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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 "../include/def.h" |
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35 #include "../include/can.h" |
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36 #include "../include/objdictdef.h" |
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37 #include "../include/objacces.h" |
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38 #include "../include/canOpenDriver.h" |
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39 #include "../include/sdo.h" |
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40 #include "../include/pdo.h" |
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41 #include "../include/init.h" |
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42 #include "../include/timer.h" |
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43 #include "../include/lifegrd.h" |
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44 #include "../include/sync.h" |
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45 |
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46 #include "../include/nmtSlave.h" |
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47 |
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48 |
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49 |
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50 // HCS12 configuration |
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51 // ----------------------------------------------------- |
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52 |
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53 enum E_CanBaudrate |
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54 { |
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55 CAN_BAUDRATE_250K, |
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56 CAN_BAUDRATE_500K, |
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57 CAN_BAUDRATE_1M, |
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58 CAN_BAUDRATE_OLD_VALUE |
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59 }; |
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60 |
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61 const canBusTime CAN_Baudrates[] = |
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62 { |
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63 { |
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64 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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65 3, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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66 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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67 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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68 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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69 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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70 |
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71 /* |
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72 With these values, |
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73 - The width of the bit time is 16 time quantum : |
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74 - 1 tq for the SYNC segment (could not be modified) |
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75 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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76 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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77 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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78 freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time, |
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79 so the freq of the bit time is 250 kHz. |
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80 */ |
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81 }, |
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82 |
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83 { |
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84 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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85 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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86 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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87 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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88 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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89 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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90 |
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91 /* |
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92 With these values, |
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93 - The width of the bit time is 16 time quantum : |
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94 - 1 tq for the SYNC segment (could not be modified) |
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95 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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96 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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97 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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98 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time, |
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99 so the freq of the bit time is 500 kHz. |
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100 */ |
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101 }, |
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102 |
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103 { |
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104 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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105 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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106 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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107 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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108 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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109 4, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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110 |
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111 /* |
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112 With these values, |
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113 - The width of the bit time is 16 time quantum : |
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114 - 1 tq for the SYNC segment (could not be modified) |
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115 - 5 tq for the TIME 1 segment (tseg1 = 4) |
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116 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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117 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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118 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time, |
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119 so the freq of the bit time is 1 MHz. |
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120 */ |
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121 }, |
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122 |
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123 { |
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124 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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125 0, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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126 1, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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127 1, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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128 4, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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129 9, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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130 |
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131 /* |
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132 With these values, |
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133 - The width of the bit time is 16 time quantum : |
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134 - 1 tq for the SYNC segment (could not be modified) |
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135 - 10 tq for the TIME 1 segment (tseg1 = 9) |
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136 - 5 tq for the TIME 2 segment (tseg2 = 4) |
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137 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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138 freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time, |
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139 so the freq of the bit time is 1 MHz. |
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140 */ |
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141 } |
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142 }; |
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143 |
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144 |
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145 // The variables sent or updated by PDO |
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146 // ----------------------------------------------------- |
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147 extern UNS8 seconds; // Mapped at index 0x2000, subindex 0x1 |
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148 extern UNS8 minutes; // Mapped at index 0x2000, subindex 0x2 |
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149 extern UNS8 hours; // Mapped at index 0x2000, subindex 0x3 |
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150 extern UNS8 day; // Mapped at index 0x2000, subindex 0x4 |
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151 extern UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x0 |
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152 extern UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x0 |
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153 |
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154 // Required definition variables |
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155 // ----------------------------- |
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156 // The variables that you should define for debugging. |
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157 // They are used by the macro MSG_ERR and MSG_WAR in applicfg.h |
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158 // if the node is a slave, they can be mapped in the object dictionnary. |
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159 // if not null, allow the printing of message to the console |
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160 // Could be managed by PDO |
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161 UNS8 printMsgErrToConsole = 1; |
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162 UNS8 printMsgWarToConsole = 1; |
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163 |
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164 |
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165 |
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166 /*************************User's variables declaration**************************/ |
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167 UNS8 softCount = 0; |
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168 UNS8 lastMinute = 0; |
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169 UNS8 lastSecond = 0; |
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170 UNS8 sendingError = 0; |
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171 //--------------------------------FONCTIONS------------------------------------- |
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172 /* You *must* have these 2 functions in your code*/ |
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173 void heartbeatError(UNS8 heartbeatID); |
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174 void SD0timeoutError(UNS8 bus_id, UNS8 line); |
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175 |
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176 // Interruption timer 3. (The timer 4 is used by CanOpen) |
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177 void __attribute__((interrupt)) timer3Hdl (void); |
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178 |
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179 void incDate(void); |
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180 void initLeds(void); |
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181 void initTimerClk(void); |
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182 void initCanHCS12 (void); |
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183 void initialisation(void); |
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184 void preOperational(void); |
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185 void operational(void); |
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186 void stopped(void); |
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187 //------------------------------------------------------------------------------ |
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188 |
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189 |
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190 //------------------------------------------------------------------------------ |
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191 // Interruption timer 3 |
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192 void __attribute__((interrupt)) timer3Hdl (void) |
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193 { |
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194 //IO_PORTS_8(PORTB) ^= 0x10; |
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195 //IO_PORTS_8(PORTB) &= ~0x20; |
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196 IO_PORTS_8(TFLG1) = 0x08; // RAZ du flag interruption timer 3 |
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197 // Calcul evt suivant. Clock 8 MHz -> 8000 evt de 1 ms!! Doit tenir sur 16 bits |
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198 // Attention, ça change si on utilise la pll |
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199 // Lorsque le timer atteindra la valeur de TC3 (16 bits), l'interruption timer3Hdl sera déclenchée |
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200 // Si on utilise la PLL à 24 MHZ, alors la vitesse du bus est multipliée par 3. |
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201 |
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202 /* Assume that our board uses a 16 MHz quartz */ |
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203 /* Without pre-division, 8000 counts takes 1 ms. */ |
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204 /* We are using a pre-divisor of 32. (register TSCR2) See in CanOpenDriverHC12/timerhw.c */ |
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205 /* So 10000 counts takes 40 ms. */ |
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206 /* We must have a soft counter of 25 to count a second. */ |
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207 |
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208 IO_PORTS_16(TC3H) += (10000); // IT every 40000 count. |
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209 softCount++; |
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210 if (softCount == 25) { |
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211 softCount = 0; |
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212 incDate(); |
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213 } |
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214 } |
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215 |
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216 //------------------------------------------------------------------------------ |
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217 void heartbeatError(UNS8 heartbeatID) |
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218 { |
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219 MSG_ERR(0x1F00, "!!! No heart beat received from node : ", heartbeatID); |
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220 } |
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221 |
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222 //------------------------------------------------------------------------------ |
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223 void SD0timeoutError (UNS8 bus_id, UNS8 line) |
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224 { |
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225 // Informations on what occurs are in transfers[bus_id][line].... |
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226 // See scanSDOtimeout() in sdo.c |
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227 } |
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228 |
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229 //------------------------------------------------------------------------------ |
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230 // Incrementation of the date, every second |
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231 void incDate(void) |
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232 { |
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233 if (seconds == 59) { |
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234 seconds = 0; |
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235 if (minutes == 59) { |
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236 minutes = 0; |
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237 if (hours == 23) { |
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238 hours = 0; |
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239 day++; |
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240 } |
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241 else |
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242 hours++; |
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243 } |
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244 else |
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245 minutes++; |
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246 } |
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247 else |
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248 seconds++; |
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249 |
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250 // Toggle the led 4 every seconds |
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251 IO_PORTS_8(PORTB) ^= 0x10; |
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252 |
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253 } |
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254 |
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255 //Initialisation of the port B for the leds. |
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256 void initLeds(void) |
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257 { |
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258 // Port B is output |
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259 IO_PORTS_8(DDRB)= 0XFF; |
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260 // RAZ |
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261 IO_PORTS_8(PORTB) = 0xFF; |
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262 } |
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263 |
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264 |
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265 |
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266 //------------------------------------------------------------------------------ |
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267 // Init the timer for the clock demo |
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268 void initTimerClk(void) |
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269 { |
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270 |
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271 lock(); // Inhibe les interruptions |
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272 |
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273 // Configuration du Channel 3 |
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274 IO_PORTS_8(TIOS) |= 0x08; // Canal 3 en sortie |
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275 IO_PORTS_8(TCTL2) &= ~(0xC0); // Canal 3 déconnecté du pin de sortie |
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276 IO_PORTS_8(TIE) |= 0x08; // Autorise interruption Canal 3 |
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277 IO_PORTS_8(TSCR1) |= 0x80; // Mise en route du timer |
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278 unlock(); // Autorise les interruptions |
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279 } |
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280 |
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281 |
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282 //------------------------------------------------------------------------------ |
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283 |
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284 // A placer avant initTimer de la bibliothèque CanOpen |
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285 /* void initTimerbis(void) */ |
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286 /* { */ |
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287 |
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288 /* lock(); // Inhibe les interruptions */ |
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289 /* // Configuration des IT Channels (0..3) */ |
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290 /* IO_PORTS_8(TIOS) &= 0xF0; // Canals 0->3 en entrées. */ |
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291 /* IO_PORTS_8(TCTL4) &= 0XFD; // Canal 0 détection sur front montant. */ |
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292 /* IO_PORTS_8(TCTL4) |= 0X01; */ |
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293 /* IO_PORTS_8(TCTL4) &= 0XF7; // Canal 1 détection sur front montant. */ |
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294 /* IO_PORTS_8(TCTL4) |= 0X04; */ |
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295 /* IO_PORTS_8(TCTL4) &= 0XDF; // Canal 2 détection sur front montant. */ |
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296 /* IO_PORTS_8(TCTL4) |= 0X10; */ |
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297 /* IO_PORTS_8(TCTL4) &= 0X7F; // Canal 3 détection sur front montant. */ |
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298 /* IO_PORTS_8(TCTL4) |= 0X40; */ |
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299 /* IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32. */ |
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300 |
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301 /* IO_PORTS_8(ICOVW) |= 0x0F; // La sauvgrade des valeures de TC0 et TC0H */ |
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302 /* // correspondant aux canals (0..3) jusqu'a la */ |
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303 /* // prochaine lecture dans ces registres. */ |
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304 /* MASK = IO_PORTS_8(ICSYS); */ |
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305 /* MASK &= 0xFE; // Canals (0..3) en IC QUEUE MODE. */ |
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306 /* MASK |= 0x08; // Canals (0..3) : génére une interruption aprés */ |
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307 /* // la capture de deux valeures du timer sur detection */ |
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308 /* // d'un front montant à l'entrée des canals (0..3). */ |
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309 /* MASK |= 0x02; */ |
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310 /* IO_PORTS_8(ICSYS) = MASK; */ |
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311 /* IO_PORTS_16(TC0HH); // Vider le registre holding correspondant au canal0. */ |
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312 /* IO_PORTS_8(TSCR1) |= 0x10; // RAZ automatique des flags d'interruption aprés lecture */ |
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313 /* // dans les registres correspondant. */ |
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314 |
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315 /* IO_PORTS_8(TIE) |= 0x0F; // Autorise interruption Canals (0..3). */ |
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316 /* IO_PORTS_8(TSCR2) |= 0X80; // Autorise interruption sur l'Overflow. */ |
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317 /* unlock(); // Autorise les interruptions */ |
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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 |
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323 |
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324 |
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325 void initCanHCS12 (void) |
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326 { |
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327 //Init the HCS12 microcontroler for CanOpen |
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328 initHCS12(); |
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329 // Init the HCS12 CAN driver |
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330 const canBusInit bi0 = { |
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331 0, /* no low power */ |
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332 0, /* no time stamp */ |
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333 1, /* enable MSCAN */ |
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334 0, /* clock source : oscillator (In fact, it is not used) */ |
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335 0, /* no loop back */ |
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336 0, /* no listen only */ |
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337 0, /* no low pass filter for wk up */ |
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338 CAN_Baudrates[CAN_BAUDRATE_250K], |
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339 { |
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340 0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */ |
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341 0x00, 0xFF, /* filter 0 hight accept all msg */ |
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342 0x00, 0xFF, /* filter 0 low accept all msg */ |
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343 0x00, 0xFF, /* filter 1 hight filter all of msg */ |
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344 0x00, 0xFF, /* filter 1 low filter all of msg */ |
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345 0x00, 0xFF, /* filter 2 hight filter most of msg */ |
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346 0x00, 0xFF, /* filter 2 low filter most of msg */ |
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347 0x00, 0xFF, /* filter 3 hight filter most of msg */ |
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348 0x00, 0xFF, /* filter 3 low filter most of msg */ |
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349 } |
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350 }; |
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351 |
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352 canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters... |
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353 unlock(); // Allow interruptions |
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354 } |
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355 |
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356 |
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357 /*********************************************************************/ |
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358 void initialisation( void ) |
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359 { |
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360 //initcapteur(); //initialisation du capteur, timer, compteurs logiciels |
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361 initCanHCS12(); //initialisation du bus Can |
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362 MSG_WAR(0X3F05, "I am in INITIALISATION mode ", 0); |
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363 /* Defining the node Id */ |
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364 setNodeId(0x05); |
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365 MSG_WAR(0x3F06, "My node ID is : ", getNodeId()); |
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366 { |
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367 UNS8 *data; |
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368 UNS8 size; |
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369 UNS8 dataType; |
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370 // Manufacturer Device name (default = empty string) |
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371 getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0); |
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372 MSG_WAR(0x3F09, data, 0); |
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373 // Manufacturer Hardware version. (default = compilation. date) |
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374 getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0); |
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375 MSG_WAR(0x3F09, data, 0); |
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376 // Manufacturer Software version. (default = compilation. time) |
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377 getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0); |
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378 MSG_WAR(0x3F09, data, 0); |
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379 } |
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380 initCANopenMain(); //initialisation du canopen |
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381 heartbeatInit(); //initialisation du lifeguarding |
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382 initResetMode(); |
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383 initTimer(); //initialisation of the timer used by Canopen |
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384 initTimerClk(); |
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385 } |
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386 |
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387 |
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388 /*********************************************************************/ |
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389 void preOperational(void) |
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390 { |
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391 // Test if the heartBeat have been received. Send headbeat |
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392 heartbeatMGR(); |
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393 // Read message |
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394 receiveMsgHandler(0); |
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395 } |
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396 |
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397 |
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398 /********************************************************************/ |
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399 void operational( void ) |
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400 { |
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401 |
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402 // Init the errors |
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403 canopenErrNB = 0; |
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404 canopenErrVAL = 0; |
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405 |
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406 // Test if the heartBeat have been received. Send headbeat |
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407 heartbeatMGR(); |
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408 // Read message |
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409 receiveMsgHandler(0); |
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410 |
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411 if (lastMinute != minutes) { |
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412 MSG_WAR(0x3F00, "event : minutes change -> node decides to send it. Value : ", minutes); |
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413 sendPDOevent( 0, &minutes ); |
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414 lastMinute = minutes; |
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415 } |
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416 |
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417 if (canopenErrNB == 0) |
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418 sendingError = 0; |
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419 |
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420 |
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421 if (lastSecond != seconds) { |
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422 MSG_WAR (0x3F50, "Seconds = ", seconds); |
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423 if ((seconds == 50) && (sendingError == 0)) |
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424 { |
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425 MSG_ERR(0x1F55, "DEMO of ERROR. Sent by PDO. Value : ", 0xABCD); |
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426 sendingError = 1; |
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427 } |
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428 |
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429 if (canopenErrNB) { |
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430 MSG_WAR(0x3F56, "ERROR nb : ", canopenErrNB); |
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431 } |
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432 lastSecond = seconds; |
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433 |
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434 } |
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435 |
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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 void stopped( void ) |
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441 { |
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442 heartbeatMGR(); |
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443 // Read message |
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444 receiveMsgHandler(0); |
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445 } |
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446 |
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447 |
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448 /*****************************************************************************/ |
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449 |
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450 |
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451 |
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452 /********************************* MAIN ***************************************/ |
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453 |
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454 |
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455 int main () |
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456 { |
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457 e_nodeState lastState = Unknown_state; |
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458 |
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459 /* CanOpen slave state machine */ |
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460 /* ------------------------------------*/ |
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461 |
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462 while(1) { /* slave's state machine */ |
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463 |
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464 switch( getState() ) { |
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465 case Initialisation: |
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466 if (lastState != getState()) { |
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467 initLeds(); |
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468 IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON |
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469 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF |
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470 MSG_WAR(0X3F10, "Entering in INITIALISATION mode ", 0); |
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471 } |
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472 initialisation(); |
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473 /* change automatically into pre_operational state */ |
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474 lastState = Initialisation; |
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475 setState(Pre_operational); |
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476 break; |
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477 |
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478 case Pre_operational: |
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479 if (lastState != getState()) { |
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480 IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON |
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481 IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF |
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482 MSG_WAR(0X3F11, "Entering in PRE_OPERATIONAL mode ", 0); |
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483 initPreOperationalMode(); |
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484 } |
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485 preOperational(); |
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486 if (lastState == Initialisation) |
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487 slaveSendBootUp(0); |
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488 lastState = Pre_operational; |
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489 break; |
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490 |
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491 case Operational: |
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492 if (lastState != getState()) { |
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493 IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON |
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494 IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF |
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495 MSG_WAR(0X3F12, "Entering in OPERATIONAL mode ", 0); |
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496 } |
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497 operational(); |
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498 lastState = Operational; |
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499 break; |
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500 |
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501 case Stopped: |
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502 if (lastState != getState()) { |
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503 IO_PORTS_8(PORTB) |= 0x0F; // leds 0, 1, 2, 3 : OFF |
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504 MSG_WAR(0X3F13, "Entering in STOPPED mode", 0); |
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505 } |
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506 stopped(); |
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507 lastState = Stopped; |
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508 break; |
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509 }//end switch case |
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510 |
|
511 } |
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512 return (0); |
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513 } |
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514 |