation of the date, every second
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void incDate(void)
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{
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if (seconds == 59) {
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seconds = 0;
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if (minutes == 59) {
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minutes = 0;
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if (hours == 23) {
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hours = 0;
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day++;
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}
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else
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hours++;
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}
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else
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minutes++;
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}
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else
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seconds++;
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// Toggle the led 4 every seconds
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IO_PORTS_8(PORTB) ^= 0x10;
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}
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//Initialisation of the port B for the leds.
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void initLeds(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 the timer for the clock demo
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void initTimerClk(void)
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{
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lock(); // Inhibe les interruptions
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// Configuration du Channel 3
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IO_PORTS_8(TIOS) |= 0x08; // Canal 3 en sortie
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IO_PORTS_8(TCTL2) &= ~(0xC0); // Canal 3 déconnecté du pin de sortie
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IO_PORTS_8(TIE) |= 0x08; // Autorise interruption Canal 3
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IO_PORTS_8(TSCR1) |= 0x80; // Mise en route du timer
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unlock(); // Autorise les interruptions
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}
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//------------------------------------------------------------------------------
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// A placer avant initTimer de la bibliothèque CanOpen
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/* void initTimerbis(void) */
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/* { */
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/* lock(); // Inhibe les interruptions */
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/* // Configuration des IT Channels (0..3) */
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/* IO_PORTS_8(TIOS) &= 0xF0; // Canals 0->3 en entrées. */
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/* IO_PORTS_8(TCTL4) &= 0XFD; // Canal 0 détection sur front montant. */
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/* IO_PORTS_8(TCTL4) |= 0X01; */
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/* IO_PORTS_8(TCTL4) &= 0XF7; // Canal 1 détection sur front montant. */
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/* IO_PORTS_8(TCTL4) |= 0X04; */
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/* IO_PORTS_8(TCTL4) &= 0XDF; // Canal 2 détection sur front montant. */
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/* IO_PORTS_8(TCTL4) |= 0X10; */
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/* IO_PORTS_8(TCTL4) &= 0X7F; // Canal 3 détection sur front montant. */
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/* IO_PORTS_8(TCTL4) |= 0X40; */
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/* IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32. */
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/* IO_PORTS_8(ICOVW) |= 0x0F; // La sauvgrade des valeures de TC0 et TC0H */
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/* // correspondant aux canals (0..3) jusqu'a la */
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/* // prochaine lecture dans ces registres. */
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/* MASK = IO_PORTS_8(ICSYS); */
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/* MASK &= 0xFE; // Canals (0..3) en IC QUEUE MODE. */
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/* MASK |= 0x08; // Canals (0..3) : génére une interruption aprés */
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/* // la capture de deux valeures du timer sur detection */
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/* // d'un front montant à l'entrée des canals (0..3). */
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/* MASK |= 0x02; */
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/* IO_PORTS_8(ICSYS) = MASK; */
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/* IO_PORTS_16(TC0HH); // Vider le registre holding correspondant au canal0. */
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/* IO_PORTS_8(TSCR1) |= 0x10; // RAZ automatique des flags d'interruption aprés lecture */
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/* // dans les registres correspondant. */
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/* IO_PORTS_8(TIE) |= 0x0F; // Autorise interruption Canals (0..3). */
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/* IO_PORTS_8(TSCR2) |= 0X80; // Autorise interruption sur l'Overflow. */
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/* unlock(); // Autorise les interruptions */
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/* } */
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//------------------------------------------------------------------------------
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void initCanHCS12 (void)
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{
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327 |
//Init the HCS12 microcontroler for CanOpen
|
|
|
328 |
initHCS12();
|
|
|
329 |
// Init the HCS12 CAN driver
|
|
|
330 |
const canBusInit bi0 = {
|
|
|
331 |
0, /* no low power */
|
|
|
332 |
0, /* no time stamp */
|
|
|
333 |
1, /* enable MSCAN */
|
|
|
334 |
0, /* clock source : oscillator (In fact, it is not used) */
|
|
|
335 |
0, /* no loop back */
|
|
|
336 |
0, /* no listen only */
|
|
|
337 |
0, /* no low pass filter for wk up */
|
|
|
338 |
CAN_Baudrates[CAN_BAUDRATE_250K],
|
|
|
339 |
{
|
|
|
340 |
0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */
|
|
|
341 |
0x00, 0xFF, /* filter 0 hight accept all msg */
|
|
|
342 |
0x00, 0xFF, /* filter 0 low accept all msg */
|
|
|
343 |
0x00, 0xFF, /* filter 1 hight filter all of msg */
|
|
|
344 |
0x00, 0xFF, /* filter 1 low filter all of msg */
|
|
|
345 |
0x00, 0xFF, /* filter 2 hight filter most of msg */
|
|
|
346 |
0x00, 0xFF, /* filter 2 low filter most of msg */
|
|
|
347 |
0x00, 0xFF, /* filter 3 hight filter most of msg */
|
|
|
348 |
0x00, 0xFF, /* filter 3 low filter most of msg */
|
|
|
349 |
}
|
|
|
350 |
};
|
|
|
351 |
|
|
|
352 |
canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters...
|
|
|
353 |
unlock(); // Allow interruptions
|
|
|
354 |
}
|
|
|
355 |
|
|
|
356 |
|
|
|
357 |
/*********************************************************************/
|
|
|
358 |
void initialisation( void )
|
|
|
359 |
{
|
|
|
360 |
//initcapteur(); //initialisation du capteur, timer, compteurs logiciels
|
|
|
361 |
initCanHCS12(); //initialisation du bus Can
|
|
|
362 |
MSG_WAR(0X3F05, "I am in INITIALISATION mode ", 0);
|
|
|
363 |
/* Defining the node Id */
|
|
|
364 |
setNodeId(0x05);
|
|
|
365 |
MSG_WAR(0x3F06, "My node ID is : ", getNodeId());
|
|
|
366 |
{
|
|
|
367 |
UNS8 *data;
|
|
|
368 |
UNS8 size;
|
|
|
369 |
UNS8 dataType;
|
|
|
370 |
// Manufacturer Device name (default = empty string)
|
|
|
371 |
getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
372 |
MSG_WAR(0x3F09, data, 0);
|
|
|
373 |
// Manufacturer Hardware version. (default = compilation. date)
|
|
|
374 |
getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
375 |
MSG_WAR(0x3F09, data, 0);
|
|
|
376 |
// Manufacturer Software version. (default = compilation. time)
|
|
|
377 |
getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
378 |
MSG_WAR(0x3F09, data, 0);
|
|
|
379 |
}
|
|
|
380 |
initCANopenMain(); //initialisation du canopen
|
|
|
381 |
heartbeatInit(); //initialisation du lifeguarding
|
|
|
382 |
initResetMode();
|
|
|
383 |
initTimer(); //initialisation of the timer used by Canopen
|
|
|
384 |
initTimerClk();
|
|
|
385 |
}
|
|
|
386 |
|
|
|
387 |
|
|
|
388 |
/*********************************************************************/
|
|
|
389 |
void preOperational(void)
|
|
|
390 |
{
|
|
|
391 |
// Test if the heartBeat have been received. Send headbeat
|
|
|
392 |
heartbeatMGR();
|
|
|
393 |
// Read message
|
|
|
394 |
receiveMsgHandler(0);
|
|
|
395 |
}
|
|
|
396 |
|
|
|
397 |
|
|
|
398 |
/********************************************************************/
|
|
|
399 |
void operational( void )
|
|
|
400 |
{
|
|
|
401 |
|
|
|
402 |
// Init the errors
|
|
|
403 |
canopenErrNB = 0;
|
|
|
404 |
canopenErrVAL = 0;
|
|
|
405 |
|
|
|
406 |
// Test if the heartBeat have been received. Send headbeat
|
|
|
407 |
heartbeatMGR();
|
|
|
408 |
// Read message
|
|
|
409 |
receiveMsgHandler(0);
|
|
|
410 |
|
|
|
411 |
if (lastMinute != minutes) {
|
|
|
412 |
MSG_WAR(0x3F00, "event : minutes change -> node decides to send it. Value : ", minutes);
|
|
|
413 |
sendPDOevent( 0, &minutes );
|
|
|
414 |
lastMinute = minutes;
|
|
|
415 |
}
|
|
|
416 |
|
|
|
417 |
if (canopenErrNB == 0)
|
|
|
418 |
sendingError = 0;
|
|
|
419 |
|
|
|
420 |
|
|
|
421 |
if (lastSecond != seconds) {
|
|
|
422 |
MSG_WAR (0x3F50, "Seconds = ", seconds);
|
|
|
423 |
if ((seconds == 50) && (sendingError == 0))
|
|
|
424 |
{
|
|
|
425 |
MSG_ERR(0x1F55, "DEMO of ERROR. Sent by PDO. Value : ", 0xABCD);
|
|
|
426 |
sendingError = 1;
|
|
|
427 |
}
|
|
|
428 |
|
|
|
429 |
if (canopenErrNB) {
|
|
|
430 |
MSG_WAR(0x3F56, "ERROR nb : ", canopenErrNB);
|
|
|
431 |
}
|
|
|
432 |
lastSecond = seconds;
|
|
|
433 |
|
|
|
434 |
}
|
|
|
435 |
|
|
|
436 |
}
|
|
|
437 |
|
|
|
438 |
|
|
|
439 |
/*****************************************************************************/
|
|
|
440 |
void stopped( void )
|
|
|
441 |
{
|
|
|
442 |
heartbeatMGR();
|
|
|
443 |
// Read message
|
|
|
444 |
receiveMsgHandler(0);
|
|
|
445 |
}
|
|
|
446 |
|
|
|
447 |
|
|
|
448 |
/*****************************************************************************/
|
|
|
449 |
|
|
|
450 |
|
|
|
451 |
|
|
|
452 |
/********************************* MAIN ***************************************/
|
|
|
453 |
|
|
|
454 |
|
|
|
455 |
int main ()
|
|
|
456 |
{
|
|
|
457 |
e_nodeState lastState = Unknown_state;
|
|
|
458 |
|
|
|
459 |
/* CanOpen slave state machine */
|
|
|
460 |
/* ------------------------------------*/
|
|
|
461 |
|
|
|
462 |
while(1) { /* slave's state machine */
|
|
|
463 |
|
|
|
464 |
switch( getState() ) {
|
|
|
465 |
case Initialisation:
|
|
|
466 |
if (lastState != getState()) {
|
|
|
467 |
initLeds();
|
|
|
468 |
IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON
|
|
|
469 |
IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF
|
|
|
470 |
MSG_WAR(0X3F10, "Entering in INITIALISATION mode ", 0);
|
|
|
471 |
}
|
|
|
472 |
initialisation();
|
|
|
473 |
/* change automatically into pre_operational state */
|
|
|
474 |
lastState = Initialisation;
|
|
|
475 |
setState(Pre_operational);
|
|
|
476 |
break;
|
|
|
477 |
|
|
|
478 |
case Pre_operational:
|
|
|
479 |
if (lastState != getState()) {
|
|
|
480 |
IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON
|
|
|
481 |
IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF
|
|
|
482 |
MSG_WAR(0X3F11, "Entering in PRE_OPERATIONAL mode ", 0);
|
|
|
483 |
initPreOperationalMode();
|
|
|
484 |
}
|
|
|
485 |
preOperational();
|
|
|
486 |
if (lastState == Initialisation)
|
|
|
487 |
slaveSendBootUp(0);
|
|
|
488 |
lastState = Pre_operational;
|
|
|
489 |
break;
|
|
|
490 |
|
|
|
491 |
case Operational:
|
|
|
492 |
if (lastState != getState()) {
|
|
|
493 |
IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON
|
|
|
494 |
IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF
|
|
|
495 |
MSG_WAR(0X3F12, "Entering in OPERATIONAL mode ", 0);
|
|
|
496 |
}
|
|
|
497 |
operational();
|
|
|
498 |
lastState = Operational;
|
|
|
499 |
break;
|
|
|
500 |
|
|
|
501 |
case Stopped:
|
|
|
502 |
if (lastState != getState()) {
|
|
|
503 |
IO_PORTS_8(PORTB) |= 0x0F; // leds 0, 1, 2, 3 : OFF
|
|
|
504 |
MSG_WAR(0X3F13, "Entering in STOPPED mode", 0);
|
|
|
505 |
}
|
|
|
506 |
stopped();
|
|
|
507 |
lastState = Stopped;
|
|
|
508 |
break;
|
|
|
509 |
}//end switch case
|
|
|
510 |
|
|
|
511 |
}
|
|
|
512 |
return (0);
|
|
|
513 |
}
|
|
|
514 |
|