1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #include <stddef.h> /* for NULL */ |
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24 |
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25 #include <asm-m68hc12/portsaccess.h> |
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26 #include <asm-m68hc12/ports_def.h> |
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27 #include <asm-m68hc12/ports.h> |
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28 #include <interrupt.h> |
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29 |
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30 #include <applicfg.h> |
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31 #include <candriver.h> |
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32 #include <timerhw.h> |
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33 |
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34 #include "def.h" |
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35 #include "can.h" |
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36 #include "objdictdef.h" |
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37 #include "objacces.h" |
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38 #include "canOpenDriver.h" |
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39 #include "sdo.h" |
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40 #include "pdo.h" |
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41 #include "init.h" |
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42 #include "timer.h" |
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43 #include "lifegrd.h" |
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44 #include "sync.h" |
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45 |
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46 #include "nmtMaster.h" |
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47 |
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48 // For prototype of exit(); |
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49 #define exit _exit |
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50 |
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51 |
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52 |
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53 |
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54 // HCS12 configuration |
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55 // ----------------------------------------------------- |
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56 |
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57 enum E_CanBaudrate |
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58 { |
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59 CAN_BAUDRATE_250K, |
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60 CAN_BAUDRATE_500K, |
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61 CAN_BAUDRATE_1M, |
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62 CAN_BAUDRATE_OLD_VALUE |
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63 }; |
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64 |
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65 const canBusTime CAN_Baudrates[] = |
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66 { |
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67 { |
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68 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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69 3, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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70 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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71 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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72 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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73 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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74 |
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75 /* |
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76 With these values, |
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77 - The width of the bit time is 16 time quantum : |
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78 - 1 tq for the SYNC segment (could not be modified) |
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79 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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80 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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81 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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82 freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time, |
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83 so the freq of the bit time is 250 kHz. |
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84 */ |
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85 }, |
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86 |
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87 { |
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88 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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89 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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90 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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91 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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92 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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93 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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94 |
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95 /* |
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96 With these values, |
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97 - The width of the bit time is 16 time quantum : |
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98 - 1 tq for the SYNC segment (could not be modified) |
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99 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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100 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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101 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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102 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time, |
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103 so the freq of the bit time is 500 kHz. |
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104 */ |
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105 }, |
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106 |
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107 { |
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108 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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109 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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110 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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111 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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112 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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113 4, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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114 |
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115 /* |
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116 With these values, |
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117 - The width of the bit time is 16 time quantum : |
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118 - 1 tq for the SYNC segment (could not be modified) |
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119 - 5 tq for the TIME 1 segment (tseg1 = 4) |
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120 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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121 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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122 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time, |
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123 so the freq of the bit time is 1 MHz. |
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124 */ |
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125 }, |
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126 |
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127 { |
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128 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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129 0, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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130 1, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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131 1, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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132 4, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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133 9, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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134 |
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135 /* |
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136 With these values, |
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137 - The width of the bit time is 16 time quantum : |
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138 - 1 tq for the SYNC segment (could not be modified) |
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139 - 10 tq for the TIME 1 segment (tseg1 = 9) |
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140 - 5 tq for the TIME 2 segment (tseg2 = 4) |
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141 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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142 freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time, |
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143 so the freq of the bit time is 1 MHz. |
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144 */ |
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145 } |
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146 }; |
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147 |
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148 |
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149 |
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150 // Required definition variables |
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151 // ----------------------------- |
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152 // The variables that you should define for debugging. |
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153 // They are used by the macro MSG_ERR and MSG_WAR in applicfg.h |
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154 // if the node is a slave, they can be mapped in the object dictionnary. |
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155 |
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156 UNS8 printMsgErrToConsole = 1; |
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157 UNS8 printMsgWarToConsole = 1; |
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158 |
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159 // The variables mapped in the object dictionnary |
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160 // ---------------------------------------------- |
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161 extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0 |
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162 extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0 |
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163 extern UNS8 second; // Mapped at index 0x6002, subindex 0x1 |
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164 extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2 |
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165 extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3 |
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166 extern UNS8 day; // Mapped at index 0x6002, subindex 0x4 |
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167 extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1 |
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168 extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2 |
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169 |
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170 /*************************User's variables declaration**************************/ |
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171 UNS8 connectedNode[128]; |
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172 volatile UNS8 sec = 0; // To count the time every second |
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173 UNS8 softCount = 0; |
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174 |
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175 /* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */ |
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176 typedef struct mappedVar |
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177 { |
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178 UNS32 index; |
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179 UNS8 subIndex; |
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180 UNS8 size; // in byte |
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181 } s_mappedVar; |
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182 |
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183 typedef struct heartbeatConsumer |
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184 { |
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185 UNS8 nodeProducer; |
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186 UNS16 time_ms; |
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187 } s_heartbeatConsumer; |
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188 |
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189 /**************************prototypes*****************************************/ |
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190 /* You *must* have these 2 functions in your code*/ |
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191 void heartbeatError(UNS8 heartbeatID ); |
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192 void SD0timeoutError(UNS8 bus_id, UNS8 line); |
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193 |
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194 void waitMessage (void ); |
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195 void heartBeat (void ); |
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196 void transmitSync (void); |
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197 e_nodeState stateNode (UNS8 node); |
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198 void configure_master_SDO (UNS32 index, UNS8 serverNode); |
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199 UNS8 waitingWriteToSlaveDict ( UNS8 slaveNode, UNS8 error); |
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200 UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error); |
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201 UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode); |
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202 void masterMappingPDO (UNS32 indexPDO, UNS32 cobId, |
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203 s_mappedVar *tabMappedVar, UNS8 nbVar); |
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204 void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, |
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205 s_mappedVar *tabMappedVar, UNS8 nbVar); |
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206 void masterHeartbeatConsumer (s_heartbeatConsumer |
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207 *tabHeartbeatConsumer, UNS8 nbHeartbeats); |
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208 void masterHeartbeatProducer (UNS16 time); |
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209 void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer |
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210 *tabHeartbeatConsumer, UNS8 nbHeartbeats); |
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211 void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time); |
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212 void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType); |
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213 void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType); |
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214 void masterSYNCPeriod (UNS32 SYNCPeriod); |
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215 int main (void); |
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216 |
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217 // Interruption timer 3. (The timer 4 is used by CanOpen) |
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218 void __attribute__((interrupt)) timer3Hdl (void); |
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219 void incDate (void); |
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220 void initLeds (void); |
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221 void initCanHCS12 (void); |
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222 void initTimerClk (void); |
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223 |
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224 |
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225 /*****************************************************************************/ |
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226 void heartbeatError(UNS8 heartbeatID) |
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227 { |
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228 // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO, |
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229 // But we do not have mapped the variables in a PDO, so it sends nothing. |
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230 // See the note at the end of END CONFIGURING THE NETWORK. |
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231 MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID); |
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232 } |
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233 |
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234 /*****************************************************************************/ |
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235 void SD0timeoutError (UNS8 bus_id, UNS8 line) |
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236 { |
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237 // Informations on what occurs are in transfers[bus_id][line].... |
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238 // See scanSDOtimeout() in sdo.c |
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239 } |
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240 |
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241 //------------------------------------------------------------------------------ |
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242 /************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/ |
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243 |
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244 //------------------------------------------------------------------------------ |
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245 /* Node mode result after NodeGuard query */ |
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246 e_nodeState stateNode(UNS8 node) |
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247 { |
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248 e_nodeState state = getNodeState(0, node); |
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249 switch (state) { |
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250 case Unknown_state: |
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251 MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node); |
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252 break; |
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253 case Operational: |
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254 MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node); |
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255 break; |
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256 case Pre_operational: |
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257 MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node); |
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258 break; |
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259 default: |
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260 MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node); |
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261 } |
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262 return state; |
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263 } |
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264 |
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265 //------------------------------------------------------------------------------ |
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266 /* The master is writing in its dictionnary to configure the SDO parameters |
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267 to communicate with server_node |
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268 */ |
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269 void configure_master_SDO(UNS32 index, UNS8 serverNode) |
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270 { |
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271 UNS32 data32; |
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272 UNS8 data8; |
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273 UNS8 sizeData = 4 ; // in bytes |
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274 |
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275 /* At subindex 1, the cobId of the Can message from the client. |
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276 It is always defined inside the server dictionnary as 0x600 + server_node. |
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277 So, we have no choice here ! */ |
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278 data32 = 0x600 + serverNode; |
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279 setODentry(index, 1, &data32, sizeData, 0); |
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280 |
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281 { |
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282 // Test |
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283 UNS32 *pbData; |
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284 UNS8 length; |
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285 UNS32 returnValue; |
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286 UNS8 dataType; |
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287 // Relecture |
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288 MSG_WAR(0x1000, "Reading index : ", index); |
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289 MSG_WAR(0x1000, " subindex : ", 1); |
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290 returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); |
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291 MSG_WAR(0x1000, " val : ", *pbData); |
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292 } |
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293 |
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294 |
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295 /* At subindex 2, the cobId of the Can message from the server to the client. |
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296 It is always defined inside the server dictionnary as 0x580 + client_node. |
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297 So, we have no choice here ! */ |
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298 data32 = 0x580 + serverNode; |
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299 setODentry(index, 2, &data32, sizeData, 0); |
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300 |
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301 /* At subindex 3, the node of the server */ |
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302 data8 = serverNode; |
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303 sizeData = 1; |
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304 setODentry(index, 3, &data8, sizeData, 0); |
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305 |
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306 { |
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307 UNS8 *pbData; |
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308 UNS8 length; |
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309 UNS32 returnValue; |
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310 UNS8 dataType; |
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311 // Relecture |
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312 MSG_WAR(0x1000, "Reading index : ", index); |
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313 MSG_WAR(0x1000, " subindex : ", 3); |
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314 returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); |
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315 MSG_WAR(0x1000, " val : ", *pbData); |
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316 } |
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317 } |
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318 |
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319 //------------------------------------------------------------------------------ |
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320 /* |
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321 */ |
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322 UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error) |
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323 { |
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324 UNS8 err; |
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325 UNS32 abortCode; |
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326 MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode); |
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327 if (error) { |
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328 MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode); |
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329 return -1; |
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330 } |
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331 /* Waiting until the slave has responded */ |
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332 while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) { |
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333 // Check if some SDO response are missing |
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334 scanSDOtimeout(); |
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335 } |
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336 |
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337 err = getWriteResultNetworkDict (0, slaveNode, &abortCode); |
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338 if (err == SDO_FINISHED) { |
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339 MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode); |
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340 // Release the line. Don't forget !!! |
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341 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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342 return 0; |
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343 } |
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344 |
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345 if (err == SDO_ABORTED_RCV) { |
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346 MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode); |
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347 } |
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348 |
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349 if (err == SDO_ABORTED_INTERNAL) { |
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350 MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode); |
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351 } |
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352 // Looking for the line transfert number to read the index, subindex and releasing the line. |
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353 { |
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354 UNS8 line; |
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355 err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); |
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356 if (err) { |
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357 MSG_WAR(0x2F21, "No line found for node : ", slaveNode); |
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358 exit(-1); |
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359 } |
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360 MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index); |
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361 MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex); |
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362 //Releasing the line. |
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363 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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364 exit(-1); |
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365 } |
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366 return 0; |
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367 } |
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368 |
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369 //------------------------------------------------------------------------------ |
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370 /* |
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371 */ |
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372 UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error) |
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373 { |
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374 UNS8 err; |
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375 UNS32 abortCode; |
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376 MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode); |
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377 if (error) { |
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378 MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode); |
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379 return -1; |
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380 } |
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381 /* Waiting until the slave has responded */ |
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382 while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) { |
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383 // Check if some SDO response are missing |
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384 scanSDOtimeout(); |
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385 } |
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386 err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode); |
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387 if (err == SDO_FINISHED) { |
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388 MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode); |
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389 // Release the line. Don't forget !!! |
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390 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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391 return 0; |
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392 } |
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393 if (err == SDO_ABORTED_RCV) { |
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394 MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode); |
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395 } |
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396 |
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397 if (err == SDO_ABORTED_INTERNAL) { |
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398 MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode); |
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399 } |
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400 // Looking for the line transfert number to read the index, subindex and releasing the line. |
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401 { |
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402 UNS8 line; |
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403 err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); |
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404 if (err) { |
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405 MSG_WAR(0x2F2F, "No line found for node : ", slaveNode); |
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406 exit(-1); |
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407 } |
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408 MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index); |
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409 MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex); |
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410 //Releasing the line. |
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411 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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412 exit(-1); |
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413 } |
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414 |
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415 return 0; |
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416 } |
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417 |
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418 //------------------------------------------------------------------------------ |
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419 /* The master is writing in the slave dictionnary to configure the SDO parameters |
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420 Remember that the slave is the server, and the master is the client. |
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421 */ |
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422 UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode) |
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423 { |
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424 UNS8 data; |
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425 UNS8 NbDataToWrite = 1 ; // in bytes |
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426 UNS8 err = 0; |
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427 MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node ", slaveNode); |
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428 /* It is only to put at subindex 3 the serverNode. It is optionnal. |
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429 In the slave dictionary, only one SDO server is defined, at index |
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430 0x1200 */ |
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431 data = clientNode; |
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432 err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data); |
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433 waitingWriteToSlaveDict(slaveNode, err); |
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434 |
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435 return 0; |
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436 } |
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437 |
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438 //------------------------------------------------------------------------------ |
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439 /* |
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440 */ |
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441 |
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442 void masterMappingPDO(UNS32 indexPDO, UNS32 cobId, |
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443 s_mappedVar *tabMappedVar, UNS8 nbVar) |
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444 { |
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445 UNS32 *pbData; |
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446 UNS32 data32; |
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447 UNS8 i; |
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448 UNS8 size = 0; |
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449 UNS8 dataType; |
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450 |
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451 if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) |
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452 MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId); |
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453 |
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454 if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) |
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455 MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId); |
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456 |
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457 /* At indexPDO, subindex 1, defining the cobId of the PDO */ |
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458 setODentry(indexPDO, 1, &cobId, 4, 0); |
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459 /* The mapping ... */ |
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460 /* ----------------*/ |
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461 /* At subindex 0, the number of variables in the PDO */ |
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462 setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0); |
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463 getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0); |
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464 /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in |
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465 the PDO. The first variable after the COBID is defined at subindex 1, ... |
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466 The data to write is the concatenation on 32 bits of (msb ... lsb) : |
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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 |
|