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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 |
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24 #define DEBUG_WAR_CONSOLE_ON |
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25 #define DEBUG_ERR_CONSOLE_ON |
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26 |
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27 #include <stddef.h> /* for NULL */ |
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28 |
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29 #include <asm-m68hc12/portsaccess.h> |
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30 #include <asm-m68hc12/ports_def.h> |
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31 #include <asm-m68hc12/ports.h> |
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32 #include <interrupt.h> |
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33 |
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34 #include <applicfg.h> |
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35 |
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36 |
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37 |
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38 #include <../include/hcs12/candriver.h> |
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39 |
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40 #include "../include/def.h" |
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41 #include "../include/can.h" |
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42 #include "../include/objdictdef.h" |
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43 #include "../include/objacces.h" |
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44 #include "../include/sdo.h" |
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45 #include "../include/pdo.h" |
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46 #include "../include/timer.h" |
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47 #include "../include/lifegrd.h" |
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48 #include "../include/sync.h" |
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49 |
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50 |
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51 #include "../include/nmtSlave.h" |
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52 #include "objdict.h" |
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53 |
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54 |
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55 // HCS12 configuration |
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56 // ----------------------------------------------------- |
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57 |
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58 enum E_CanBaudrate |
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59 { |
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60 CAN_BAUDRATE_250K, |
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61 CAN_BAUDRATE_500K, |
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62 CAN_BAUDRATE_1M, |
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63 }; |
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64 |
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65 |
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66 const canBusTime CAN_Baudrates[] = |
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67 { |
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68 { |
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69 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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70 3, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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71 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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72 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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73 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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74 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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75 |
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76 /* |
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77 With these values, |
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78 - The width of the bit time is 16 time quantum : |
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79 - 1 tq for the SYNC segment (could not be modified) |
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80 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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81 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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82 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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83 freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time, |
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84 so the freq of the bit time is 250 kHz. |
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85 */ |
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86 }, |
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87 |
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88 { |
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89 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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90 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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91 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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92 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ |
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93 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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94 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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95 |
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96 /* |
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97 With these values, |
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98 - The width of the bit time is 16 time quantum : |
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99 - 1 tq for the SYNC segment (could not be modified) |
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100 - 13 tq for the TIME 1 segment (tseg1 = 12) |
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101 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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102 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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103 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time, |
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104 so the freq of the bit time is 500 kHz. |
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105 */ |
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106 }, |
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107 |
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108 { |
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109 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ |
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110 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ |
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111 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ |
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112 0, /* samp : chose btw 0 and 3 (2 bits) (samp +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId()); 1 ) samples per bit */ |
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113 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ |
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114 4, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ |
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115 |
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116 /* |
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117 With these values, |
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118 - The width of the bit time is 16 time quantum : |
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119 - 1 tq for the SYNC segment (could not be modified) |
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120 - 5 tq for the TIME 1 segment (tseg1 = 4) |
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121 - 2 tq for the TIME 2 segment (tseg2 = 1) |
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122 - Because the bus clock of the MSCAN is 16 MHZ, and the |
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123 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time, |
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124 so the freq of the bit time is 1 MHz. |
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125 */ |
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126 } |
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127 }; |
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128 |
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129 |
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130 |
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131 |
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132 /**************************prototypes*****************************************/ |
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133 |
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134 //fonction d'initialisation du bus can et la couche CANOPEN pour le capteur |
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135 void initCanopencapteur (void); |
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136 // les fonctions d'initialisation du capteur: timer, compteurs logiciel |
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137 void initSensor(void); |
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138 void initPortB(void); |
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139 |
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140 //------------------------------------------------------------------------------ |
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141 //Initialisation of the port B for the leds. |
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142 void initPortB(void) |
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143 { |
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144 // Port B is output |
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145 IO_PORTS_8(DDRB)= 0XFF; |
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146 // RAZ |
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147 IO_PORTS_8(PORTB) = 0xFF; |
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148 } |
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149 |
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150 |
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151 |
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152 //------------------------------------------------------------------------------ |
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153 void initSensor(void) |
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154 { |
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155 UNS8 baudrate = 0; |
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156 MSG_WAR(0x3F33, "I am the node : ", getNodeId(&gene_SYNC_Data)); |
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157 // Init led control |
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158 initPortB(); |
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159 IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON |
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160 // Init port to choose se CAN baudrate by switch |
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161 IO_PORTS_8(ATD0DIEN) = 0x03; |
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162 |
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163 canBusInit bi0 = { |
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164 0, /* no low power */ |
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165 0, /* no time stamp */ |
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166 1, /* enable MSCAN */ |
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167 0, /* clock source : oscillator (In fact, it is not used) */ |
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168 0, /* no loop back */ |
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169 0, /* no listen only */ |
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170 0, /* no low pass filter for wk up */ |
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171 CAN_Baudrates[CAN_BAUDRATE_250K], |
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172 { |
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173 0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */ |
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174 0x00, 0xFF, /* filter 0 hight accept all msg */ |
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175 0x00, 0xFF, /* filter 0 low accept all msg */ |
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176 0x00, 0xFF, /* filter 1 hight filter all of msg */ |
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177 0x00, 0xFF, /* filter 1 low filter all of msg */ |
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178 0x00, 0xFF, /* filter 2 hight filter most of msg */ |
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179 0x00, 0xFF, /* filter 2 low filter most of msg */ |
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180 0x00, 0xFF, /* filter 3 hight filter most of msg */ |
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181 0x00, 0xFF, /* filter 3 low filter most of msg */ |
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182 } |
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183 }; |
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184 |
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185 //Init the HCS12 microcontroler for CanOpen |
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186 initHCS12(); |
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187 |
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188 // Chose the CAN rate |
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189 baudrate = IO_PORTS_8(PORTAD0) & 0x03; |
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190 switch (baudrate) { |
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191 case 1: |
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192 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K]; |
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193 MSG_WAR(0x3F30, "CAN 250 kbps ", 0); |
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194 break; |
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195 case 2: |
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196 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_500K]; |
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197 MSG_WAR(0x3F31, "CAN 500 kbps ", 0); |
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198 break; |
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199 case 3: |
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200 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M]; |
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201 MSG_WAR(0x3F31, "CAN 1000 kbps ", 0); |
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202 break; |
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203 default: |
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204 MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED ", 0); |
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205 } |
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206 |
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207 MSG_WAR(0x3F33, "SYNC signal generator", 0); |
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208 |
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209 canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters... |
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210 initTimer(); // Init hcs12 timer used by CanFestival. (see timerhw.c) |
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211 unlock(); // Allow interruptions |
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212 } |
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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 |
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218 |
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219 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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220 // FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here. |
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221 |
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222 //------------------------------------------------------------------------------ |
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223 void gene_SYNC_heartbeatError( UNS8 heartbeatID ) |
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224 { |
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225 |
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226 MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID); |
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227 } |
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228 |
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229 //------------------------------------------------------------------------------ |
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230 void gene_SYNC_SDOtimeoutError (UNS8 line) |
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231 { |
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232 MSG_ERR(0x1F01, "SDO timeout for line : ", line); |
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233 } |
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234 |
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235 //------------------------------------------------------------------------------ |
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236 UNS8 gene_SYNC_canSend(Message *m) |
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237 { |
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238 // HCS12 driver function to send the CAN msg |
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239 canMsgTransmit(CAN0, *m); |
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240 return 0; |
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241 } |
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242 |
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243 //------------------------------------------------------------------------------ |
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244 void gene_SYNC_initialisation() |
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245 { |
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246 MSG_WAR (0x3F00, "Entering in INIT ", 0); |
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247 initSensor(); |
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248 IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON |
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249 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF |
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250 } |
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251 |
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252 |
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253 //------------------------------------------------------------------------------ |
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254 void gene_SYNC_preOperational() |
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255 { |
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256 MSG_WAR (0x3F01, "Entering in PRE-OPERATIONAL ", 0); |
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257 IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON |
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258 IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF |
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259 } |
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260 |
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261 |
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262 //------------------------------------------------------------------------------ |
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263 void gene_SYNC_operational() |
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264 { |
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265 MSG_WAR (0x3F02, "Entering in OPERATIONAL ", 0); |
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266 IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON |
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267 IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF |
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268 } |
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269 |
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270 //------------------------------------------------------------------------------ |
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271 void gene_SYNC_stopped() |
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272 { |
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273 MSG_WAR (0x3F02, "Entering in STOPPED ", 0); |
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274 } |
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275 |
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276 //------------------------------------------------------------------------------ |
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277 void gene_SYNC_post_sync() |
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278 { |
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279 } |
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280 |
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281 //------------------------------------------------------------------------------ |
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282 void gene_SYNC_post_TPDO() |
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283 { |
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284 } |
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285 |
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286 // End functions which are part of Canfestival |
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287 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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288 |
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289 |
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290 /******************************************************************************/ |
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291 /********************************* MAIN ***************************************/ |
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292 /******************************************************************************/ |
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293 |
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294 |
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295 UNS8 main (void) |
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296 { |
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297 |
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298 MSG_WAR(0x3F34, "Entering in the main", 0); |
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299 //----------------------------- INITIALISATION -------------------------------- |
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300 /* Defining the node Id */ |
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301 setNodeId(&gene_SYNC_Data, 0x03); |
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302 |
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303 /* Put the node in Initialisation mode */ |
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304 MSG_WAR(0x3F35, "va passer en init", 0); |
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305 setState(&gene_SYNC_Data, Initialisation); |
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306 |
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307 //----------------------------- START ----------------------------------------- |
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308 /* Put the node in pre-operational mode */ |
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309 //MSG_WAR(0x3F36, "va passer en pre-op", 0); |
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310 //setState(&gene_SYNC_Data, Pre_operational); |
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311 |
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312 while (1) { |
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313 { |
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314 Message m; |
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315 if (f_can_receive(0, &m)) { |
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316 MSG_WAR(0x3F36, "Msg received", m.cob_id.w); |
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317 canDispatch(&gene_SYNC_Data, &m); |
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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 return (0); |
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326 } |
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327 |
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328 |
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329 |