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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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#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 <applicfg.h>
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#include <../include/hcs12/candriver.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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#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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//fonction d'initialisation du bus can et la couche CANOPEN pour le capteur
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void initCanopencapteur (void);
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// les fonctions d'initialisation du capteur: timer, compteurs logiciel
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void initSensor(void);
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void initPortB(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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void initSensor(void)
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{
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UNS8 baudrate = 0;
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MSG_WAR(0x3F33, "I am the node : ", getNodeId(&gene_SYNC_Data));
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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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// Init port to choose se CAN baudrate by switch
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IO_PORTS_8(ATD0DIEN) = 0x03;
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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
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baudrate = IO_PORTS_8(PORTAD0) & 0x03;
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switch (baudrate) {
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case 1:
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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 2:
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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 3:
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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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MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED ", 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( 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_SDOtimeoutError (UNS8 line)
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{
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MSG_ERR(0x1F01, "SDO timeout for line : ", line);
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}
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//------------------------------------------------------------------------------
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UNS8 gene_SYNC_canSend(Message *m)
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{
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// HCS12 driver function to send the CAN msg
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canMsgTransmit(CAN0, *m);
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return 0;
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}
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//------------------------------------------------------------------------------
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void gene_SYNC_initialisation()
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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()
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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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}
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//------------------------------------------------------------------------------
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void gene_SYNC_operational()
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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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}
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//------------------------------------------------------------------------------
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void gene_SYNC_stopped()
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{
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MSG_WAR (0x3F02, "Entering in STOPPED ", 0);
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}
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//------------------------------------------------------------------------------
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void gene_SYNC_post_sync()
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{
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}
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//------------------------------------------------------------------------------
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void gene_SYNC_post_TPDO()
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{
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}
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// End functions which are part of Canfestival
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//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
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/******************************************************************************/
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/********************************* MAIN ***************************************/
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/******************************************************************************/
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UNS8 main (void)
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{
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MSG_WAR(0x3F34, "Entering in the main", 0);
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//----------------------------- INITIALISATION --------------------------------
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/* Defining the node Id */
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setNodeId(&gene_SYNC_Data, 0x03);
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/* Put the node in Initialisation mode */
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MSG_WAR(0x3F35, "va passer en init", 0);
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setState(&gene_SYNC_Data, Initialisation);
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//----------------------------- START -----------------------------------------
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/* Put the node in pre-operational mode */
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//MSG_WAR(0x3F36, "va passer en pre-op", 0);
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//setState(&gene_SYNC_Data, Pre_operational);
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while (1) {
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{
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Message m;
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if (f_can_receive(0, &m)) {
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MSG_WAR(0x3F36, "Msg received", m.cob_id.w);
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canDispatch(&gene_SYNC_Data, &m);
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}
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}
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}
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return (0);
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}
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