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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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54
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// Uncomment if you don't need console informations.
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0
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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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0
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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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0
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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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54
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// Variables defined in the object dictionary (See objdict.c)
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extern UNS16 acceptanceFilter1; // Mapped at index 0x2015, subindex 0x00
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extern UNS16 acceptanceFilter2; // Mapped at index 0x2016, subindex 0x00
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extern UNS16 acceptanceFilter3; // Mapped at index 0x2017, subindex 0x00
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extern UNS16 acceptanceFilter4; // Mapped at index 0x2018, subindex 0x00
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extern UNS16 mask1; // Mapped at index 0x2019, subindex 0x00
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extern UNS16 mask2; // Mapped at index 0x2020, subindex 0x00
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extern UNS16 mask3; // Mapped at index 0x2021, subindex 0x00
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extern UNS16 mask4; // Mapped at index 0x2022, subindex 0x00
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extern UNS8 applyDownloadedFilters;
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0
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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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// Functions needed by Canfestival
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// Notice that gene_SYNC is the name of the sensor defined in python GUI.
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// Do not change it !.
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void gene_SYNC_initialisation(void);
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void gene_SYNC_preOperational(void);
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void gene_SYNC_operational(void);
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void gene_SYNC_stopped(void);
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void gene_SYNC_post_sync(void);
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0
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//------------------------------------------------------------------------------
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//Initialisation of the port B for the leds.
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void initPortB(void)
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{
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// Port B is output
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IO_PORTS_8(DDRB)= 0XFF;
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// RAZ
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IO_PORTS_8(PORTB) = 0xFF;
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}
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//------------------------------------------------------------------------------
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// Init of port H to choose the CAN rate by switch, and the nodeId
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void initPortH(void)
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{
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// Port H is input
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IO_PORTS_8(DDRH)= 0X00;
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// Enable pull device
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IO_PORTS_8(PERH) = 0XFF;
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// Choose the pull-up device
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IO_PORTS_8(PPSH) = 0X00;
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}
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//------------------------------------------------------------------------------
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void initSensor(void)
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{
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UNS8 baudrate = 0;
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UNS8 nodeId = 0;
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0
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// Init led control
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initPortB();
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IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON
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initPortH();
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/* Defining the node Id */
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// Uncomment to have a fixed nodeId
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//setNodeId(&gene_SYNC_Data, 0x03);
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// Comment below to have a fixed nodeId
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nodeId = ~(IO_PORTS_8(PTH)) & 0x3F;
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if (nodeId == 0) {
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MSG_WAR(0x3F33, "Using default nodeId : ", getNodeId(&gene_SYNC_Data));
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}
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else
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setNodeId(&gene_SYNC_Data, nodeId);
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MSG_WAR(0x3F33, "My nodeId is : ", getNodeId(&gene_SYNC_Data));
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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:
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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:
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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:
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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_1M];
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MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED => 250 kbps ", 0);
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0
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}
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MSG_WAR(0x3F33, "SYNC signal generator ", 0);
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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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54
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initSensor();
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307 |
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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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54
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0
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}
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//------------------------------------------------------------------------------
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315 |
void gene_SYNC_preOperational()
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{
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317 |
MSG_WAR (0x3F01, "Entering in PRE-OPERATIONAL ", 0);
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318 |
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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54
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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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323 |
canBusFilterInit filterConfiguration =
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324 |
{
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325 |
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
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/*canidarx, canidmrx */
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327 |
0x00, 0xFF, /* filter 0 */
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328 |
0x00, 0xFF, /* filter 0 */
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329 |
0x00, 0xFF, /* filter 1 */
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330 |
0x00, 0xFF, /* filter 1 */
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331 |
0x00, 0xFF, /* filter 2 */
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332 |
0x00, 0xFF, /* filter 2 */
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333 |
0x00, 0xFF, /* filter 3 */
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|
|
334 |
0x00, 0xFF, /* filter 3 */
|
|
|
335 |
};
|
|
|
336 |
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
|
|
|
337 |
}
|
|
|
338 |
// Reset the automatic change by SDO
|
|
|
339 |
applyDownloadedFilters = 0;
|
|
|
340 |
|
|
0
|
341 |
}
|
|
|
342 |
|
|
|
343 |
|
|
|
344 |
//------------------------------------------------------------------------------
|
|
|
345 |
void gene_SYNC_operational()
|
|
|
346 |
{
|
|
|
347 |
MSG_WAR (0x3F02, "Entering in OPERATIONAL ", 0);
|
|
|
348 |
IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON
|
|
|
349 |
IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF
|
|
54
|
350 |
|
|
|
351 |
// Filtering the CAN received msgs.
|
|
|
352 |
// 2 ways
|
|
|
353 |
// First :applying an automatic filter
|
|
|
354 |
// Second : The values of the filtering registers are mapped in the object dictionary,
|
|
|
355 |
// So that a filtering configuration can be downloaded by SDO in pre-operational mode
|
|
|
356 |
|
|
|
357 |
if (applyDownloadedFilters == 0) {// No downloaded configuration to apply
|
|
|
358 |
UNS16 accept1 = 0x0000; // Accept NMT
|
|
|
359 |
UNS16 mask1 = 0x0FFF; // Mask NMT
|
|
|
360 |
UNS16 accept2 = 0xE000; // Accept NMT error control (heartbeat, nodeguard)
|
|
|
361 |
UNS16 mask2 = 0x0FFF; // Mask NMT error control (heartbeat, nodeguard)
|
|
|
362 |
|
|
|
363 |
canBusFilterInit filterConfiguration =
|
|
|
364 |
{// filters 3 and 4 not used, so configured like filter 1.
|
|
|
365 |
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
|
|
|
366 |
/*canidarx, canidmrx */
|
|
|
367 |
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/
|
|
|
368 |
(UNS8)accept1 , (UNS8)mask1, /* filter 1 id2 ... */
|
|
|
369 |
(UNS8)(accept2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/
|
|
|
370 |
(UNS8)accept2 , (UNS8)mask2, /* filter 2 id2 ... */
|
|
|
371 |
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 3 id10...3*/
|
|
|
372 |
(UNS8)accept1 , (UNS8)mask1, /* filter 3 id2 ... */
|
|
|
373 |
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 4 id10...3*/
|
|
|
374 |
(UNS8)accept1 , (UNS8)mask1 /* filter 4 id2 ... */
|
|
|
375 |
};
|
|
|
376 |
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
|
|
|
377 |
MSG_WAR (0x3F03, "Internal CAN Rcv filter applied ", 0);
|
|
|
378 |
}
|
|
|
379 |
else { // Apply filters downnloaded
|
|
|
380 |
canBusFilterInit filterConfiguration =
|
|
|
381 |
{// filters 3 and 4 not used, so configured like filter 1.
|
|
|
382 |
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
|
|
|
383 |
/*canidarx, canidmrx */
|
|
|
384 |
(UNS8)( acceptanceFilter1>> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/
|
|
|
385 |
(UNS8)acceptanceFilter1 , (UNS8)mask1, /* filter 1 id2 ... */
|
|
|
386 |
(UNS8)(acceptanceFilter2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/
|
|
|
387 |
(UNS8)acceptanceFilter2 , (UNS8)mask2, /* filter 2 id2 ... */
|
|
|
388 |
(UNS8)(acceptanceFilter3 >> 8), (UNS8)(mask3 >> 8), /* filter 3 id10...3*/
|
|
|
389 |
(UNS8)acceptanceFilter3 , (UNS8)mask3, /* filter 3 id2 ... */
|
|
|
390 |
(UNS8)(acceptanceFilter4 >> 8), (UNS8)(mask4 >> 8), /* filter 4 id10...3*/
|
|
|
391 |
(UNS8)acceptanceFilter4 , (UNS8)mask4 /* filter 4 id2 ... */
|
|
|
392 |
};
|
|
|
393 |
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
|
|
|
394 |
MSG_WAR (0x3F04, "Downloaded CAN Rcv filter applied ", 0);
|
|
|
395 |
}
|
|
0
|
396 |
}
|
|
|
397 |
|
|
|
398 |
//------------------------------------------------------------------------------
|
|
|
399 |
void gene_SYNC_stopped()
|
|
|
400 |
{
|
|
|
401 |
MSG_WAR (0x3F02, "Entering in STOPPED ", 0);
|
|
54
|
402 |
IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3, 4 : OFF
|
|
0
|
403 |
}
|
|
|
404 |
|
|
|
405 |
//------------------------------------------------------------------------------
|
|
|
406 |
void gene_SYNC_post_sync()
|
|
|
407 |
{
|
|
|
408 |
}
|
|
|
409 |
|
|
|
410 |
//------------------------------------------------------------------------------
|
|
|
411 |
void gene_SYNC_post_TPDO()
|
|
|
412 |
{
|
|
|
413 |
}
|
|
|
414 |
|
|
|
415 |
// End functions which are part of Canfestival
|
|
|
416 |
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
|
|
|
417 |
|
|
|
418 |
|
|
|
419 |
/******************************************************************************/
|
|
|
420 |
/********************************* MAIN ***************************************/
|
|
|
421 |
/******************************************************************************/
|
|
|
422 |
|
|
|
423 |
|
|
|
424 |
UNS8 main (void)
|
|
|
425 |
{
|
|
|
426 |
|
|
54
|
427 |
MSG_WAR(0x3F34, "Entering in the main ", 0);
|
|
0
|
428 |
//----------------------------- INITIALISATION --------------------------------
|
|
54
|
429 |
|
|
0
|
430 |
/* Put the node in Initialisation mode */
|
|
54
|
431 |
MSG_WAR(0x3F35, "Will entering in INIT ", 0);
|
|
0
|
432 |
setState(&gene_SYNC_Data, Initialisation);
|
|
|
433 |
|
|
|
434 |
//----------------------------- START -----------------------------------------
|
|
|
435 |
/* Put the node in pre-operational mode */
|
|
|
436 |
//MSG_WAR(0x3F36, "va passer en pre-op", 0);
|
|
|
437 |
//setState(&gene_SYNC_Data, Pre_operational);
|
|
|
438 |
|
|
54
|
439 |
// Loop of receiving messages
|
|
|
440 |
while (1) {
|
|
0
|
441 |
Message m;
|
|
|
442 |
if (f_can_receive(0, &m)) {
|
|
54
|
443 |
//MSG_WAR(0x3F36, "Msg received", m.cob_id.w);
|
|
0
|
444 |
canDispatch(&gene_SYNC_Data, &m);
|
|
54
|
445 |
}
|
|
|
446 |
}
|
|
0
|
447 |
|
|
|
448 |
return (0);
|
|
|
449 |
}
|
|
|
450 |
|
|
|
451 |
|
|
|
452 |
|