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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 <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <time.h>
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#include <pthread.h>
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#include <applicfg.h>
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#include <timerhw.h>
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#include <linuxCan.h>
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#include "def.h"
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#include "can.h"
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#include "canOpenDriver.h"
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#include "sdo.h"
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#include "pdo.h"
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#include "init.h"
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#include "timer.h"
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#include "lifegrd.h"
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#include "nmtSlave.h"
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// Adlink 7841 or Peak PCI/CAN board
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// ---------------------------------
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// Baudrate values for Peak board :
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// CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
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// CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
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#ifdef CAN_BAUD_250K
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# define BAUDRATE CAN_BAUD_250K
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#else
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// Appli have been compiled for Adlink-arbraca. Baudrate not used
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# define BAUDRATE 0
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#endif
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s_BOARD board = {"1", BAUDRATE};
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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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struct tm date;
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struct tm *ptrdate;
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struct tm date_prec;
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time_t tme;
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UNS8 lastSecond;
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e_nodeState lastState;
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pthread_t threadRcvMsg;
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pthread_t threadHeartbeatAndSDO;
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UNS8 sendingError = 0;
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/******************************prototypes*****************************/
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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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UNS8 scanSDOtimeout(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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void waitMessage(void);
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void waitMessage_heartbeat(void);
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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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/*********************************** THREADS **********************************/
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//------------------------------------------------------------------------------
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// Wait for a received message
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void waitMessage( void )
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{
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while (1) {
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receiveMsgHandler(0); // blocked until new message
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}
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}
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//------------------------------------------------------------------------------
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// Heartbeat Manager (sending and receiving) and test SDO timeout
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void heartbeatAndSDO(void)
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{
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while (1) {
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heartbeatMGR();
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// Check if some SDO response are missing
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scanSDOtimeout();
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// Sleep 10 ms
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usleep(10000);
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}
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}
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/*********************************************************************/
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void preOperational( void )
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{
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/* Init some variables */
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canopenErrNB = 0;
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canopenErrVAL = 0;
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}
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/********************************************************************/
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void operational( void )
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{
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/* read systeme date */
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tme = time (&tme);
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ptrdate = gmtime(&tme);
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date = *ptrdate;
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/* Update the dictionary */
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day = date.tm_mday;
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hours = date.tm_hour;
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minutes = date.tm_min;
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seconds = date.tm_sec;
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if ( date_prec.tm_min != date.tm_min ) {
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MSG_WAR(0x3F00, "event : minutes change -> node decides to send it. Value : ", date.tm_min);
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sendPDOevent( 0, &minutes );
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date_prec = date;
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}
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if (canopenErrNB == 0)
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sendingError = 0;
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if (lastSecond != seconds) {
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MSG_WAR (0x3F50, "Seconds = ", seconds);
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if ((seconds == 50) && (sendingError == 0))
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{
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MSG_ERR(0x1F55, "DEMO of ERROR. Sent by PDO. Value : ", 0xABCD);
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sendingError = 1;
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}
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if (canopenErrNB) {
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MSG_WAR(0x3F56, "ERROR nb : ", canopenErrNB);
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}
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lastSecond = seconds;
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}
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}
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/*****************************************************************************/
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void stopped( void )
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{
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}
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void help()
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{
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printf("**************************************************************\n");
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printf("* AppliSlave *\n");
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printf("* [-b b] *\n");
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printf("* *\n");
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printf("* b : bus [default 1] *\n");
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printf("* *\n");
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printf("* This exemple run AppliSlave on bus 0 *\n");
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printf("* AppliSlave -b 0 *\n");
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printf("* *\n");
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printf("**************************************************************\n");
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}
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/****************************************************************************/
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/*************************** MAIN *****************************************/
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/****************************************************************************/
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int main(int argc,char **argv)
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{
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HANDLE ok;
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UNS32 * pSize;
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UNS32 size;
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pSize = &size;
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char c;
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extern char *optarg;
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while ((c = getopt(argc, argv, "-b:")) != EOF)
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{
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switch(c)
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{
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case 'b' :
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if (optarg[0] == 0)
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{
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help();
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exit(1);
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}
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board.busname = optarg;
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break;
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default:
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help();
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exit(1);
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}
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}
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// Global initialization before launching the threads. (also done in init mode.
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/* Defining the node Id */
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setNodeId(0x05);
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MSG_WAR(0x3F06, "My node ID is : ", getNodeId());
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initCANopenMain();
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initTimer( );
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heartbeatInit();
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initResetMode();
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/* Launch the thread to receive the messages */
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pthread_create( &threadRcvMsg, NULL, (void *)&waitMessage, NULL);
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/* Launch the thread to manage the heartbeat */
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pthread_create( &threadHeartbeatAndSDO, NULL, (void *)&heartbeatAndSDO, NULL);
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/* open the communication with the board */
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ok = f_can_open(& board);
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if (ok == NULL) {
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MSG_ERR(0x1F02,"Unable to open the board", 0);
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MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0);
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exit (-1);
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}
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else {
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MSG_WAR(0x3F03, "Board 1 opened ", 0);
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/* slave's state initialization */
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setState(Initialisation);
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lastState = Unknown_state;
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while(1) { /* slave's state machine */
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switch( getState() ) {
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case Initialisation:
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if (lastState != getState())
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MSG_WAR(0X3F05, "I am in INITIALISATION mode ", 0);
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/* Defining the node Id */
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setNodeId(0x05);
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MSG_WAR(0x3F06, "My node ID is : ", getNodeId());
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// Node identity ?
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{
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UNS8 *data;
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UNS8 size;
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UNS8 dataType;
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// Manufacturer Device name (default = empty string)
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getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
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MSG_WAR(0x3F09, data, 0);
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// Manufacturer Hardware version. (default = compilation. date)
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getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
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MSG_WAR(0x3F09, data, 0);
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// Manufacturer Software version. (default = compilation. time)
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getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
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MSG_WAR(0x3F09, data, 0);
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}
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initCANopenMain();
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initTimer( );
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heartbeatInit();
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initResetMode();
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/* the slave send an NMT trame to say to the master
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that it is going to enter into operational state
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In fact, you must send the boot-up when you are in
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operational mode !
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*/
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/* change automatically into pre_operational state */
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lastState = getState();
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setState(Pre_operational);
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break;
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case Pre_operational:
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if (lastState != getState())
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{
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MSG_WAR(0X3F11, "I am in PRE_OPERATIONAL mode ", 0);
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// Some stuff to do when the node enter in pre-operational mode
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initPreOperationalMode();
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}
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if (lastState == Initialisation)
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slaveSendBootUp(0);
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lastState = getState();
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preOperational( );
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break;
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case Operational:
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if (lastState != getState())
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MSG_WAR(0X3F12, "I am in OPERATIONAL mode ", 0);
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lastState = getState();
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operational( );
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break;
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case Stopped:
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if (lastState != getState())
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MSG_WAR(0X3F13, "I am in STOPPED mode", 0);
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lastState = getState();
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stopped( );
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break;
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}//end switch case
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// Sleep 10 ms
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usleep(10000);
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}//end while
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}//end else
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return 0;
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}
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