|
215
|
1 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
|
|
2 |
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
|
|
|
3 |
<title>CanFestival: examples/gene_SYNC_HCS12/appli.c Source File</title>
|
|
|
4 |
<link href="doxygen.css" rel="stylesheet" type="text/css">
|
|
|
5 |
<link href="tabs.css" rel="stylesheet" type="text/css">
|
|
|
6 |
</head><body>
|
|
|
7 |
<!-- Generated by Doxygen 1.5.1 -->
|
|
|
8 |
<div class="tabs">
|
|
|
9 |
<ul>
|
|
|
10 |
<li><a href="main.html"><span>Main Page</span></a></li>
|
|
|
11 |
<li><a href="annotated.html"><span>Data Structures</span></a></li>
|
|
|
12 |
<li id="current"><a href="files.html"><span>Files</span></a></li>
|
|
|
13 |
<li><a href="dirs.html"><span>Directories</span></a></li>
|
|
|
14 |
</ul></div>
|
|
|
15 |
<div class="tabs">
|
|
|
16 |
<ul>
|
|
|
17 |
<li><a href="files.html"><span>File List</span></a></li>
|
|
|
18 |
<li><a href="globals.html"><span>Globals</span></a></li>
|
|
|
19 |
</ul></div>
|
|
|
20 |
<div class="nav">
|
|
240
|
21 |
<a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_d85e31a57c9701bccc893dc597488828.html">gene_SYNC_HCS12</a></div>
|
|
215
|
22 |
<h1>appli.c</h1><a href="appli_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
|
|
|
23 |
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
|
|
|
24 |
<a name="l00003"></a>00003 <span class="comment"></span>
|
|
|
25 |
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
|
|
|
26 |
<a name="l00005"></a>00005 <span class="comment"></span>
|
|
|
27 |
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
|
|
|
28 |
<a name="l00007"></a>00007 <span class="comment"></span>
|
|
|
29 |
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
|
|
|
30 |
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
|
|
|
31 |
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
|
|
|
32 |
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
|
|
|
33 |
<a name="l00012"></a>00012 <span class="comment"></span>
|
|
|
34 |
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
|
|
|
35 |
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
|
|
|
36 |
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
|
|
|
37 |
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
|
|
|
38 |
<a name="l00017"></a>00017 <span class="comment"></span>
|
|
|
39 |
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
|
|
|
40 |
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
|
|
|
41 |
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
|
|
|
42 |
<a name="l00021"></a>00021 <span class="comment">*/</span>
|
|
|
43 |
<a name="l00022"></a>00022
|
|
|
44 |
<a name="l00023"></a>00023 <span class="comment">// Uncomment if you don't need console informations.</span>
|
|
240
|
45 |
<a name="l00024"></a><a class="code" href="appli_8c.html#46f4d451cd14848ea37fa13729a473ef">00024</a> <span class="preprocessor">#define DEBUG_WAR_CONSOLE_ON</span>
|
|
|
46 |
<a name="l00025"></a><a class="code" href="appli_8c.html#4352bb532729a0ef6576e3b8a8409bbc">00025</a> <span class="preprocessor"></span><span class="preprocessor">#define DEBUG_ERR_CONSOLE_ON</span>
|
|
215
|
47 |
<a name="l00026"></a>00026 <span class="preprocessor"></span>
|
|
|
48 |
<a name="l00027"></a>00027 <span class="preprocessor">#include <stddef.h></span> <span class="comment">/* for NULL */</span>
|
|
|
49 |
<a name="l00028"></a>00028
|
|
|
50 |
<a name="l00029"></a>00029 <span class="preprocessor">#include <<a class="code" href="portsaccess_8h.html">asm-m68hc12/portsaccess.h</a>></span>
|
|
|
51 |
<a name="l00030"></a>00030 <span class="preprocessor">#include <<a class="code" href="ports__def_8h.html">asm-m68hc12/ports_def.h</a>></span>
|
|
|
52 |
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="ports_8h.html">asm-m68hc12/ports.h</a>></span>
|
|
|
53 |
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="interrupt_8h.html">interrupt.h</a>></span>
|
|
|
54 |
<a name="l00033"></a>00033
|
|
|
55 |
<a name="l00034"></a>00034 <span class="preprocessor">#include "../include/data.h"</span>
|
|
|
56 |
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>></span>
|
|
|
57 |
<a name="l00036"></a>00036
|
|
|
58 |
<a name="l00037"></a>00037
|
|
|
59 |
<a name="l00038"></a>00038
|
|
|
60 |
<a name="l00039"></a>00039 <span class="preprocessor">#include "../include/hcs12/candriver.h"</span>
|
|
|
61 |
<a name="l00040"></a>00040 <span class="preprocessor">#include "../include/hcs12/canOpenDriver.h"</span>
|
|
|
62 |
<a name="l00041"></a>00041 <span class="preprocessor">#include "../include/def.h"</span>
|
|
|
63 |
<a name="l00042"></a>00042 <span class="preprocessor">#include "../include/can.h"</span>
|
|
|
64 |
<a name="l00043"></a>00043 <span class="preprocessor">#include "../include/objdictdef.h"</span>
|
|
|
65 |
<a name="l00044"></a>00044 <span class="preprocessor">#include "../include/objacces.h"</span>
|
|
|
66 |
<a name="l00045"></a>00045 <span class="preprocessor">#include "../include/sdo.h"</span>
|
|
|
67 |
<a name="l00046"></a>00046 <span class="preprocessor">#include "../include/pdo.h"</span>
|
|
|
68 |
<a name="l00047"></a>00047 <span class="preprocessor">#include "../include/timer.h"</span>
|
|
|
69 |
<a name="l00048"></a>00048 <span class="preprocessor">#include "../include/lifegrd.h"</span>
|
|
|
70 |
<a name="l00049"></a>00049 <span class="preprocessor">#include "../include/sync.h"</span>
|
|
|
71 |
<a name="l00050"></a>00050
|
|
|
72 |
<a name="l00051"></a>00051 <span class="preprocessor">#include "../include/nmtSlave.h"</span>
|
|
|
73 |
<a name="l00052"></a>00052
|
|
|
74 |
<a name="l00053"></a>00053 <span class="comment">// File created by the GUI </span>
|
|
|
75 |
<a name="l00054"></a>00054 <span class="preprocessor">#include "<a class="code" href="objdict_8h.html">objdict.h</a>"</span>
|
|
|
76 |
<a name="l00055"></a>00055
|
|
|
77 |
<a name="l00056"></a>00056
|
|
|
78 |
<a name="l00057"></a>00057
|
|
|
79 |
<a name="l00058"></a>00058
|
|
|
80 |
<a name="l00059"></a>00059
|
|
|
81 |
<a name="l00060"></a>00060 <span class="comment">// HCS12 configuration</span>
|
|
|
82 |
<a name="l00061"></a>00061 <span class="comment">// -----------------------------------------------------</span>
|
|
|
83 |
<a name="l00062"></a>00062
|
|
240
|
84 |
<a name="l00063"></a><a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f">00063</a> <span class="keyword">enum</span> <a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f">E_CanBaudrate</a>
|
|
215
|
85 |
<a name="l00064"></a>00064 {
|
|
240
|
86 |
<a name="l00065"></a>00065 <a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f91b40482be3a75e00309350a50b5eda1">CAN_BAUDRATE_250K</a>,
|
|
|
87 |
<a name="l00066"></a>00066 <a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f126f65c42a045536ac206baf6f9e7a69">CAN_BAUDRATE_500K</a>,
|
|
|
88 |
<a name="l00067"></a>00067 <a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f3983e554a08829824bfbcb14f0abc6ac">CAN_BAUDRATE_1M</a>,
|
|
215
|
89 |
<a name="l00068"></a>00068 };
|
|
|
90 |
<a name="l00069"></a>00069
|
|
|
91 |
<a name="l00070"></a>00070
|
|
240
|
92 |
<a name="l00071"></a><a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">00071</a> <span class="keyword">const</span> <a class="code" href="structcanBusTime.html">canBusTime</a> <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[] =
|
|
215
|
93 |
<a name="l00072"></a>00072 {
|
|
|
94 |
<a name="l00073"></a>00073 {
|
|
|
95 |
<a name="l00074"></a>00074 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
|
|
|
96 |
<a name="l00075"></a>00075 3, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
|
|
|
97 |
<a name="l00076"></a>00076 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
|
|
|
98 |
<a name="l00077"></a>00077 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */</span>
|
|
|
99 |
<a name="l00078"></a>00078 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
|
|
|
100 |
<a name="l00079"></a>00079 12, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
|
|
|
101 |
<a name="l00080"></a>00080
|
|
|
102 |
<a name="l00081"></a>00081 <span class="comment">/*</span>
|
|
|
103 |
<a name="l00082"></a>00082 <span class="comment"> With these values, </span>
|
|
|
104 |
<a name="l00083"></a>00083 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
|
|
|
105 |
<a name="l00084"></a>00084 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
|
|
|
106 |
<a name="l00085"></a>00085 <span class="comment"> - 13 tq for the TIME 1 segment (tseg1 = 12)</span>
|
|
|
107 |
<a name="l00086"></a>00086 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
|
|
|
108 |
<a name="l00087"></a>00087 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
|
|
|
109 |
<a name="l00088"></a>00088 <span class="comment"> freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time,</span>
|
|
|
110 |
<a name="l00089"></a>00089 <span class="comment"> so the freq of the bit time is 250 kHz.</span>
|
|
|
111 |
<a name="l00090"></a>00090 <span class="comment"> */</span>
|
|
|
112 |
<a name="l00091"></a>00091 },
|
|
|
113 |
<a name="l00092"></a>00092
|
|
|
114 |
<a name="l00093"></a>00093 {
|
|
|
115 |
<a name="l00094"></a>00094 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
|
|
|
116 |
<a name="l00095"></a>00095 1, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
|
|
|
117 |
<a name="l00096"></a>00096 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
|
|
|
118 |
<a name="l00097"></a>00097 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */</span>
|
|
|
119 |
<a name="l00098"></a>00098 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
|
|
|
120 |
<a name="l00099"></a>00099 12, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
|
|
|
121 |
<a name="l00100"></a>00100
|
|
|
122 |
<a name="l00101"></a>00101 <span class="comment">/*</span>
|
|
|
123 |
<a name="l00102"></a>00102 <span class="comment"> With these values, </span>
|
|
|
124 |
<a name="l00103"></a>00103 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
|
|
|
125 |
<a name="l00104"></a>00104 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
|
|
|
126 |
<a name="l00105"></a>00105 <span class="comment"> - 13 tq for the TIME 1 segment (tseg1 = 12)</span>
|
|
|
127 |
<a name="l00106"></a>00106 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
|
|
|
128 |
<a name="l00107"></a>00107 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
|
|
|
129 |
<a name="l00108"></a>00108 <span class="comment"> freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time,</span>
|
|
|
130 |
<a name="l00109"></a>00109 <span class="comment"> so the freq of the bit time is 500 kHz.</span>
|
|
|
131 |
<a name="l00110"></a>00110 <span class="comment"> */</span>
|
|
|
132 |
<a name="l00111"></a>00111 },
|
|
|
133 |
<a name="l00112"></a>00112
|
|
|
134 |
<a name="l00113"></a>00113 {
|
|
|
135 |
<a name="l00114"></a>00114 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
|
|
|
136 |
<a name="l00115"></a>00115 1, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
|
|
|
137 |
<a name="l00116"></a>00116 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
|
|
|
138 |
<a name="l00117"></a>00117 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId()); 1 ) samples per bit */</span>
|
|
|
139 |
<a name="l00118"></a>00118 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
|
|
|
140 |
<a name="l00119"></a>00119 4, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
|
|
|
141 |
<a name="l00120"></a>00120
|
|
|
142 |
<a name="l00121"></a>00121 <span class="comment">/*</span>
|
|
|
143 |
<a name="l00122"></a>00122 <span class="comment"> With these values, </span>
|
|
|
144 |
<a name="l00123"></a>00123 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
|
|
|
145 |
<a name="l00124"></a>00124 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
|
|
|
146 |
<a name="l00125"></a>00125 <span class="comment"> - 5 tq for the TIME 1 segment (tseg1 = 4)</span>
|
|
|
147 |
<a name="l00126"></a>00126 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
|
|
|
148 |
<a name="l00127"></a>00127 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
|
|
|
149 |
<a name="l00128"></a>00128 <span class="comment"> freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time,</span>
|
|
|
150 |
<a name="l00129"></a>00129 <span class="comment"> so the freq of the bit time is 1 MHz.</span>
|
|
|
151 |
<a name="l00130"></a>00130 <span class="comment"> */</span>
|
|
|
152 |
<a name="l00131"></a>00131 }
|
|
|
153 |
<a name="l00132"></a>00132 };
|
|
|
154 |
<a name="l00133"></a>00133
|
|
|
155 |
<a name="l00134"></a>00134
|
|
|
156 |
<a name="l00135"></a>00135
|
|
|
157 |
<a name="l00136"></a>00136
|
|
|
158 |
<a name="l00137"></a>00137 <span class="comment">/**************************prototypes*****************************************/</span>
|
|
|
159 |
<a name="l00138"></a>00138
|
|
|
160 |
<a name="l00139"></a>00139 <span class="comment">//Init can bus and Canopen</span>
|
|
240
|
161 |
<a name="l00140"></a>00140 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#2bf8d38f60d6704980189ed23fa6bcaa">initCanopencapteur</a> (<span class="keywordtype">void</span>);
|
|
215
|
162 |
<a name="l00141"></a>00141 <span class="comment">// Init the sensor</span>
|
|
240
|
163 |
<a name="l00142"></a>00142 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#8c7a3902aeab756e3fa26d1f047b2629">initSensor</a>(<span class="keywordtype">void</span>);
|
|
|
164 |
<a name="l00143"></a>00143 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#cd3bf5a778051de7fe420cd0220b4a4c">initPortB</a>(<span class="keywordtype">void</span>);
|
|
|
165 |
<a name="l00144"></a>00144 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#776b47bb2ab8c32f55b8b8ea649b720a">initPortH</a>(<span class="keywordtype">void</span>);
|
|
215
|
166 |
<a name="l00145"></a>00145
|
|
|
167 |
<a name="l00146"></a>00146
|
|
|
168 |
<a name="l00147"></a>00147 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
|
169 |
<a name="l00148"></a>00148 <span class="comment">//Initialisation of the port B for the leds.</span>
|
|
240
|
170 |
<a name="l00149"></a><a class="code" href="appli_8c.html#cd3bf5a778051de7fe420cd0220b4a4c">00149</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#cd3bf5a778051de7fe420cd0220b4a4c">initPortB</a>(<span class="keywordtype">void</span>)
|
|
215
|
171 |
<a name="l00150"></a>00150 {
|
|
|
172 |
<a name="l00151"></a>00151 <span class="comment">// Port B is output</span>
|
|
240
|
173 |
<a name="l00152"></a>00152 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#d4327152bf4e4585a60abc2f83f33ceb">DDRB</a>)= 0XFF;
|
|
215
|
174 |
<a name="l00153"></a>00153 <span class="comment">// RAZ</span>
|
|
240
|
175 |
<a name="l00154"></a>00154 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) = 0xFF;
|
|
215
|
176 |
<a name="l00155"></a>00155 }
|
|
|
177 |
<a name="l00156"></a>00156
|
|
|
178 |
<a name="l00157"></a>00157 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
|
179 |
<a name="l00158"></a>00158 <span class="comment">// Init of port H to choose the CAN rate by switch, and the nodeId</span>
|
|
240
|
180 |
<a name="l00159"></a><a class="code" href="appli_8c.html#776b47bb2ab8c32f55b8b8ea649b720a">00159</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#776b47bb2ab8c32f55b8b8ea649b720a">initPortH</a>(<span class="keywordtype">void</span>)
|
|
215
|
181 |
<a name="l00160"></a>00160 {
|
|
|
182 |
<a name="l00161"></a>00161 <span class="comment">// Port H is input</span>
|
|
240
|
183 |
<a name="l00162"></a>00162 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#921e55352e524a24dfb9c7d30d3d804b">DDRH</a>)= 0X00;
|
|
215
|
184 |
<a name="l00163"></a>00163 <span class="comment">// Enable pull device</span>
|
|
240
|
185 |
<a name="l00164"></a>00164 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#6cd3a231fafc1de06ad4279ad9b4b719">PERH</a>) = 0XFF;
|
|
215
|
186 |
<a name="l00165"></a>00165 <span class="comment">// Choose the pull-up device</span>
|
|
240
|
187 |
<a name="l00166"></a>00166 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#95b1bd89bbf9f0ed3f29e4da2fbf6172">PPSH</a>) = 0X00;
|
|
215
|
188 |
<a name="l00167"></a>00167 }
|
|
|
189 |
<a name="l00168"></a>00168
|
|
|
190 |
<a name="l00169"></a>00169 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
191 |
<a name="l00170"></a><a class="code" href="appli_8c.html#8c7a3902aeab756e3fa26d1f047b2629">00170</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#8c7a3902aeab756e3fa26d1f047b2629">initSensor</a>(<span class="keywordtype">void</span>)
|
|
215
|
192 |
<a name="l00171"></a>00171 {
|
|
240
|
193 |
<a name="l00172"></a>00172 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> baudrate = 0;
|
|
|
194 |
<a name="l00173"></a>00173 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId = 0;
|
|
215
|
195 |
<a name="l00174"></a>00174 <span class="comment">// Init led control</span>
|
|
240
|
196 |
<a name="l00175"></a>00175 <a class="code" href="appli_8c.html#cd3bf5a778051de7fe420cd0220b4a4c">initPortB</a>();
|
|
|
197 |
<a name="l00176"></a>00176 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) &= ~ 0x01; <span class="comment">//One led ON</span>
|
|
|
198 |
<a name="l00177"></a>00177 <a class="code" href="appli_8c.html#776b47bb2ab8c32f55b8b8ea649b720a">initPortH</a>();
|
|
215
|
199 |
<a name="l00178"></a>00178
|
|
|
200 |
<a name="l00179"></a>00179 <span class="comment">/* Defining the node Id */</span>
|
|
|
201 |
<a name="l00180"></a>00180 <span class="comment">// Uncomment to have a fixed nodeId</span>
|
|
|
202 |
<a name="l00181"></a>00181 <span class="comment">//setNodeId(&gene_SYNC_Data, 0x03);</span>
|
|
|
203 |
<a name="l00182"></a>00182
|
|
|
204 |
<a name="l00183"></a>00183 <span class="comment">// Comment below to have a fixed nodeId</span>
|
|
240
|
205 |
<a name="l00184"></a>00184 nodeId = ~(<a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#1ddb93334f07f4ac2690fbd583eb7bb5">PTH</a>)) & 0x3F;
|
|
215
|
206 |
<a name="l00185"></a>00185 <span class="keywordflow">if</span> (nodeId == 0) {
|
|
240
|
207 |
<a name="l00186"></a>00186 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F33, <span class="stringliteral">"Using default nodeId : "</span>, <a class="code" href="states_8c.html#458a686646e4500b1f9e6cf67898250e">getNodeId</a>(&<a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>));
|
|
215
|
208 |
<a name="l00187"></a>00187 }
|
|
|
209 |
<a name="l00188"></a>00188 <span class="keywordflow">else</span>
|
|
240
|
210 |
<a name="l00189"></a>00189 <a class="code" href="states_8c.html#191c0cad67e093ea44285c9acd187513">setNodeId</a>(&<a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>, nodeId);
|
|
215
|
211 |
<a name="l00190"></a>00190
|
|
240
|
212 |
<a name="l00191"></a>00191 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F33, <span class="stringliteral">"My nodeId is : "</span>, <a class="code" href="states_8c.html#458a686646e4500b1f9e6cf67898250e">getNodeId</a>(&<a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>));
|
|
215
|
213 |
<a name="l00192"></a>00192
|
|
|
214 |
<a name="l00193"></a>00193 <a class="code" href="structcanBusInit.html">canBusInit</a> bi0 = {
|
|
|
215 |
<a name="l00194"></a>00194 0, <span class="comment">/* no low power */</span>
|
|
|
216 |
<a name="l00195"></a>00195 0, <span class="comment">/* no time stamp */</span>
|
|
|
217 |
<a name="l00196"></a>00196 1, <span class="comment">/* enable MSCAN */</span>
|
|
|
218 |
<a name="l00197"></a>00197 0, <span class="comment">/* clock source : oscillator (In fact, it is not used) */</span>
|
|
|
219 |
<a name="l00198"></a>00198 0, <span class="comment">/* no loop back */</span>
|
|
|
220 |
<a name="l00199"></a>00199 0, <span class="comment">/* no listen only */</span>
|
|
|
221 |
<a name="l00200"></a>00200 0, <span class="comment">/* no low pass filter for wk up */</span>
|
|
240
|
222 |
<a name="l00201"></a>00201 <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f91b40482be3a75e00309350a50b5eda1">CAN_BAUDRATE_250K</a>],
|
|
215
|
223 |
<a name="l00202"></a>00202 {
|
|
|
224 |
<a name="l00203"></a>00203 0x00, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */</span>
|
|
|
225 |
<a name="l00204"></a>00204 0x00, 0xFF, <span class="comment">/* filter 0 hight accept all msg */</span>
|
|
|
226 |
<a name="l00205"></a>00205 0x00, 0xFF, <span class="comment">/* filter 0 low accept all msg */</span>
|
|
|
227 |
<a name="l00206"></a>00206 0x00, 0xFF, <span class="comment">/* filter 1 hight filter all of msg */</span>
|
|
|
228 |
<a name="l00207"></a>00207 0x00, 0xFF, <span class="comment">/* filter 1 low filter all of msg */</span>
|
|
|
229 |
<a name="l00208"></a>00208 0x00, 0xFF, <span class="comment">/* filter 2 hight filter most of msg */</span>
|
|
|
230 |
<a name="l00209"></a>00209 0x00, 0xFF, <span class="comment">/* filter 2 low filter most of msg */</span>
|
|
|
231 |
<a name="l00210"></a>00210 0x00, 0xFF, <span class="comment">/* filter 3 hight filter most of msg */</span>
|
|
|
232 |
<a name="l00211"></a>00211 0x00, 0xFF, <span class="comment">/* filter 3 low filter most of msg */</span>
|
|
|
233 |
<a name="l00212"></a>00212 }
|
|
|
234 |
<a name="l00213"></a>00213 };
|
|
|
235 |
<a name="l00214"></a>00214
|
|
|
236 |
<a name="l00215"></a>00215 <span class="comment">//Init the HCS12 microcontroler for CanOpen </span>
|
|
240
|
237 |
<a name="l00216"></a>00216 <a class="code" href="canOpenDriver_8c.html#be976c0f99ffecc3b40fbbeefdc53578">initHCS12</a>();
|
|
215
|
238 |
<a name="l00217"></a>00217
|
|
|
239 |
<a name="l00218"></a>00218 <span class="comment">// Chose the CAN rate (On our board, whe have switch for all purpose)</span>
|
|
|
240 |
<a name="l00219"></a>00219 <span class="comment">// 7 8</span>
|
|
|
241 |
<a name="l00220"></a>00220 <span class="comment">// ON ON => 1000 kpbs</span>
|
|
|
242 |
<a name="l00221"></a>00221 <span class="comment">// OFF ON => 500 kpbs</span>
|
|
|
243 |
<a name="l00222"></a>00222 <span class="comment">// ON OFF => 250 kpbs</span>
|
|
|
244 |
<a name="l00223"></a>00223
|
|
240
|
245 |
<a name="l00224"></a>00224 baudrate = ~(<a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#1ddb93334f07f4ac2690fbd583eb7bb5">PTH</a>)) & 0xC0;
|
|
215
|
246 |
<a name="l00225"></a>00225
|
|
|
247 |
<a name="l00226"></a>00226 <span class="comment">// Uncomment to have a fixed baudrate of 250 kbps</span>
|
|
|
248 |
<a name="l00227"></a>00227 <span class="comment">//baudrate = 1;</span>
|
|
|
249 |
<a name="l00228"></a>00228
|
|
|
250 |
<a name="l00229"></a>00229 <span class="keywordflow">switch</span> (baudrate) {
|
|
|
251 |
<a name="l00230"></a>00230 <span class="keywordflow">case</span> 0x40:
|
|
240
|
252 |
<a name="l00231"></a>00231 bi0.<a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">clk</a> = <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f91b40482be3a75e00309350a50b5eda1">CAN_BAUDRATE_250K</a>];
|
|
|
253 |
<a name="l00232"></a>00232 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F30, <span class="stringliteral">"CAN 250 kbps "</span>, 0);
|
|
215
|
254 |
<a name="l00233"></a>00233 <span class="keywordflow">break</span>;
|
|
|
255 |
<a name="l00234"></a>00234 <span class="keywordflow">case</span> 0x80:
|
|
240
|
256 |
<a name="l00235"></a>00235 bi0.<a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">clk</a> = <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f126f65c42a045536ac206baf6f9e7a69">CAN_BAUDRATE_500K</a>];
|
|
|
257 |
<a name="l00236"></a>00236 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F31, <span class="stringliteral">"CAN 500 kbps "</span>, 0);
|
|
215
|
258 |
<a name="l00237"></a>00237 <span class="keywordflow">break</span>;
|
|
|
259 |
<a name="l00238"></a>00238 <span class="keywordflow">case</span> 0xC0:
|
|
240
|
260 |
<a name="l00239"></a>00239 bi0.<a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">clk</a> = <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f3983e554a08829824bfbcb14f0abc6ac">CAN_BAUDRATE_1M</a>];
|
|
|
261 |
<a name="l00240"></a>00240 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F31, <span class="stringliteral">"CAN 1000 kbps "</span>, 0);
|
|
215
|
262 |
<a name="l00241"></a>00241 <span class="keywordflow">break</span>;
|
|
|
263 |
<a name="l00242"></a>00242 <span class="keywordflow">default</span>:
|
|
240
|
264 |
<a name="l00243"></a>00243 bi0.<a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">clk</a> = <a class="code" href="appli_8c.html#86af49a155a36066b3b8560f0258b649">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#7f351b7785bfbed9557d0da32a2b971f91b40482be3a75e00309350a50b5eda1">CAN_BAUDRATE_250K</a>];
|
|
|
265 |
<a name="l00244"></a>00244 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x2F32, <span class="stringliteral">"CAN BAUD RATE NOT DEFINED => 250 kbps "</span>, 0);
|
|
215
|
266 |
<a name="l00245"></a>00245 }
|
|
|
267 |
<a name="l00246"></a>00246
|
|
|
268 |
<a name="l00247"></a>00247
|
|
|
269 |
<a name="l00248"></a>00248
|
|
240
|
270 |
<a name="l00249"></a>00249 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F33, <span class="stringliteral">"SYNC signal generator "</span>, 0);
|
|
215
|
271 |
<a name="l00250"></a>00250
|
|
240
|
272 |
<a name="l00251"></a>00251 <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>(<a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">CANOPEN_LINE_NUMBER_USED</a>, bi0); <span class="comment">//initialize filters...</span>
|
|
|
273 |
<a name="l00252"></a>00252 <a class="code" href="canOpenDriver_8c.html#607bd2711b85a87fce51334bb36bad1a">initTimer</a>(); <span class="comment">// Init hcs12 timer used by CanFestival. (see timerhw.c)</span>
|
|
|
274 |
<a name="l00253"></a>00253 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">unlock</a>(); <span class="comment">// Allow interruptions </span>
|
|
215
|
275 |
<a name="l00254"></a>00254 }
|
|
|
276 |
<a name="l00255"></a>00255
|
|
|
277 |
<a name="l00256"></a>00256
|
|
|
278 |
<a name="l00257"></a>00257
|
|
|
279 |
<a name="l00258"></a>00258
|
|
|
280 |
<a name="l00259"></a>00259
|
|
|
281 |
<a name="l00260"></a>00260
|
|
|
282 |
<a name="l00261"></a>00261 <span class="comment">//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
|
|
|
283 |
<a name="l00262"></a>00262 <span class="comment">// FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here.</span>
|
|
|
284 |
<a name="l00263"></a>00263
|
|
|
285 |
<a name="l00264"></a>00264 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
286 |
<a name="l00265"></a><a class="code" href="objdict_8h.html#c4a64c16c6cc5d3a30d8b2fff6be2e28">00265</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#7377257347376fb6db1fb5bcd0fc2f77">gene_SYNC_heartbeatError</a>( <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> heartbeatID )
|
|
215
|
287 |
<a name="l00266"></a>00266 {
|
|
|
288 |
<a name="l00267"></a>00267
|
|
240
|
289 |
<a name="l00268"></a>00268 <a class="code" href="hcs12_2applicfg_8h.html#5f935fc2a6e0a2f4070222af61bb6b67">MSG_ERR</a>(0x1F00, <span class="stringliteral">"HeartBeat not received from node : "</span>, heartbeatID);
|
|
215
|
290 |
<a name="l00269"></a>00269 }
|
|
|
291 |
<a name="l00270"></a>00270
|
|
|
292 |
<a name="l00271"></a>00271 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
293 |
<a name="l00272"></a><a class="code" href="objdict_8h.html#f7d0ec5901d0a429c61927595f1df404">00272</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#8bcb69318eb511adc705fff72ab656d2">gene_SYNC_initialisation</a>()
|
|
215
|
294 |
<a name="l00273"></a>00273 {
|
|
240
|
295 |
<a name="l00274"></a>00274 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F00, <span class="stringliteral">"Entering in INIT "</span>, 0);
|
|
|
296 |
<a name="l00275"></a>00275 <a class="code" href="appli_8c.html#8c7a3902aeab756e3fa26d1f047b2629">initSensor</a>();
|
|
215
|
297 |
<a name="l00276"></a>00276
|
|
240
|
298 |
<a name="l00277"></a>00277 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) &= ~ 0x01; <span class="comment">// led 0 : ON</span>
|
|
|
299 |
<a name="l00278"></a>00278 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) |= 0x0E; <span class="comment">// leds 1, 2, 3 : OFF</span>
|
|
215
|
300 |
<a name="l00279"></a>00279
|
|
|
301 |
<a name="l00280"></a>00280 }
|
|
|
302 |
<a name="l00281"></a>00281
|
|
|
303 |
<a name="l00282"></a>00282
|
|
|
304 |
<a name="l00283"></a>00283 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
305 |
<a name="l00284"></a><a class="code" href="objdict_8h.html#ba482cbf6cf3b7da70f074089ce7fa57">00284</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#46cf2deddae534e42698c071233f70e9">gene_SYNC_preOperational</a>()
|
|
215
|
306 |
<a name="l00285"></a>00285 {
|
|
240
|
307 |
<a name="l00286"></a>00286 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F01, <span class="stringliteral">"Entering in PRE-OPERATIONAL "</span>, 0);
|
|
|
308 |
<a name="l00287"></a>00287 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) &= ~ 0x03; <span class="comment">// leds 0, 1 : ON</span>
|
|
|
309 |
<a name="l00288"></a>00288 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) |= 0x0C; <span class="comment">// leds 2, 3 : OFF</span>
|
|
215
|
310 |
<a name="l00289"></a>00289 <span class="comment">/* default values for the msg CAN filters */</span>
|
|
|
311 |
<a name="l00290"></a>00290 <span class="comment">/* Accept all */</span>
|
|
|
312 |
<a name="l00291"></a>00291 {
|
|
|
313 |
<a name="l00292"></a>00292 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
|
|
|
314 |
<a name="l00293"></a>00293 {
|
|
|
315 |
<a name="l00294"></a>00294 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
|
|
|
316 |
<a name="l00295"></a>00295 <span class="comment">/*canidarx, canidmrx */</span>
|
|
|
317 |
<a name="l00296"></a>00296 0x00, 0xFF, <span class="comment">/* filter 0 */</span>
|
|
|
318 |
<a name="l00297"></a>00297 0x00, 0xFF, <span class="comment">/* filter 0 */</span>
|
|
|
319 |
<a name="l00298"></a>00298 0x00, 0xFF, <span class="comment">/* filter 1 */</span>
|
|
|
320 |
<a name="l00299"></a>00299 0x00, 0xFF, <span class="comment">/* filter 1 */</span>
|
|
|
321 |
<a name="l00300"></a>00300 0x00, 0xFF, <span class="comment">/* filter 2 */</span>
|
|
|
322 |
<a name="l00301"></a>00301 0x00, 0xFF, <span class="comment">/* filter 2 */</span>
|
|
|
323 |
<a name="l00302"></a>00302 0x00, 0xFF, <span class="comment">/* filter 3 */</span>
|
|
|
324 |
<a name="l00303"></a>00303 0x00, 0xFF, <span class="comment">/* filter 3 */</span>
|
|
|
325 |
<a name="l00304"></a>00304 };
|
|
240
|
326 |
<a name="l00305"></a>00305 <a class="code" href="canOpenDriver_8c.html#7fd72f38fd09b6e79a50ac32d8cc0629">canChangeFilter</a>(<a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
|
|
215
|
327 |
<a name="l00306"></a>00306 }
|
|
|
328 |
<a name="l00307"></a>00307 <span class="comment">// Reset the automatic change by SDO</span>
|
|
240
|
329 |
<a name="l00308"></a>00308 <a class="code" href="objdict_8c.html#0178d9fcc51e12971c5212c1c81fa238">applyDownloadedFilters</a> = 0;
|
|
215
|
330 |
<a name="l00309"></a>00309
|
|
|
331 |
<a name="l00310"></a>00310 }
|
|
|
332 |
<a name="l00311"></a>00311
|
|
|
333 |
<a name="l00312"></a>00312
|
|
|
334 |
<a name="l00313"></a>00313 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
335 |
<a name="l00314"></a><a class="code" href="objdict_8h.html#c5f2cc6d81cdbcc0828b328ea0129206">00314</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#a7c372ace88bd80665fedcd107345955">gene_SYNC_operational</a>()
|
|
215
|
336 |
<a name="l00315"></a>00315 {
|
|
240
|
337 |
<a name="l00316"></a>00316 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F02, <span class="stringliteral">"Entering in OPERATIONAL "</span>, 0);
|
|
|
338 |
<a name="l00317"></a>00317 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) &= ~ 0x07; <span class="comment">// leds 0, 1, 2 : ON</span>
|
|
|
339 |
<a name="l00318"></a>00318 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) |= 0x08; <span class="comment">// leds 3 : OFF</span>
|
|
215
|
340 |
<a name="l00319"></a>00319
|
|
|
341 |
<a name="l00320"></a>00320 <span class="comment">// Filtering the CAN received msgs.</span>
|
|
|
342 |
<a name="l00321"></a>00321 <span class="comment">// 2 ways</span>
|
|
|
343 |
<a name="l00322"></a>00322 <span class="comment">// First :applying an automatic filter</span>
|
|
|
344 |
<a name="l00323"></a>00323 <span class="comment">// Second : The values of the filtering registers are mapped in the object dictionary,</span>
|
|
|
345 |
<a name="l00324"></a>00324 <span class="comment">// So that a filtering configuration can be downloaded by SDO in pre-operational mode</span>
|
|
|
346 |
<a name="l00325"></a>00325
|
|
240
|
347 |
<a name="l00326"></a>00326 <span class="keywordflow">if</span> (<a class="code" href="objdict_8c.html#0178d9fcc51e12971c5212c1c81fa238">applyDownloadedFilters</a> == 0) {<span class="comment">// No downloaded configuration to apply</span>
|
|
|
348 |
<a name="l00327"></a>00327 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> accept1 = 0x0000; <span class="comment">// Accept NMT</span>
|
|
|
349 |
<a name="l00328"></a>00328 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> <a class="code" href="objdict_8c.html#e15092574a7a7a4040cc8680855b7efe">mask1</a> = 0x0FFF; <span class="comment">// Mask NMT</span>
|
|
|
350 |
<a name="l00329"></a>00329 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> accept2 = 0xE000; <span class="comment">// Accept NMT error control (heartbeat, nodeguard)</span>
|
|
|
351 |
<a name="l00330"></a>00330 <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> <a class="code" href="objdict_8c.html#127f36b31ed5a2db3ff7a8fc1f9e2188">mask2</a> = 0x0FFF; <span class="comment">// Mask NMT error control (heartbeat, nodeguard)</span>
|
|
215
|
352 |
<a name="l00331"></a>00331
|
|
|
353 |
<a name="l00332"></a>00332 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
|
|
|
354 |
<a name="l00333"></a>00333 {<span class="comment">// filters 3 and 4 not used, so configured like filter 1.</span>
|
|
|
355 |
<a name="l00334"></a>00334 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
|
|
|
356 |
<a name="l00335"></a>00335 <span class="comment">/*canidarx, canidmrx */</span>
|
|
240
|
357 |
<a name="l00336"></a>00336 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 1 id10...3*/</span>
|
|
|
358 |
<a name="l00337"></a>00337 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)mask1, <span class="comment">/* filter 1 id2 ... */</span>
|
|
|
359 |
<a name="l00338"></a>00338 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(accept2 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(mask2 >> 8), <span class="comment">/* filter 2 id10...3*/</span>
|
|
|
360 |
<a name="l00339"></a>00339 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)accept2 , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)mask2, <span class="comment">/* filter 2 id2 ... */</span>
|
|
|
361 |
<a name="l00340"></a>00340 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 3 id10...3*/</span>
|
|
|
362 |
<a name="l00341"></a>00341 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)mask1, <span class="comment">/* filter 3 id2 ... */</span>
|
|
|
363 |
<a name="l00342"></a>00342 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 4 id10...3*/</span>
|
|
|
364 |
<a name="l00343"></a>00343 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)mask1 <span class="comment">/* filter 4 id2 ... */</span>
|
|
215
|
365 |
<a name="l00344"></a>00344 };
|
|
240
|
366 |
<a name="l00345"></a>00345 <a class="code" href="canOpenDriver_8c.html#7fd72f38fd09b6e79a50ac32d8cc0629">canChangeFilter</a>(<a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
|
|
|
367 |
<a name="l00346"></a>00346 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F03, <span class="stringliteral">"Internal CAN Rcv filter applied "</span>, 0);
|
|
215
|
368 |
<a name="l00347"></a>00347 }
|
|
|
369 |
<a name="l00348"></a>00348 <span class="keywordflow">else</span> { <span class="comment">// Apply filters downnloaded</span>
|
|
|
370 |
<a name="l00349"></a>00349 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
|
|
|
371 |
<a name="l00350"></a>00350 {<span class="comment">// filters 3 and 4 not used, so configured like filter 1.</span>
|
|
|
372 |
<a name="l00351"></a>00351 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
|
|
|
373 |
<a name="l00352"></a>00352 <span class="comment">/*canidarx, canidmrx */</span>
|
|
240
|
374 |
<a name="l00353"></a>00353 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)( <a class="code" href="objdict_8c.html#a10ca2743415497761958bc518390fe5">acceptanceFilter1</a>>> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#e15092574a7a7a4040cc8680855b7efe">mask1</a> >> 8), <span class="comment">/* filter 1 id10...3*/</span>
|
|
|
375 |
<a name="l00354"></a>00354 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#a10ca2743415497761958bc518390fe5">acceptanceFilter1</a> , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#e15092574a7a7a4040cc8680855b7efe">mask1</a>, <span class="comment">/* filter 1 id2 ... */</span>
|
|
|
376 |
<a name="l00355"></a>00355 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#245c270cbb87998ba5b58f34ea59b384">acceptanceFilter2</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#127f36b31ed5a2db3ff7a8fc1f9e2188">mask2</a> >> 8), <span class="comment">/* filter 2 id10...3*/</span>
|
|
|
377 |
<a name="l00356"></a>00356 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#245c270cbb87998ba5b58f34ea59b384">acceptanceFilter2</a> , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#127f36b31ed5a2db3ff7a8fc1f9e2188">mask2</a>, <span class="comment">/* filter 2 id2 ... */</span>
|
|
|
378 |
<a name="l00357"></a>00357 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#6d9494889a47c2f9e2f005afe48481eb">acceptanceFilter3</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#51f828228087d07d5fa7dd46719eb5c6">mask3</a> >> 8), <span class="comment">/* filter 3 id10...3*/</span>
|
|
|
379 |
<a name="l00358"></a>00358 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#6d9494889a47c2f9e2f005afe48481eb">acceptanceFilter3</a> , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#51f828228087d07d5fa7dd46719eb5c6">mask3</a>, <span class="comment">/* filter 3 id2 ... */</span>
|
|
|
380 |
<a name="l00359"></a>00359 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#becf1ace08f6a3da583b989789b3a355">acceptanceFilter4</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(<a class="code" href="objdict_8c.html#8332ff53580f4b48721c7303b25c6ccb">mask4</a> >> 8), <span class="comment">/* filter 4 id10...3*/</span>
|
|
|
381 |
<a name="l00360"></a>00360 (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#becf1ace08f6a3da583b989789b3a355">acceptanceFilter4</a> , (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)<a class="code" href="objdict_8c.html#8332ff53580f4b48721c7303b25c6ccb">mask4</a> <span class="comment">/* filter 4 id2 ... */</span>
|
|
215
|
382 |
<a name="l00361"></a>00361 };
|
|
240
|
383 |
<a name="l00362"></a>00362 <a class="code" href="canOpenDriver_8c.html#7fd72f38fd09b6e79a50ac32d8cc0629">canChangeFilter</a>(<a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
|
|
|
384 |
<a name="l00363"></a>00363 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F04, <span class="stringliteral">"Downloaded CAN Rcv filter applied "</span>, 0);
|
|
215
|
385 |
<a name="l00364"></a>00364 }
|
|
|
386 |
<a name="l00365"></a>00365 }
|
|
|
387 |
<a name="l00366"></a>00366
|
|
|
388 |
<a name="l00367"></a>00367 <span class="comment">//------------------------------------------------------------------------------</span>
|
|
240
|
389 |
<a name="l00368"></a><a class="code" href="objdict_8h.html#c52ab4eacafa658aa72e5f537ad4e80e">00368</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#664c4100c31b4cb368fe516110290b99">gene_SYNC_stopped</a>()
|
|
215
|
390 |
<a name="l00369"></a>00369 {
|
|
240
|
391 |
<a name="l00370"></a>00370 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a> (0x3F02, <span class="stringliteral">"Entering in STOPPED "</span>, 0);
|
|
|
392 |
<a name="l00371"></a>00371 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) |= 0x0E; <span class="comment">// leds 1, 2, 3, 4 : OFF</span>
|
|
215
|
393 |
<a name="l00372"></a>00372 }
|
|
|
394 |
<a name="l00373"></a>00373
|
|
|
395 |
<a name="l00374"></a>00374 <span class="comment">// End functions which are part of Canfestival</span>
|
|
|
396 |
<a name="l00375"></a>00375 <span class="comment">//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
|
|
|
397 |
<a name="l00376"></a>00376
|
|
|
398 |
<a name="l00377"></a>00377
|
|
|
399 |
<a name="l00378"></a>00378 <span class="comment">/******************************************************************************/</span>
|
|
|
400 |
<a name="l00379"></a>00379 <span class="comment">/********************************* MAIN ***************************************/</span>
|
|
|
401 |
<a name="l00380"></a>00380 <span class="comment">/******************************************************************************/</span>
|
|
|
402 |
<a name="l00381"></a>00381
|
|
|
403 |
<a name="l00382"></a>00382
|
|
240
|
404 |
<a name="l00383"></a><a class="code" href="appli_8c.html#35d180f652ecf52603a5e9d7e891665f">00383</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="appli_8c.html#35d180f652ecf52603a5e9d7e891665f">main</a> (<span class="keywordtype">void</span>)
|
|
215
|
405 |
<a name="l00384"></a>00384 {
|
|
|
406 |
<a name="l00385"></a>00385
|
|
240
|
407 |
<a name="l00386"></a>00386 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F34, <span class="stringliteral">"Entering in the main "</span>, 0);
|
|
215
|
408 |
<a name="l00387"></a>00387 <span class="comment">//----------------------------- INITIALISATION --------------------------------</span>
|
|
240
|
409 |
<a name="l00388"></a>00388 <a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a> = <a class="code" href="appli_8c.html#7377257347376fb6db1fb5bcd0fc2f77">gene_SYNC_heartbeatError</a>;
|
|
|
410 |
<a name="l00389"></a>00389 <a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">initialisation</a> = <a class="code" href="appli_8c.html#8bcb69318eb511adc705fff72ab656d2">gene_SYNC_initialisation</a>;
|
|
|
411 |
<a name="l00390"></a>00390 <a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a> = <a class="code" href="appli_8c.html#46cf2deddae534e42698c071233f70e9">gene_SYNC_preOperational</a>;
|
|
|
412 |
<a name="l00391"></a>00391 <a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a> = <a class="code" href="appli_8c.html#a7c372ace88bd80665fedcd107345955">gene_SYNC_operational</a>;
|
|
|
413 |
<a name="l00392"></a>00392 <a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">stopped</a> = <a class="code" href="appli_8c.html#664c4100c31b4cb368fe516110290b99">gene_SYNC_stopped</a>;
|
|
215
|
414 |
<a name="l00393"></a>00393
|
|
|
415 |
<a name="l00394"></a>00394
|
|
|
416 |
<a name="l00395"></a>00395 <span class="comment">/* Put the node in Initialisation mode */</span>
|
|
240
|
417 |
<a name="l00396"></a>00396 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3F35, <span class="stringliteral">"Will entering in INIT "</span>, 0);
|
|
|
418 |
<a name="l00397"></a>00397 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&<a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>);
|
|
215
|
419 |
<a name="l00398"></a>00398
|
|
|
420 |
<a name="l00399"></a>00399 <span class="comment">//----------------------------- START -----------------------------------------</span>
|
|
|
421 |
<a name="l00400"></a>00400 <span class="comment">/* Put the node in pre-operational mode */</span>
|
|
|
422 |
<a name="l00401"></a>00401 <span class="comment">//MSG_WAR(0x3F36, "va passer en pre-op", 0);</span>
|
|
|
423 |
<a name="l00402"></a>00402 <span class="comment">//setState(&gene_SYNC_Data, Pre_operational);</span>
|
|
|
424 |
<a name="l00403"></a>00403
|
|
|
425 |
<a name="l00404"></a>00404 <span class="comment">// Loop of receiving messages</span>
|
|
|
426 |
<a name="l00405"></a>00405 <span class="keywordflow">while</span> (1) {
|
|
|
427 |
<a name="l00406"></a>00406 <a class="code" href="structMessage.html">Message</a> m;
|
|
240
|
428 |
<a name="l00407"></a>00407 <span class="keywordflow">if</span> (<a class="code" href="canOpenDriver_8c.html#e9619ed76d03ed5c17ec07267bb61f4a">f_can_receive</a>(0, &m)) {
|
|
215
|
429 |
<a name="l00408"></a>00408 <span class="comment">//MSG_WAR(0x3F36, "Msg received", m.cob_id.w);</span>
|
|
240
|
430 |
<a name="l00409"></a>00409 <a class="code" href="interrupt_8c.html#a86d31d31831be20de69b1533b4acc5b">lock</a>(); <span class="comment">// Not to have interruptions by timer, which can corrupt the data</span>
|
|
|
431 |
<a name="l00410"></a>00410 <a class="code" href="states_8c.html#5903338b79e219eeb27f61974419fc12">canDispatch</a>(&<a class="code" href="objdict_8c.html#c18edc0892938082ff138948998a25a8">gene_SYNC_Data</a>, &m);
|
|
|
432 |
<a name="l00411"></a>00411 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">unlock</a>();
|
|
215
|
433 |
<a name="l00412"></a>00412 }
|
|
|
434 |
<a name="l00413"></a>00413 }
|
|
|
435 |
<a name="l00414"></a>00414
|
|
|
436 |
<a name="l00415"></a>00415 <span class="keywordflow">return</span> (0);
|
|
|
437 |
<a name="l00416"></a>00416 }
|
|
|
438 |
<a name="l00417"></a>00417
|
|
|
439 |
<a name="l00418"></a>00418
|
|
|
440 |
<a name="l00419"></a>00419
|
|
240
|
441 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
|
|
215
|
442 |
<a href="http://www.doxygen.org/index.html">
|
|
|
443 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
444 |
</body>
|
|
|
445 |
</html>
|