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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 "def.h"
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#include "can.h"
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#include "objdictdef.h"
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#include "objacces.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 "sync.h"
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#include "nmtMaster.h"
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// For prototype of exit();
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#define exit _exit
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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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// 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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UNS8 printMsgErrToConsole = 1;
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UNS8 printMsgWarToConsole = 1;
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// The variables mapped in the object dictionnary
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// ----------------------------------------------
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extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0
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extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0
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extern UNS8 second; // Mapped at index 0x6002, subindex 0x1
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extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2
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extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3
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extern UNS8 day; // Mapped at index 0x6002, subindex 0x4
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extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1
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extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2
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/*************************User's variables declaration**************************/
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UNS8 connectedNode[128];
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volatile UNS8 sec = 0; // To count the time every second
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UNS8 softCount = 0;
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/* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */
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typedef struct mappedVar
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{
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UNS32 index;
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UNS8 subIndex;
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UNS8 size; // in byte
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} s_mappedVar;
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typedef struct heartbeatConsumer
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{
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UNS8 nodeProducer;
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UNS16 time_ms;
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} s_heartbeatConsumer;
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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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void waitMessage (void );
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void heartBeat (void );
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void transmitSync (void);
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e_nodeState stateNode (UNS8 node);
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void configure_master_SDO (UNS32 index, UNS8 serverNode);
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UNS8 waitingWriteToSlaveDict ( UNS8 slaveNode, UNS8 error);
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UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error);
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UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode);
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void masterMappingPDO (UNS32 indexPDO, UNS32 cobId,
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s_mappedVar *tabMappedVar, UNS8 nbVar);
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void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
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s_mappedVar *tabMappedVar, UNS8 nbVar);
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void masterHeartbeatConsumer (s_heartbeatConsumer
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*tabHeartbeatConsumer, UNS8 nbHeartbeats);
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void masterHeartbeatProducer (UNS16 time);
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void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer
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*tabHeartbeatConsumer, UNS8 nbHeartbeats);
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void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time);
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void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType);
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void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType);
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void masterSYNCPeriod (UNS32 SYNCPeriod);
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int main (void);
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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 initCanHCS12 (void);
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void initTimerClk (void);
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/*****************************************************************************/
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void heartbeatError(UNS8 heartbeatID)
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{
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// MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO,
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// But we do not have mapped the variables in a PDO, so it sends nothing.
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// See the note at the end of END CONFIGURING THE NETWORK.
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MSG_WAR(0x2F00, "HeartBeat, no response 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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/************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/
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//------------------------------------------------------------------------------
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/* Node mode result after NodeGuard query */
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e_nodeState stateNode(UNS8 node)
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{
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e_nodeState state = getNodeState(0, node);
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switch (state) {
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case Unknown_state:
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MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node);
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break;
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case Operational:
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MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node);
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break;
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case Pre_operational:
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MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node);
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break;
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default:
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MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node);
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}
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return state;
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}
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//------------------------------------------------------------------------------
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/* The master is writing in its dictionnary to configure the SDO parameters
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to communicate with server_node
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*/
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void configure_master_SDO(UNS32 index, UNS8 serverNode)
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{
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UNS32 data32;
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UNS8 data8;
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UNS8 sizeData = 4 ; // in bytes
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/* At subindex 1, the cobId of the Can message from the client.
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It is always defined inside the server dictionnary as 0x600 + server_node.
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So, we have no choice here ! */
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data32 = 0x600 + serverNode;
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setODentry(index, 1, &data32, sizeData, 0);
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{
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// Test
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UNS32 *pbData;
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UNS8 length;
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UNS32 returnValue;
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UNS8 dataType;
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// Relecture
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MSG_WAR(0x1000, "Reading index : ", index);
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MSG_WAR(0x1000, " subindex : ", 1);
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returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
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MSG_WAR(0x1000, " val : ", *pbData);
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}
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/* At subindex 2, the cobId of the Can message from the server to the client.
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It is always defined inside the server dictionnary as 0x580 + client_node.
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So, we have no choice here ! */
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data32 = 0x580 + serverNode;
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setODentry(index, 2, &data32, sizeData, 0);
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/* At subindex 3, the node of the server */
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data8 = serverNode;
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sizeData = 1;
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setODentry(index, 3, &data8, sizeData, 0);
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{
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UNS8 *pbData;
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UNS8 length;
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UNS32 returnValue;
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UNS8 dataType;
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// Relecture
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MSG_WAR(0x1000, "Reading index : ", index);
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MSG_WAR(0x1000, " subindex : ", 3);
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returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
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MSG_WAR(0x1000, " val : ", *pbData);
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}
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}
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//------------------------------------------------------------------------------
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/*
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*/
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UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error)
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{
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UNS8 err;
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UNS32 abortCode;
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|
326 |
MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode);
|
|
|
327 |
if (error) {
|
|
|
328 |
MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode);
|
|
|
329 |
return -1;
|
|
|
330 |
}
|
|
|
331 |
/* Waiting until the slave has responded */
|
|
|
332 |
while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) {
|
|
|
333 |
// Check if some SDO response are missing
|
|
|
334 |
scanSDOtimeout();
|
|
|
335 |
}
|
|
|
336 |
|
|
|
337 |
err = getWriteResultNetworkDict (0, slaveNode, &abortCode);
|
|
|
338 |
if (err == SDO_FINISHED) {
|
|
|
339 |
MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode);
|
|
|
340 |
// Release the line. Don't forget !!!
|
|
|
341 |
closeSDOtransfer(0, slaveNode, SDO_CLIENT);
|
|
|
342 |
return 0;
|
|
|
343 |
}
|
|
|
344 |
|
|
|
345 |
if (err == SDO_ABORTED_RCV) {
|
|
|
346 |
MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode);
|
|
|
347 |
}
|
|
|
348 |
|
|
|
349 |
if (err == SDO_ABORTED_INTERNAL) {
|
|
|
350 |
MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode);
|
|
|
351 |
}
|
|
|
352 |
// Looking for the line transfert number to read the index, subindex and releasing the line.
|
|
|
353 |
{
|
|
|
354 |
UNS8 line;
|
|
|
355 |
err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
|
|
|
356 |
if (err) {
|
|
|
357 |
MSG_WAR(0x2F21, "No line found for node : ", slaveNode);
|
|
|
358 |
exit(-1);
|
|
|
359 |
}
|
|
|
360 |
MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index);
|
|
|
361 |
MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex);
|
|
|
362 |
//Releasing the line.
|
|
|
363 |
closeSDOtransfer(0, slaveNode, SDO_CLIENT);
|
|
|
364 |
exit(-1);
|
|
|
365 |
}
|
|
|
366 |
return 0;
|
|
|
367 |
}
|
|
|
368 |
|
|
|
369 |
//------------------------------------------------------------------------------
|
|
|
370 |
/*
|
|
|
371 |
*/
|
|
|
372 |
UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error)
|
|
|
373 |
{
|
|
|
374 |
UNS8 err;
|
|
|
375 |
UNS32 abortCode;
|
|
|
376 |
MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode);
|
|
|
377 |
if (error) {
|
|
|
378 |
MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode);
|
|
|
379 |
return -1;
|
|
|
380 |
}
|
|
|
381 |
/* Waiting until the slave has responded */
|
|
|
382 |
while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) {
|
|
|
383 |
// Check if some SDO response are missing
|
|
|
384 |
scanSDOtimeout();
|
|
|
385 |
}
|
|
|
386 |
err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode);
|
|
|
387 |
if (err == SDO_FINISHED) {
|
|
|
388 |
MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode);
|
|
|
389 |
// Release the line. Don't forget !!!
|
|
|
390 |
closeSDOtransfer(0, slaveNode, SDO_CLIENT);
|
|
|
391 |
return 0;
|
|
|
392 |
}
|
|
|
393 |
if (err == SDO_ABORTED_RCV) {
|
|
|
394 |
MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode);
|
|
|
395 |
}
|
|
|
396 |
|
|
|
397 |
if (err == SDO_ABORTED_INTERNAL) {
|
|
|
398 |
MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode);
|
|
|
399 |
}
|
|
|
400 |
// Looking for the line transfert number to read the index, subindex and releasing the line.
|
|
|
401 |
{
|
|
|
402 |
UNS8 line;
|
|
|
403 |
err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
|
|
|
404 |
if (err) {
|
|
|
405 |
MSG_WAR(0x2F2F, "No line found for node : ", slaveNode);
|
|
|
406 |
exit(-1);
|
|
|
407 |
}
|
|
|
408 |
MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index);
|
|
|
409 |
MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex);
|
|
|
410 |
//Releasing the line.
|
|
|
411 |
closeSDOtransfer(0, slaveNode, SDO_CLIENT);
|
|
|
412 |
exit(-1);
|
|
|
413 |
}
|
|
|
414 |
|
|
|
415 |
return 0;
|
|
|
416 |
}
|
|
|
417 |
|
|
|
418 |
//------------------------------------------------------------------------------
|
|
|
419 |
/* The master is writing in the slave dictionnary to configure the SDO parameters
|
|
|
420 |
Remember that the slave is the server, and the master is the client.
|
|
|
421 |
*/
|
|
|
422 |
UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode)
|
|
|
423 |
{
|
|
|
424 |
UNS8 data;
|
|
|
425 |
UNS8 NbDataToWrite = 1 ; // in bytes
|
|
|
426 |
UNS8 err = 0;
|
|
|
427 |
MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node ", slaveNode);
|
|
|
428 |
/* It is only to put at subindex 3 the serverNode. It is optionnal.
|
|
|
429 |
In the slave dictionary, only one SDO server is defined, at index
|
|
|
430 |
0x1200 */
|
|
|
431 |
data = clientNode;
|
|
|
432 |
err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data);
|
|
|
433 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
434 |
|
|
|
435 |
return 0;
|
|
|
436 |
}
|
|
|
437 |
|
|
|
438 |
//------------------------------------------------------------------------------
|
|
|
439 |
/*
|
|
|
440 |
*/
|
|
|
441 |
|
|
|
442 |
void masterMappingPDO(UNS32 indexPDO, UNS32 cobId,
|
|
|
443 |
s_mappedVar *tabMappedVar, UNS8 nbVar)
|
|
|
444 |
{
|
|
|
445 |
UNS32 *pbData;
|
|
|
446 |
UNS32 data32;
|
|
|
447 |
UNS8 i;
|
|
|
448 |
UNS8 size = 0;
|
|
|
449 |
UNS8 dataType;
|
|
|
450 |
|
|
|
451 |
if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
|
|
|
452 |
MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId);
|
|
|
453 |
|
|
|
454 |
if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
|
|
|
455 |
MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId);
|
|
|
456 |
|
|
|
457 |
/* At indexPDO, subindex 1, defining the cobId of the PDO */
|
|
|
458 |
setODentry(indexPDO, 1, &cobId, 4, 0);
|
|
|
459 |
/* The mapping ... */
|
|
|
460 |
/* ----------------*/
|
|
|
461 |
/* At subindex 0, the number of variables in the PDO */
|
|
|
462 |
setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0);
|
|
|
463 |
getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0);
|
|
|
464 |
/* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
|
|
|
465 |
the PDO. The first variable after the COBID is defined at subindex 1, ...
|
|
|
466 |
The data to write is the concatenation on 32 bits of (msb ... lsb) :
|
|
|
467 |
index(16b),subIndex(8b),sizeVariable(8b)
|
|
|
468 |
*/
|
|
|
469 |
for (i = 0 ; i < nbVar ; i++) {
|
|
|
470 |
data32 = ((tabMappedVar + i)->index << 16) |
|
|
|
471 |
(((tabMappedVar + i)->subIndex & 0xFF) << 8) |
|
|
|
472 |
((tabMappedVar + i)->size & 0xFF);
|
|
|
473 |
// Write dictionary
|
|
|
474 |
setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0);
|
|
|
475 |
|
|
|
476 |
# ifdef MORE_COMMENTS
|
|
|
477 |
printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
|
|
|
478 |
(tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
|
|
|
479 |
// Only to verify.
|
|
|
480 |
// Read dictionnary
|
|
|
481 |
getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0);
|
|
|
482 |
printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
|
|
|
483 |
indexPDO + 0x200, i + 1, 8 * size, *pbData);
|
|
|
484 |
# endif
|
|
|
485 |
|
|
|
486 |
}
|
|
|
487 |
}
|
|
|
488 |
|
|
|
489 |
//------------------------------------------------------------------------------
|
|
|
490 |
/*
|
|
|
491 |
*/
|
|
|
492 |
|
|
|
493 |
void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
|
|
|
494 |
s_mappedVar *tabMappedVar, UNS8 nbVar)
|
|
|
495 |
{
|
|
|
496 |
UNS32 data32;
|
|
|
497 |
UNS8 i;
|
|
|
498 |
UNS8 err;
|
|
|
499 |
UNS8 nbBytes = 1;
|
|
|
500 |
if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
|
|
|
501 |
MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId);
|
|
|
502 |
|
|
|
503 |
if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
|
|
|
504 |
MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId);
|
|
|
505 |
|
|
|
506 |
/* At indexPDO, subindex 1, defining the cobId of the PDO */
|
|
|
507 |
err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId);
|
|
|
508 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
509 |
|
|
|
510 |
/* The mapping ... */
|
|
|
511 |
/* ----------------*/
|
|
|
512 |
/* At subindex 0, the number of variables in the PDO */
|
|
|
513 |
err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar);
|
|
|
514 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
515 |
|
|
|
516 |
/* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
|
|
|
517 |
the PDO. The first variable after the COBID is defined at subindex 1, ...
|
|
|
518 |
The data to write is the concatenation on 32 bits of (msb ... lsb) :
|
|
|
519 |
index(16b),subIndex(8b),sizeVariable(8b)
|
|
|
520 |
*/
|
|
|
521 |
for (i = 0 ; i < nbVar ; i++) {
|
|
|
522 |
data32 = ((tabMappedVar + i)->index << 16) |
|
|
|
523 |
(((tabMappedVar + i)->subIndex & 0xFF) << 8) |
|
|
|
524 |
((tabMappedVar + i)->size & 0xFF);
|
|
|
525 |
|
|
|
526 |
// Write dictionary
|
|
|
527 |
err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32);
|
|
|
528 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
529 |
|
|
|
530 |
# ifdef MORE_COMMENTS
|
|
|
531 |
printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
|
|
|
532 |
(tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
|
|
|
533 |
|
|
|
534 |
printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
|
|
|
535 |
slaveNode, indexPDO + 0x200, i + 1, 32, data32);
|
|
|
536 |
# endif
|
|
|
537 |
|
|
|
538 |
}
|
|
|
539 |
}
|
|
|
540 |
|
|
|
541 |
//------------------------------------------------------------------------------
|
|
|
542 |
/*
|
|
|
543 |
*/
|
|
|
544 |
void masterHeartbeatConsumer(s_heartbeatConsumer
|
|
|
545 |
*tabHeartbeatConsumer, UNS8 nbHeartbeats)
|
|
|
546 |
{
|
|
|
547 |
UNS32 data;
|
|
|
548 |
UNS8 i;
|
|
|
549 |
UNS8 nbHB = nbHeartbeats;
|
|
|
550 |
|
|
|
551 |
MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0);
|
|
|
552 |
/* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */
|
|
|
553 |
setODentry(0x1016, 0, & nbHB, 1, 0);
|
|
|
554 |
|
|
|
555 |
/* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
|
|
|
556 |
00 - node_consumer (8b) - time_ms (16b)
|
|
|
557 |
Put 0 to ignore the entry.
|
|
|
558 |
*/
|
|
|
559 |
for (i = 0 ; i < nbHeartbeats ; i++) {
|
|
|
560 |
data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
|
|
|
561 |
setODentry(0x1016, i + 1, & data, 4, 0);
|
|
|
562 |
}
|
|
|
563 |
}
|
|
|
564 |
|
|
|
565 |
//------------------------------------------------------------------------------
|
|
|
566 |
/*
|
|
|
567 |
*/
|
|
|
568 |
|
|
|
569 |
void masterHeartbeatProducer(UNS16 time)
|
|
|
570 |
{
|
|
|
571 |
UNS16 hbTime = time;
|
|
|
572 |
MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0);
|
|
|
573 |
/* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
|
|
|
574 |
setODentry(0x1017, 0, &hbTime, 2, 0);
|
|
|
575 |
}
|
|
|
576 |
|
|
|
577 |
//------------------------------------------------------------------------------
|
|
|
578 |
/*
|
|
|
579 |
*/
|
|
|
580 |
void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer
|
|
|
581 |
*tabHeartbeatConsumer, UNS8 nbHeartbeats)
|
|
|
582 |
{
|
|
|
583 |
UNS32 data;
|
|
|
584 |
UNS8 err;
|
|
|
585 |
UNS8 i;
|
|
|
586 |
|
|
|
587 |
MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode);
|
|
|
588 |
|
|
|
589 |
/* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
|
|
|
590 |
00 - node_consumer (8b) - time_ms (16b)
|
|
|
591 |
Put 0 to ignore the entry.
|
|
|
592 |
*/
|
|
|
593 |
for (i = 0 ; i < nbHeartbeats ; i++) {
|
|
|
594 |
data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) |
|
|
|
595 |
((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
|
|
|
596 |
err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data);
|
|
|
597 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
598 |
}
|
|
|
599 |
}
|
|
|
600 |
|
|
|
601 |
//------------------------------------------------------------------------------
|
|
|
602 |
/*
|
|
|
603 |
*/
|
|
|
604 |
|
|
|
605 |
void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time)
|
|
|
606 |
{
|
|
|
607 |
UNS8 err;
|
|
|
608 |
MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode);
|
|
|
609 |
/* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
|
|
|
610 |
|
|
|
611 |
err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time);
|
|
|
612 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
613 |
}
|
|
|
614 |
|
|
|
615 |
//------------------------------------------------------------------------------
|
|
|
616 |
/*
|
|
|
617 |
*/
|
|
|
618 |
|
|
|
619 |
void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType)
|
|
|
620 |
{
|
|
|
621 |
MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO);
|
|
|
622 |
|
|
|
623 |
/* At subindex 2, the transmission type */
|
|
|
624 |
setODentry(indexPDO, 2, &transType, 1, 0);
|
|
|
625 |
}
|
|
|
626 |
|
|
|
627 |
|
|
|
628 |
//------------------------------------------------------------------------------
|
|
|
629 |
/*
|
|
|
630 |
*/
|
|
|
631 |
|
|
|
632 |
void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType)
|
|
|
633 |
{
|
|
|
634 |
UNS8 err;
|
|
|
635 |
MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode);
|
|
|
636 |
MSG_WAR(0x3F42, " indexPDO : ", indexPDO);
|
|
|
637 |
|
|
|
638 |
err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType);
|
|
|
639 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
640 |
}
|
|
|
641 |
|
|
|
642 |
//------------------------------------------------------------------------------
|
|
|
643 |
/*
|
|
|
644 |
*/
|
|
|
645 |
|
|
|
646 |
void masterSYNCPeriod(UNS32 SYNCPeriod)
|
|
|
647 |
{
|
|
|
648 |
UNS32 cobId = 0x40000080;
|
|
|
649 |
MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod);
|
|
|
650 |
/* At index 0x1006, subindex 0 : the period in ms */
|
|
|
651 |
setODentry(0x1006, 0, &SYNCPeriod , 4, 0);
|
|
|
652 |
/* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */
|
|
|
653 |
setODentry(0x1005, 0, &cobId, 4, 0);
|
|
|
654 |
}
|
|
|
655 |
|
|
|
656 |
//------------------------------------------------------------------------------
|
|
|
657 |
|
|
|
658 |
|
|
|
659 |
//Initialisation of the port B for the leds.
|
|
|
660 |
void initLeds(void)
|
|
|
661 |
{
|
|
|
662 |
// Port B is output
|
|
|
663 |
IO_PORTS_8(DDRB)= 0XFF;
|
|
|
664 |
// RAZ
|
|
|
665 |
IO_PORTS_8(PORTB) = 0xFF;
|
|
|
666 |
}
|
|
|
667 |
|
|
|
668 |
//------------------------------------------------------------------------------
|
|
|
669 |
|
|
|
670 |
|
|
|
671 |
|
|
|
672 |
void initCanHCS12 (void)
|
|
|
673 |
{
|
|
|
674 |
//Init the HCS12 microcontroler for CanOpen
|
|
|
675 |
initHCS12();
|
|
|
676 |
// Init the HCS12 CAN driver
|
|
|
677 |
const canBusInit bi0 = {
|
|
|
678 |
0, /* no low power */
|
|
|
679 |
0, /* no time stamp */
|
|
|
680 |
1, /* enable MSCAN */
|
|
|
681 |
0, /* clock source : oscillator (In fact, it is not used) */
|
|
|
682 |
0, /* no loop back */
|
|
|
683 |
0, /* no listen only */
|
|
|
684 |
0, /* no low pass filter for wk up */
|
|
|
685 |
CAN_Baudrates[CAN_BAUDRATE_250K],
|
|
|
686 |
{
|
|
|
687 |
0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */
|
|
|
688 |
0x00, 0xFF, /* filter 0 hight accept all msg */
|
|
|
689 |
0x00, 0xFF, /* filter 0 low accept all msg */
|
|
|
690 |
0x00, 0xFF, /* filter 1 hight filter all of msg */
|
|
|
691 |
0x00, 0xFF, /* filter 1 low filter all of msg */
|
|
|
692 |
0x00, 0xFF, /* filter 2 hight filter most of msg */
|
|
|
693 |
0x00, 0xFF, /* filter 2 low filter most of msg */
|
|
|
694 |
0x00, 0xFF, /* filter 3 hight filter most of msg */
|
|
|
695 |
0x00, 0xFF, /* filter 3 low filter most of msg */
|
|
|
696 |
}
|
|
|
697 |
};
|
|
|
698 |
|
|
|
699 |
canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters...
|
|
|
700 |
unlock(); // Allow interruptions
|
|
|
701 |
}
|
|
|
702 |
|
|
|
703 |
/*********************************************************************/
|
|
|
704 |
// For Second timer
|
|
|
705 |
void incDate(void)
|
|
|
706 |
{
|
|
|
707 |
if (sec == 59)
|
|
|
708 |
sec = 0;
|
|
|
709 |
else
|
|
|
710 |
sec++;
|
|
|
711 |
|
|
|
712 |
// Toggle the led 4 every seconds
|
|
|
713 |
IO_PORTS_8(PORTB) ^= 0x10;
|
|
|
714 |
|
|
|
715 |
}
|
|
|
716 |
|
|
|
717 |
// Init the time for the second counter
|
|
|
718 |
void initTimerClk(void)
|
|
|
719 |
{
|
|
|
720 |
|
|
|
721 |
lock(); // Inhibe les interruptions
|
|
|
722 |
|
|
|
723 |
// Configuration du Channel 3
|
|
|
724 |
IO_PORTS_8(TIOS) |= 0x08; // Canal 3 en sortie
|
|
|
725 |
IO_PORTS_8(TCTL2) &= ~(0xC0); // Canal 3 déconnecté du pin de sortie
|
|
|
726 |
IO_PORTS_8(TIE) |= 0x08; // Autorise interruption Canal 3
|
|
|
727 |
IO_PORTS_8(TSCR1) |= 0x80; // Mise en route du timer
|
|
|
728 |
unlock(); // Autorise les interruptions
|
|
|
729 |
}
|
|
|
730 |
|
|
|
731 |
|
|
|
732 |
/*********************************************************************/
|
|
|
733 |
void __attribute__((interrupt)) timer3Hdl(void)
|
|
|
734 |
{
|
|
|
735 |
//IO_PORTS_8(PORTB) ^= 0x10;
|
|
|
736 |
//IO_PORTS_8(PORTB) &= ~0x20;
|
|
|
737 |
IO_PORTS_8(TFLG1) = 0x08; // RAZ du flag interruption timer 3
|
|
|
738 |
// Calcul evt suivant. Clock 8 MHz -> 8000 evt de 1 ms!! Doit tenir sur 16 bits
|
|
|
739 |
// Attention, ça change si on utilise la pll
|
|
|
740 |
// Lorsque le timer atteindra la valeur de TC3 (16 bits), l'interruption timer3Hdl sera déclenchée
|
|
|
741 |
// Si on utilise la PLL à 24 MHZ, alors la vitesse du bus est multipliée par 3.
|
|
|
742 |
|
|
|
743 |
/* Assume that our board uses a 16 MHz quartz */
|
|
|
744 |
/* Without pre-division, 8000 counts takes 1 ms. */
|
|
|
745 |
/* We are using a pre-divisor of 32. (register TSCR2) See in CanOpenDriverHC12/timerhw.c */
|
|
|
746 |
/* So 1000 counts takes 4 ms. */
|
|
|
747 |
/* We must have a soft counter of 250 to count a second. */
|
|
|
748 |
|
|
|
749 |
/*
|
|
|
750 |
We check in an interrupt handler if a message is arrived.
|
|
|
751 |
*/
|
|
|
752 |
receiveMsgHandler(0);
|
|
|
753 |
|
|
|
754 |
IO_PORTS_16(TC3H) += (1000); // IT every 4000 count.
|
|
|
755 |
softCount++;
|
|
|
756 |
if (softCount == 250) {
|
|
|
757 |
softCount = 0;
|
|
|
758 |
incDate();
|
|
|
759 |
}
|
|
|
760 |
}
|
|
|
761 |
|
|
|
762 |
|
|
|
763 |
|
|
|
764 |
|
|
|
765 |
/*****************************************************************************/
|
|
|
766 |
|
|
|
767 |
|
|
|
768 |
|
|
|
769 |
/********************************* MAIN ***************************************/
|
|
|
770 |
|
|
|
771 |
|
|
|
772 |
int main()
|
|
|
773 |
{
|
|
|
774 |
|
|
|
775 |
UNS8 second_last;
|
|
|
776 |
UNS8 minutes_last;
|
|
|
777 |
UNS8 sendingResetError = 0;
|
|
|
778 |
UNS8 ok, i;
|
|
|
779 |
|
|
|
780 |
/* initialisation du bus Can */
|
|
|
781 |
initCanHCS12();
|
|
|
782 |
|
|
|
783 |
/* arrays initialisation, etc */
|
|
|
784 |
initCANopenMain();
|
|
|
785 |
|
|
|
786 |
/* arrays initialisation, etc */
|
|
|
787 |
initCANopenMaster();
|
|
|
788 |
|
|
|
789 |
/* Defining the node Id */
|
|
|
790 |
setNodeId(0x01);
|
|
|
791 |
MSG_WAR(0x3F50, "My node ID is : ", getNodeId());
|
|
|
792 |
|
|
|
793 |
/* Put the master in operational mode */
|
|
|
794 |
setState(Operational);
|
|
|
795 |
|
|
|
796 |
/* Init the table of connected nodes */
|
|
|
797 |
for (i = 0 ; i < 128 ; i++)
|
|
|
798 |
connectedNode[i] = 0;
|
|
|
799 |
|
|
|
800 |
/* Initialisation */
|
|
|
801 |
initLeds();
|
|
|
802 |
initTimer( );
|
|
|
803 |
initTimerClk();
|
|
|
804 |
|
|
|
805 |
|
|
|
806 |
|
|
|
807 |
/******************** CONFIGURING THE NETWORK **************************/
|
|
|
808 |
|
|
|
809 |
/* Which nodes are connected ? */
|
|
|
810 |
/* Sending a request Node guard to node 5 and 6 */
|
|
|
811 |
MSG_WAR(0x3F04, "Sending a node guard to node : ", 5);
|
|
|
812 |
masterReadNodeState(0, 0x05);
|
|
|
813 |
|
|
|
814 |
/* Sending a message to the node 6, only as example */
|
|
|
815 |
MSG_WAR(0x3F04, "Sending a node guard to node : ", 6);
|
|
|
816 |
masterReadNodeState(0, 0x06);
|
|
|
817 |
/* Waiting for a second the response */
|
|
|
818 |
sec = 0;
|
|
|
819 |
while (sec < 2) {};
|
|
|
820 |
|
|
|
821 |
/* Whose node have answered ? */
|
|
|
822 |
connectedNode[5] = stateNode(5);
|
|
|
823 |
if (connectedNode[5] != Unknown_state) {
|
|
|
824 |
MSG_WAR(0x3F06, "Node 5 connected. Its state is : ", connectedNode[5]);
|
|
|
825 |
}
|
|
|
826 |
else {
|
|
|
827 |
MSG_WAR(0x3F07, "Node 5 NOT connected ", connectedNode[5]);
|
|
|
828 |
}
|
|
|
829 |
|
|
|
830 |
connectedNode[6] = stateNode(6);
|
|
|
831 |
if (connectedNode[6] != Unknown_state) {
|
|
|
832 |
MSG_WAR(0x3F08, "Node 6 connected. Its state is : ", connectedNode[6]);
|
|
|
833 |
}
|
|
|
834 |
else {
|
|
|
835 |
MSG_WAR(0x3F09, "Node 6 NOT connected ", connectedNode[6]);
|
|
|
836 |
}
|
|
|
837 |
|
|
|
838 |
/* Configure the SDO master to communicate with node 5 and node 6 */
|
|
|
839 |
configure_master_SDO(0x1280, 0x05);
|
|
|
840 |
/* Configure the SDO of node 5 */
|
|
|
841 |
/* getNodeId() returns my node Id */
|
|
|
842 |
configure_client_SDO(0x05, getNodeId());
|
|
|
843 |
|
|
|
844 |
/* Mapping of the PDO
|
|
|
845 |
Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F,
|
|
|
846 |
381-3FF, 401-47F, 481-4FF, 501-57F,
|
|
|
847 |
without other restriction.
|
|
|
848 |
(Of course, you must not define 2 PDO transmit with the same cobId !!)
|
|
|
849 |
*/
|
|
|
850 |
|
|
|
851 |
/*
|
|
|
852 |
*** PDO node 1 <-- node 5 ***
|
|
|
853 |
*** cobId 0x181 *************
|
|
|
854 |
MASTER (node 1)
|
|
|
855 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
856 |
day [0x6002 - 0x04 - 8]
|
|
|
857 |
hour [0x6002 - 0x03 - 8]
|
|
|
858 |
second [0x6002 - 0x01 - 8]
|
|
|
859 |
|
|
|
860 |
SLAVE (node 5)
|
|
|
861 |
Mapped to variables (node5) [index-subindex-size_bits]:
|
|
|
862 |
day [0x2000 - 0x04 - 8]
|
|
|
863 |
hour [0x2000 - 0x03 - 8]
|
|
|
864 |
second [0x2000 - 0x01 - 8]
|
|
|
865 |
*/
|
|
|
866 |
|
|
|
867 |
/* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */
|
|
|
868 |
{
|
|
|
869 |
s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, };
|
|
|
870 |
masterMappingPDO(0x1400, 0x181, tabMappedVar, 3);
|
|
|
871 |
}
|
|
|
872 |
|
|
|
873 |
/* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */
|
|
|
874 |
{
|
|
|
875 |
s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, };
|
|
|
876 |
slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3);
|
|
|
877 |
}
|
|
|
878 |
/*
|
|
|
879 |
*** PDO node 1 <-- node 5 ***
|
|
|
880 |
*** cobId 0x182 *************
|
|
|
881 |
MASTER (node 1)
|
|
|
882 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
883 |
minute [0x6002 - 0x02 - 8]
|
|
|
884 |
|
|
|
885 |
SLAVE (node 5)
|
|
|
886 |
Mapped to variables (node5) [index-subindex-size_bits]:
|
|
|
887 |
minute [0x2000 - 0x02 - 8]
|
|
|
888 |
*/
|
|
|
889 |
|
|
|
890 |
/* Configuring PDO receive, defined at index 0x1400 and 0x1600 */
|
|
|
891 |
{
|
|
|
892 |
s_mappedVar tabMappedVar[8] = { {0x6002,2,8} };
|
|
|
893 |
masterMappingPDO(0x1401, 0x182, tabMappedVar, 1);
|
|
|
894 |
}
|
|
|
895 |
|
|
|
896 |
/* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */
|
|
|
897 |
{
|
|
|
898 |
s_mappedVar tabMappedVar[8] = { {0x2000,2,8} };
|
|
|
899 |
slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1);
|
|
|
900 |
}
|
|
|
901 |
|
|
|
902 |
|
|
|
903 |
/*
|
|
|
904 |
*** PDO node 1 <-- node 5 ***
|
|
|
905 |
*** cobId 0x183 *************
|
|
|
906 |
Error management : By this way, The node can send by PDO an error
|
|
|
907 |
MASTER (node 1)
|
|
|
908 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
909 |
canopenErrNb_node5 [0x6000 - 0x00 - 32]
|
|
|
910 |
canopenErrVal_node5 [0x6001 - 0x00 - 32]
|
|
|
911 |
|
|
|
912 |
SLAVE (node 5)
|
|
|
913 |
Mapped to variables (node5) [index-subindex-size_bytes]:
|
|
|
914 |
canopenErrNb [0x6000 - 0x00 - 32]
|
|
|
915 |
canopenErrVal [0x6001 - 0x00 - 32]
|
|
|
916 |
*/
|
|
|
917 |
|
|
|
918 |
/* Configuring PDO receive, defined at index 0x1402 and 0x1602 */
|
|
|
919 |
{
|
|
|
920 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
921 |
masterMappingPDO(0x1402, 0x183, tabMappedVar, 2);
|
|
|
922 |
}
|
|
|
923 |
|
|
|
924 |
/* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */
|
|
|
925 |
{
|
|
|
926 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
927 |
slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2);
|
|
|
928 |
}
|
|
|
929 |
|
|
|
930 |
/*
|
|
|
931 |
*** PDO node 1 --> node 5 ***
|
|
|
932 |
*** cobId 0x184 *************
|
|
|
933 |
Error management : To reset the error
|
|
|
934 |
MASTER (node 1)
|
|
|
935 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
936 |
canopenErrNb_node5 [0x6000 - 0x00 - 32]
|
|
|
937 |
canopenErrVal_node5 [0x6001 - 0x00 - 32]
|
|
|
938 |
|
|
|
939 |
SLAVE (node 5)
|
|
|
940 |
Mapped to variables (node5) [index-subindex-size_bytes]:
|
|
|
941 |
canopenErrNb [0x6000 - 0x00 - 32]
|
|
|
942 |
canopenErrVal [0x6001 - 0x00 - 32]
|
|
|
943 |
*/
|
|
|
944 |
|
|
|
945 |
/* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */
|
|
|
946 |
{
|
|
|
947 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
948 |
masterMappingPDO(0x1801, 0x184, tabMappedVar, 2);
|
|
|
949 |
}
|
|
|
950 |
|
|
|
951 |
/* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */
|
|
|
952 |
{
|
|
|
953 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
954 |
slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2);
|
|
|
955 |
}
|
|
|
956 |
|
|
|
957 |
/* Configuring the node 5 heartbeat */
|
|
|
958 |
/* Check every 3000 ms if it have received a heartbeat from node 1 */
|
|
|
959 |
{
|
|
|
960 |
UNS8 nbHeartbeatsToReceive = 1;
|
|
|
961 |
s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}};
|
|
|
962 |
slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive);
|
|
|
963 |
}
|
|
|
964 |
/* Sending every 1000 ms an heartbeat */
|
|
|
965 |
slaveHeartbeatProducer(0x05, 0x3E8);
|
|
|
966 |
|
|
|
967 |
/* Configuring the master heartbeat */
|
|
|
968 |
/* Check every 3000 ms if it have received a heartbeat from node 5 */
|
|
|
969 |
{
|
|
|
970 |
UNS8 nbHeartbeatsToReceive = 1;
|
|
|
971 |
s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}};
|
|
|
972 |
masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive);
|
|
|
973 |
}
|
|
|
974 |
|
|
|
975 |
/* Sending every 1000 ms an heartbeat */
|
|
|
976 |
masterHeartbeatProducer(0x3E8);
|
|
|
977 |
|
|
|
978 |
|
|
|
979 |
|
|
|
980 |
/* Configuring the transmission mode of the PDO */
|
|
|
981 |
slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1));
|
|
|
982 |
slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT);
|
|
|
983 |
slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT);
|
|
|
984 |
masterPDOTransmissionMode(0x1801, TRANS_EVENT);
|
|
|
985 |
|
|
|
986 |
|
|
|
987 |
/* Configuring the master to send a SYNC message every 1 s */
|
|
|
988 |
/* Note than any other node can send the SYNC instead of the master */
|
|
|
989 |
masterSYNCPeriod(1000000);
|
|
|
990 |
|
|
|
991 |
{
|
|
|
992 |
// Reading the period of heartbeat which has been written in node 5 dictionary
|
|
|
993 |
UNS8 node = 5;
|
|
|
994 |
UNS16 index = 0x1017;
|
|
|
995 |
UNS8 subindex = 0;
|
|
|
996 |
//UNS8 notused = 0;
|
|
|
997 |
UNS16 hb = 0;
|
|
|
998 |
UNS8 size_data = 0;
|
|
|
999 |
UNS8 error;
|
|
|
1000 |
MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0);
|
|
|
1001 |
error = readNetworkDict(0, node, index, subindex, 0);
|
|
|
1002 |
//error = readNetworkDict(0, node, index, subindex, ¬used);
|
|
|
1003 |
if (error) {
|
|
|
1004 |
MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0);
|
|
|
1005 |
exit (-1);
|
|
|
1006 |
}
|
|
|
1007 |
/* Waiting until the server has responded */
|
|
|
1008 |
error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error);
|
|
|
1009 |
MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb);
|
|
|
1010 |
MSG_WAR(0x1F51, " size of data (bytes) = ", size_data);
|
|
|
1011 |
}
|
|
|
1012 |
|
|
|
1013 |
/* Put the node 5 in operational mode
|
|
|
1014 |
The mode is changed according to the slave state machine mode :
|
|
|
1015 |
initialisation ---> pre-operational (Automatic transition)
|
|
|
1016 |
pre-operational <--> operational
|
|
|
1017 |
pre-operational <--> stopped
|
|
|
1018 |
pre-operational, operational, stopped -> initialisation
|
|
|
1019 |
NMT_Start_Node // Put the node in operational mode
|
|
|
1020 |
NMT_Stop_Node // Put the node in stopped mode
|
|
|
1021 |
NMT_Enter_PreOperational // Put the node in pre_operational mode
|
|
|
1022 |
NMT_Reset_Node // Put the node in initialization mode
|
|
|
1023 |
NMT_Reset_Comunication // Put the node in initialization mode
|
|
|
1024 |
*/
|
|
|
1025 |
masterSendNMTstateChange(0, 0x05, NMT_Start_Node);
|
|
|
1026 |
|
|
|
1027 |
// Note
|
|
|
1028 |
//-----
|
|
|
1029 |
// We do not have mapped the variable canopenErrNB and canopenErrVAL.
|
|
|
1030 |
// We should have done that !
|
|
|
1031 |
// the macro MSG_ERR try to send the PDO(s) which contains these two variables.
|
|
|
1032 |
// While the PDO will not be found, if you are printing the warnings in file pdo.c,
|
|
|
1033 |
// it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for
|
|
|
1034 |
// example when you enter the function heartbeatError.
|
|
|
1035 |
|
|
|
1036 |
/******************** END CONFIGURING THE NETWORK **********************/
|
|
|
1037 |
|
|
|
1038 |
|
|
|
1039 |
|
|
|
1040 |
/* Init the errors values that may send the node 5 */
|
|
|
1041 |
canopenErrNB_node5 = 0;
|
|
|
1042 |
canopenErrVAL_node5 = 0;
|
|
|
1043 |
|
|
|
1044 |
/***********/
|
|
|
1045 |
/* Running */
|
|
|
1046 |
/***********/
|
|
|
1047 |
|
|
|
1048 |
/* SDO test with node 5 */
|
|
|
1049 |
/* This code may takes too much room in memory if you are also debugging the file sdo.c */
|
|
|
1050 |
{
|
|
|
1051 |
// Reading string
|
|
|
1052 |
UNS8 dataW[20];
|
|
|
1053 |
UNS8 dataR[20];
|
|
|
1054 |
UNS8 size;
|
|
|
1055 |
UNS8 err;
|
|
|
1056 |
MSG_WAR(0x3F05, "Test SDO", 0);
|
|
|
1057 |
|
|
|
1058 |
MSG_WAR(0x3F10, "Writing to node 5 at 0x6002-0 ...", 0);
|
|
|
1059 |
strcpy(dataW, "Au Revoir");
|
|
|
1060 |
MSG_WAR(0x3F10, dataW, 0);
|
|
|
1061 |
size = 20;
|
|
|
1062 |
err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW);
|
|
|
1063 |
err = waitingWriteToSlaveDict(5, err);
|
|
|
1064 |
|
|
|
1065 |
err = readNetworkDict(0, 5, 0x6002, 0, visible_string);
|
|
|
1066 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
1067 |
MSG_WAR(0x3F08, "Read from node 5 at 0x6002-0" , 0);
|
|
|
1068 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
1069 |
|
|
|
1070 |
MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0);
|
|
|
1071 |
err = readNetworkDict(0, 5, 0x1009, 0, visible_string);
|
|
|
1072 |
|
|
|
1073 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
1074 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
1075 |
|
|
|
1076 |
MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0);
|
|
|
1077 |
err = readNetworkDict(0, 5, 0x100A, 0, visible_string);
|
|
|
1078 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
1079 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
1080 |
}
|
|
|
1081 |
|
|
|
1082 |
// Node identity ?
|
|
|
1083 |
{
|
|
|
1084 |
UNS8 *data;
|
|
|
1085 |
UNS8 size;
|
|
|
1086 |
UNS8 dataType;
|
|
|
1087 |
// Manufacturer Device name (default = empty string)
|
|
|
1088 |
getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
1089 |
MSG_WAR(0x3F09, data, 0);
|
|
|
1090 |
// Manufacturer Hardware version. (default = compilation. date)
|
|
|
1091 |
getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
1092 |
MSG_WAR(0x3F09, data, 0);
|
|
|
1093 |
// Manufacturer Software version. (default = compilation. time)
|
|
|
1094 |
getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
1095 |
MSG_WAR(0x3F09, data, 0);
|
|
|
1096 |
}
|
|
|
1097 |
|
|
|
1098 |
while(1) {
|
|
|
1099 |
// To transmit the SYNC if it is time to do.
|
|
|
1100 |
computeSYNC();
|
|
|
1101 |
|
|
|
1102 |
// Testing if heartsbeat have been received, and send a heartbeat if it is time.
|
|
|
1103 |
heartbeatMGR();
|
|
|
1104 |
|
|
|
1105 |
// Messages received ?
|
|
|
1106 |
// The function is called in void __attribute__((interrupt)) timer3Hdl (void)
|
|
|
1107 |
//receiveMsgHandler(0);
|
|
|
1108 |
|
|
|
1109 |
if (minutes != minutes_last) {
|
|
|
1110 |
MSG_WAR(0x3F80, "Minutes changed :", minutes);
|
|
|
1111 |
minutes_last = minutes;
|
|
|
1112 |
}
|
|
|
1113 |
|
|
|
1114 |
if (second != second_last) {
|
|
|
1115 |
MSG_WAR(0x3F81, "Seconds : ", second);
|
|
|
1116 |
second_last = second;
|
|
|
1117 |
|
|
|
1118 |
if (canopenErrNB_node5) {
|
|
|
1119 |
MSG_WAR(0x3F82, "Received an error from node 5, NB : ", canopenErrNB_node5);
|
|
|
1120 |
MSG_WAR(0x3F83, " VALUE : ", canopenErrVAL_node5);
|
|
|
1121 |
// Reseting the error
|
|
|
1122 |
canopenErrNB_node5 = 0;
|
|
|
1123 |
canopenErrVAL_node5 = 0;
|
|
|
1124 |
sendingResetError = 1;
|
|
|
1125 |
}
|
|
|
1126 |
|
|
|
1127 |
if ((second == 00) && sendingResetError) {
|
|
|
1128 |
MSG_WAR(0x3F84,
|
|
|
1129 |
"Sending to node 5 a PDO envent to reset the error NB and VAL : ",0);
|
|
|
1130 |
sendPDOevent(0, &canopenErrNB_node5);
|
|
|
1131 |
sendingResetError = 0;
|
|
|
1132 |
}
|
|
|
1133 |
|
|
|
1134 |
|
|
|
1135 |
} // end if (second != second_last)
|
|
|
1136 |
|
|
|
1137 |
|
|
|
1138 |
} // end while
|
|
|
1139 |
|
|
|
1140 |
|
|
|
1141 |
return (0);
|
|
|
1142 |
}
|
|
|
1143 |
|