examples/AppliMaster_HCS12/appli.c
changeset 93 16c8ceea8f18
parent 92 0d84d95790d9
child 94 bdf4c86be6b2
--- a/examples/AppliMaster_HCS12/appli.c	Tue Feb 13 17:21:19 2007 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1143 +0,0 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack. 
-
-Copyright (C): Edouard TISSERANT and Francis DUPIN
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-*/
-
-#include <stddef.h> /* for NULL */
-
-#include <asm-m68hc12/portsaccess.h>
-#include <asm-m68hc12/ports_def.h>
-#include <asm-m68hc12/ports.h>
-#include  <interrupt.h>
-
-#include <applicfg.h>
-#include <candriver.h>
-#include <timerhw.h>
-
-#include "def.h"
-#include "can.h"
-#include "objdictdef.h"
-#include "objacces.h"
-#include "canOpenDriver.h"
-#include "sdo.h"
-#include "pdo.h"
-#include "init.h"
-#include "timer.h"
-#include "lifegrd.h"
-#include "sync.h"
-
-#include "nmtMaster.h"
-
-// For prototype of exit();
-#define exit _exit
-
-
-
-
-// HCS12 configuration
-// -----------------------------------------------------
-
-enum E_CanBaudrate 
-{
-   CAN_BAUDRATE_250K,
-   CAN_BAUDRATE_500K,
-   CAN_BAUDRATE_1M,
-   CAN_BAUDRATE_OLD_VALUE
-};
-
-const canBusTime CAN_Baudrates[] =
-{
-   {
-      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */
-      3,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */
-      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */
-      0,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */
-      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */
-     12,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */
-
-      /*
-      With these values, 
-      - The width of the bit time is 16 time quantum :
-          - 1 tq for the SYNC segment (could not be modified)
-          - 13 tq for the TIME 1 segment (tseg1 = 12)
-          - 2 tq for the TIME 2 segment (tseg2 = 1)
-      - Because the bus clock of the MSCAN is 16 MHZ, and the 
-        freq of the time quantum is 4 MHZ (brp = 3+1), and  there are 16 tq in the bit time,
-        so the freq of the bit time is 250 kHz.
-      */
-   },
-
-   {
-      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */
-      1,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */
-      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */
-      0,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */
-      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */
-     12,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */
-
-      /*
-      With these values, 
-      - The width of the bit time is 16 time quantum :
-          - 1 tq for the SYNC segment (could not be modified)
-          - 13 tq for the TIME 1 segment (tseg1 = 12)
-          - 2 tq for the TIME 2 segment (tseg2 = 1)
-      - Because the bus clock of the MSCAN is 16 MHZ, and the 
-        freq of the time quantum is 8 MHZ (brp = 1+1), and  there are 16 tq in the bit time,
-        so the freq of the bit time is 500 kHz.
-      */
-    },
-
-	{
-      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */
-      1,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */
-      0,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */
-      0,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */
-      1,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */
-      4,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */
-
-      /*
-      With these values, 
-      - The width of the bit time is 16 time quantum :
-          - 1 tq for the SYNC segment (could not be modified)
-          - 5 tq for the TIME 1 segment (tseg1 = 4)
-          - 2 tq for the TIME 2 segment (tseg2 = 1)
-      - Because the bus clock of the MSCAN is 16 MHZ, and the 
-        freq of the time quantum is 8 MHZ (brp = 1+1), and  there are 8 tq in the bit time,
-        so the freq of the bit time is 1 MHz.
-      */
-    },
-
-	{
-      1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */
-      0,  /* brp :  chose btw 0 and 63 (6 bits).  freq time quantum = 16MHz / (brp + 1) */
-      1,  /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum          */
-      1,  /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit              */
-      4,  /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1)  tq       */
-      9,  /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1)  tq      */
-
-      /*
-      With these values, 
-      - The width of the bit time is 16 time quantum :
-          - 1 tq for the SYNC segment (could not be modified)
-          - 10 tq for the TIME 1 segment (tseg1 = 9)
-          - 5 tq for the TIME 2 segment (tseg2 = 4)
-      - Because the bus clock of the MSCAN is 16 MHZ, and the 
-        freq of the time quantum is 16 MHZ (brp = 0), and  there are 16 tq in the bit time,
-        so the freq of the bit time is 1 MHz.
-      */
-    }
-};
-
-
-
-// Required definition variables
-// -----------------------------
-// The variables that you should define for debugging.
-// They are used by the macro MSG_ERR and MSG_WAR in applicfg.h
-// if the node is a slave, they can be mapped in the object dictionnary.
-
-UNS8 printMsgErrToConsole = 1;
-UNS8 printMsgWarToConsole = 1;
-
-// The variables mapped in the object dictionnary
-// ----------------------------------------------
-extern UNS32 canopenErrNB_node5;   // Mapped at index 0x6000, subindex 0x0
-extern UNS32 canopenErrVAL_node5;  // Mapped at index 0x6001, subindex 0x0
-extern UNS8 second;		   // Mapped at index 0x6002, subindex 0x1
-extern UNS8 minutes;		   // Mapped at index 0x6002, subindex 0x2
-extern UNS8 hour;		   // Mapped at index 0x6002, subindex 0x3
-extern UNS8 day;		   // Mapped at index 0x6002, subindex 0x4
-extern UNS32 canopenErrNB;	   // Mapped at index 0x6003, subindex 0x1
-extern UNS32 canopenErrVAL;	   // Mapped at index 0x6003, subindex 0x2
-
-/*************************User's variables declaration**************************/
-UNS8 connectedNode[128];
-volatile UNS8 sec = 0; // To count the time every second
-UNS8 softCount = 0;
-
-/* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */
-typedef struct mappedVar 
-{
-  UNS32 index;
-  UNS8  subIndex;
-  UNS8  size; // in byte
-} s_mappedVar;
-
-typedef struct heartbeatConsumer
-{
-  UNS8 nodeProducer;
-  UNS16 time_ms;
-} s_heartbeatConsumer;
-
-/**************************prototypes*****************************************/
-/* You *must* have these 2 functions in your code*/
-void heartbeatError(UNS8 heartbeatID );
-void SD0timeoutError(UNS8 bus_id, UNS8 line);
-
-void waitMessage (void );
-void heartBeat (void );
-void transmitSync (void);
-e_nodeState stateNode (UNS8 node);
-void configure_master_SDO (UNS32 index, UNS8 serverNode);
-UNS8 waitingWriteToSlaveDict ( UNS8 slaveNode, UNS8 error);
-UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error);
-UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode);
-void masterMappingPDO (UNS32 indexPDO, UNS32 cobId, 
-		      s_mappedVar *tabMappedVar, UNS8 nbVar);
-void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, 
-		     s_mappedVar *tabMappedVar, UNS8 nbVar);
-void masterHeartbeatConsumer (s_heartbeatConsumer 
-			     *tabHeartbeatConsumer, UNS8 nbHeartbeats);
-void masterHeartbeatProducer (UNS16 time);
-void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer 
-			    *tabHeartbeatConsumer, UNS8 nbHeartbeats);
-void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time);
-void masterPDOTransmissionMode (UNS32 indexPDO,  UNS8 transType);
-void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO,  UNS8 transType);
-void masterSYNCPeriod (UNS32 SYNCPeriod);
-int main (void);
-
-// Interruption timer 3. (The timer 4 is used by CanOpen)
-void __attribute__((interrupt)) timer3Hdl (void);
-void incDate (void);
-void initLeds (void);
-void initCanHCS12 (void);
-void initTimerClk (void);
-
-
-/*****************************************************************************/
-void heartbeatError(UNS8 heartbeatID)
-{
-  // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO,
-  // But we do not have mapped the variables in a PDO, so it sends nothing.
-  // See the note at the end of END CONFIGURING THE NETWORK.
-  MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID);
-}
-
-/*****************************************************************************/
-void SD0timeoutError (UNS8 bus_id, UNS8 line)
-{
-  // Informations on what occurs are in transfers[bus_id][line]....
-  // See scanSDOtimeout() in sdo.c
-}
-
-//------------------------------------------------------------------------------
-/************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/
-
-//------------------------------------------------------------------------------
-/* Node mode result after NodeGuard query */
-e_nodeState stateNode(UNS8 node) 
-{
-  e_nodeState state = getNodeState(0, node);
-  switch (state) {
-  case Unknown_state: 
-    MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node);
-    break;
-  case Operational: 
-    MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node);
-    break;
-  case Pre_operational: 
-    MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node);
-    break;
-  default:
-    MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node);
-  }
-  return state;
-}
-
-//------------------------------------------------------------------------------
-/* The master is writing in its dictionnary to configure the SDO parameters 
-to communicate with server_node
-*/
-void configure_master_SDO(UNS32 index, UNS8 serverNode)
-{
-  UNS32 data32;
-  UNS8  data8;
-  UNS8 sizeData = 4 ; // in bytes
-
-  /* At subindex 1, the cobId of the Can message from the client.
-  It is always defined inside the server dictionnary as 0x600 + server_node.
-  So, we have no choice here ! */
-  data32 = 0x600 + serverNode;
-  setODentry(index, 1, &data32, sizeData, 0);
-
-  {
-    // Test
-    UNS32  *pbData;
-    UNS8 length;
-    UNS32 returnValue;
-    UNS8 dataType;
-    // Relecture
-    MSG_WAR(0x1000, "Reading index : ", index);
-    MSG_WAR(0x1000, "     subindex : ", 1);
-    returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
-    MSG_WAR(0x1000, "          val : ", *pbData);
-  }
-
-
-  /* At subindex 2, the cobId of the Can message from the server to the client.
-  It is always defined inside the server dictionnary as 0x580 + client_node.
-  So, we have no choice here ! */
-  data32 = 0x580 + serverNode;
-  setODentry(index, 2, &data32, sizeData, 0);
-
-  /* At subindex 3, the node of the server */
-  data8 = serverNode;
-  sizeData = 1;
-  setODentry(index, 3, &data8, sizeData, 0);
-
-  {
-    UNS8  *pbData;
-    UNS8 length;
-    UNS32 returnValue;
-    UNS8 dataType;
-    // Relecture
-    MSG_WAR(0x1000, "Reading  index : ", index);
-    MSG_WAR(0x1000, "      subindex : ", 3);
-    returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
-    MSG_WAR(0x1000, "           val : ", *pbData);
-  }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error)
-{
-   UNS8 err;
-  UNS32 abortCode;
-  MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode);
-  if (error) {
-    MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode);
-    return -1;
-  }
-  /* Waiting until the slave has responded */
-  while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) {
-    // Check if some SDO response are missing
-    scanSDOtimeout();
-  }
-
-  err = getWriteResultNetworkDict (0, slaveNode, &abortCode);
-  if (err == SDO_FINISHED) {
-    MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode);
-    // Release the line. Don't forget !!!
-    closeSDOtransfer(0, slaveNode, SDO_CLIENT);
-    return 0;
-  }
-
-  if (err == SDO_ABORTED_RCV) {
-    MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode);
-  }
-
-  if (err == SDO_ABORTED_INTERNAL) {
-    MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode);
-  }
-  // Looking for the line transfert number to read the index, subindex and releasing the line.
-  {
-    UNS8 line;
-    err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
-    if (err) {
-      MSG_WAR(0x2F21, "No line found for node : ", slaveNode);
-      exit(-1);
-    }
-    MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index);
-    MSG_WAR (0x2F23, "                  subIndex : ", transfers[0][line].subIndex);
-    //Releasing the line.
-    closeSDOtransfer(0, slaveNode, SDO_CLIENT);
-    exit(-1);
-  }
- return 0;
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error)
-{
-  UNS8 err;
-  UNS32 abortCode;
-  MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode);
-  if (error) {
-    MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode);
-    return -1;
-  }
-  /* Waiting until the slave has responded */
-  while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) {
-    // Check if some SDO response are missing
-    scanSDOtimeout();
-  }
-  err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode);
-  if (err == SDO_FINISHED) {
-    MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode);
-    // Release the line. Don't forget !!!
-    closeSDOtransfer(0, slaveNode, SDO_CLIENT);
-    return 0;
-  }
-  if (err == SDO_ABORTED_RCV) {
-    MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode);
-  }
-
-  if (err == SDO_ABORTED_INTERNAL) {
-    MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode);
-  }
-  // Looking for the line transfert number to read the index, subindex and releasing the line.
-  {
-    UNS8 line;
-    err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
-    if (err) {
-      MSG_WAR(0x2F2F, "No line found for node : ", slaveNode);
-      exit(-1);
-    }
-    MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index);
-    MSG_WAR (0x2F31, "                  subIndex : ", transfers[0][line].subIndex);
-    //Releasing the line.
-    closeSDOtransfer(0, slaveNode, SDO_CLIENT);
-    exit(-1);
-  }    
-
- return 0;
-}
-
-//------------------------------------------------------------------------------
-/* The master is writing in the slave dictionnary to configure the SDO parameters
-Remember that the slave is the server, and the master is the client.
- */
-UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode)
-{
-  UNS8 data;
-  UNS8 NbDataToWrite = 1 ; // in bytes
-  UNS8 err = 0;
-  MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node ", slaveNode);
-  /* It is only to put at subindex 3 the serverNode. It is optionnal.
-     In the slave dictionary, only one SDO server is defined, at index 
-     0x1200 */
-  data = clientNode;
-  err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data); 
-  waitingWriteToSlaveDict(slaveNode, err);
- 
-  return 0;
-}		
-  
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterMappingPDO(UNS32 indexPDO, UNS32 cobId, 
-		      s_mappedVar *tabMappedVar, UNS8 nbVar)
-{
-  UNS32 *pbData;
-  UNS32 data32; 
-  UNS8 i;
-  UNS8 size = 0;
-  UNS8 dataType;
-
-  if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
-    MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId);
-
-  if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
-    MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId);
-
-  /* At indexPDO, subindex 1, defining the cobId of the PDO */
-  setODentry(indexPDO, 1, &cobId, 4, 0);
-  /* The mapping ... */
-  /* ----------------*/
-  /* At subindex 0, the number of variables in the PDO */
-  setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0);
-  getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0);
-  /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in 
-     the PDO. The first variable after the COBID is defined at subindex 1, ... 
-     The data to write is the concatenation on 32 bits of (msb ... lsb) : 
-     index(16b),subIndex(8b),sizeVariable(8b)
-*/
-  for (i = 0 ; i < nbVar ; i++) {
-    data32 = ((tabMappedVar + i)->index << 16) |
-      (((tabMappedVar + i)->subIndex & 0xFF) << 8) |
-      ((tabMappedVar + i)->size & 0xFF);
-    // Write dictionary
-    setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0);
-
-#   ifdef MORE_COMMENTS
-    printf("Mapped variable defined  at index 0x%X, subIndex 0x%X, %d bits\n", 
-	   (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
-    // Only to verify.
-    // Read dictionnary
-    getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0);
-    printf("Writen à  index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", 
-	   indexPDO + 0x200, i + 1, 8 * size, *pbData);
-#   endif
-    
-  }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, 
-		     s_mappedVar *tabMappedVar, UNS8 nbVar)
-{
-  UNS32 data32; 
-  UNS8 i;
-  UNS8 err;
-  UNS8 nbBytes = 1;
-  if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
-    MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId);
-
-  if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
-    MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId);
-
-  /* At indexPDO, subindex 1, defining the cobId of the PDO */
-  err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId); 
-  waitingWriteToSlaveDict(slaveNode, err);
-
-  /* The mapping ... */
-  /* ----------------*/
-  /* At subindex 0, the number of variables in the PDO */
-  err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar); 
-  waitingWriteToSlaveDict(slaveNode, err);
-
-  /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in 
-     the PDO. The first variable after the COBID is defined at subindex 1, ... 
-     The data to write is the concatenation on 32 bits of (msb ... lsb) : 
-     index(16b),subIndex(8b),sizeVariable(8b)
-*/
-  for (i = 0 ; i < nbVar ; i++) {
-    data32 = ((tabMappedVar + i)->index << 16) |
-      (((tabMappedVar + i)->subIndex & 0xFF) << 8) |
-      ((tabMappedVar + i)->size & 0xFF);
-
-    // Write dictionary
-    err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32); 
-    waitingWriteToSlaveDict(slaveNode, err);
-
-#   ifdef MORE_COMMENTS
-    printf("Mapped variable defined  at index 0x%X, subIndex 0x%X, %d bits\n", 
-	   (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
-
-    printf("At node 0x%X Writen at  index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", 
-	   slaveNode, indexPDO + 0x200, i + 1, 32, data32);
-#   endif
-    
-  }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-void masterHeartbeatConsumer(s_heartbeatConsumer 
-			     *tabHeartbeatConsumer, UNS8 nbHeartbeats)
-{
-  UNS32 data;
-  UNS8 i;
-  UNS8 nbHB = nbHeartbeats;
-
-  MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0);
-  /* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */
-  setODentry(0x1016, 0, & nbHB, 1, 0);
-  
-  /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
-     00 - node_consumer (8b) - time_ms (16b)
-     Put 0 to ignore the entry.
-  */
-  for (i = 0 ; i < nbHeartbeats ; i++) {
-    data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
-    setODentry(0x1016, i + 1, & data, 4, 0);
-  }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterHeartbeatProducer(UNS16 time)
-{
-  UNS16 hbTime = time;
-  MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0);
-  /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
-  setODentry(0x1017, 0, &hbTime, 2, 0);
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer 
-			    *tabHeartbeatConsumer, UNS8 nbHeartbeats)
-{
-  UNS32 data;
-  UNS8 err;
-  UNS8 i;
-  
-  MSG_WAR(0x3F46, "Configuring heartbeats consumers for node  : ", slaveNode);
-  
-  /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
-     00 - node_consumer (8b) - time_ms (16b)
-     Put 0 to ignore the entry.
-  */
-  for (i = 0 ; i < nbHeartbeats ; i++) {
-    data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | 
-      ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
-    err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data); 
-    waitingWriteToSlaveDict(slaveNode, err);
-  }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time)
-{
-  UNS8 err;
-  MSG_WAR(0x3F47, "Configuring heartbeat producer for node  : ", slaveNode);
-  /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
-
-  err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time); 
-  waitingWriteToSlaveDict(slaveNode, err);
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterPDOTransmissionMode(UNS32 indexPDO,  UNS8 transType)
-{
-  MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO);
- 
-  /* At subindex 2, the transmission type */
-  setODentry(indexPDO, 2, &transType, 1, 0);
-}
-
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO,  UNS8 transType)
-{
-  UNS8 err;
-  MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode);
-  MSG_WAR(0x3F42, "                              indexPDO : ", indexPDO);
-
-  err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType); 
-  waitingWriteToSlaveDict(slaveNode, err);
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterSYNCPeriod(UNS32 SYNCPeriod)
-{
- UNS32 cobId = 0x40000080;
- MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod);
- /* At index 0x1006, subindex 0 : the period in ms */
- setODentry(0x1006, 0, &SYNCPeriod , 4, 0);
- /* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */
- setODentry(0x1005, 0, &cobId, 4, 0);
-}
-
-//------------------------------------------------------------------------------
-
-
-//Initialisation of the port B for the leds.
-void initLeds(void)
-{
-  // Port B is output
-  IO_PORTS_8(DDRB)= 0XFF;
-  // RAZ
-  IO_PORTS_8(PORTB) = 0xFF;
-}
-
-//------------------------------------------------------------------------------
-
-
-
-void initCanHCS12 (void)
-{  
-  //Init the HCS12 microcontroler for CanOpen 
-  initHCS12();
-   // Init the HCS12  CAN driver
-  const canBusInit bi0 = {
-    0,    /* no low power                 */ 
-    0,    /* no time stamp                */
-    1,    /* enable MSCAN                 */
-    0,    /* clock source : oscillator (In fact, it is not used)   */
-    0,    /* no loop back                 */
-    0,    /* no listen only               */
-    0,    /* no low pass filter for wk up */
-	CAN_Baudrates[CAN_BAUDRATE_250K],
-    {
-      0x00,    /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */
-      0x00, 0xFF, /* filter 0 hight accept all msg      */
-      0x00, 0xFF, /* filter 0 low accept all msg        */
-      0x00, 0xFF, /* filter 1 hight filter all of  msg  */
-      0x00, 0xFF, /* filter 1 low filter all of  msg    */
-      0x00, 0xFF, /* filter 2 hight filter most of  msg */
-      0x00, 0xFF, /* filter 2 low filter most of  msg   */
-      0x00, 0xFF, /* filter 3 hight filter most of  msg */
-      0x00, 0xFF, /* filter 3 low filter most of  msg   */
-    }
-  };   
-
-  canInit(CANOPEN_LINE_NUMBER_USED, bi0);  //initialize filters...
-  unlock(); // Allow interruptions
-}
-
-/*********************************************************************/
-// For Second timer
-void incDate(void)
-{
-  if (sec == 59) 
-    sec = 0;
-  else
-    sec++;
-
-  // Toggle the led 4 every seconds
-  IO_PORTS_8(PORTB) ^= 0x10;
-
-}
-
-// Init the time for the second counter
-void initTimerClk(void)
-{
-
-  lock();   // Inhibe les interruptions
-
-  // Configuration du Channel 3
-  IO_PORTS_8(TIOS) |= 0x08;     // Canal 3 en sortie
-  IO_PORTS_8(TCTL2) &= ~(0xC0); // Canal 3 déconnecté du pin de sortie
-  IO_PORTS_8(TIE) |= 0x08;      // Autorise interruption Canal 3
-  IO_PORTS_8(TSCR1) |= 0x80;    // Mise en route du timer
-  unlock(); // Autorise les interruptions
-}
-
-
-/*********************************************************************/
-void __attribute__((interrupt)) timer3Hdl(void)
-{
-  //IO_PORTS_8(PORTB) ^= 0x10;
-  //IO_PORTS_8(PORTB) &= ~0x20;
-  IO_PORTS_8(TFLG1) = 0x08; // RAZ du flag interruption timer 3
-  // Calcul evt suivant. Clock 8 MHz -> 8000 evt de 1 ms!! Doit tenir sur 16 bits
-  // Attention, ça change si on utilise la pll
-  // Lorsque le timer atteindra la valeur de TC3 (16 bits), l'interruption timer3Hdl sera déclenchée
-  // Si on utilise la PLL à 24 MHZ, alors la vitesse du bus est multipliée par 3.
-
-/*   Assume that our board uses a 16 MHz quartz */
-/*   Without pre-division, 8000 counts takes 1 ms. */
-/*   We are using a pre-divisor of 32. (register TSCR2) See in CanOpenDriverHC12/timerhw.c  */
-/*   So 1000 counts takes 4 ms. */
-/*   We must have a soft counter of 250 to count a second. */
-  
-/*
-  We check in an interrupt handler if a message is arrived.
-*/
-  receiveMsgHandler(0);
-
-  IO_PORTS_16(TC3H) += (1000); // IT every 4000 count.
-  softCount++;
-  if (softCount == 250) {
-    softCount = 0;
-    incDate();
-  }
-}
-
-
-
-
-/*****************************************************************************/
-
-
-
-/********************************* MAIN ***************************************/
-
- 
-int main()
-{
-
-  UNS8 second_last;
-  UNS8 minutes_last;
-  UNS8 sendingResetError = 0;
-  UNS8 ok, i;
-
-  /* initialisation du bus Can */
-  initCanHCS12();  
- 
-  /* arrays initialisation, etc */
-  initCANopenMain();     
-      
-  /* arrays initialisation, etc */
-  initCANopenMaster();  
-
-/* Defining the node Id */
-  setNodeId(0x01);
-  MSG_WAR(0x3F50, "My node ID is : ", getNodeId()); 
-
-  /* Put the master in operational mode */
-  setState(Operational);
-
- /* Init the table of connected nodes */
-  for (i = 0 ; i < 128 ; i++)
-    connectedNode[i] = 0;
-
-  /* Initialisation */
-  initLeds();
-  initTimer( );
-  initTimerClk();
-    
-
-
-  /******************** CONFIGURING THE NETWORK **************************/
-  
-  /* Which nodes are connected ? */
-  /* Sending a request Node guard to node 5 and 6 */
-  MSG_WAR(0x3F04, "Sending a node guard to node : ", 5);
-  masterReadNodeState(0, 0x05);
-
-  /* Sending a message to the node 6, only as example */
-  MSG_WAR(0x3F04, "Sending a node guard to node : ", 6);
-  masterReadNodeState(0, 0x06);
-  /* Waiting for a second the response */
-  sec = 0;
-  while (sec < 2) {};
-
-  /* Whose node have answered ? */
-  connectedNode[5] = stateNode(5);
-  if (connectedNode[5] != Unknown_state) {
-    MSG_WAR(0x3F06, "Node 5 connected. Its state is : ", connectedNode[5]);
-  }
-  else {
-    MSG_WAR(0x3F07, "Node 5 NOT connected ", connectedNode[5]);
-  }
-
-  connectedNode[6] = stateNode(6);
-  if (connectedNode[6] != Unknown_state) {
-    MSG_WAR(0x3F08, "Node 6 connected. Its state is : ", connectedNode[6]);
-  }
-  else {
-    MSG_WAR(0x3F09, "Node 6 NOT connected ", connectedNode[6]);
-  }
-
-  /* Configure the SDO master to communicate with node 5 and node 6 */
-  configure_master_SDO(0x1280, 0x05);
-  /* Configure the SDO of node 5 */
-  /* getNodeId() returns my node Id */
-  configure_client_SDO(0x05, getNodeId());
-
-  /* Mapping of the PDO 
-     Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F, 
-     381-3FF, 401-47F, 481-4FF, 501-57F,
-     without other restriction.
-     (Of course, you must not define 2 PDO transmit with the same cobId !!)
-  */
- 
-  /*
-     *** PDO node 1 <-- node 5 ***
-     *** cobId 0x181 *************
-     MASTER (node 1)
-     Mapped to variables (node1) [index-subindex-size_bits]: 
-       day    [0x6002 - 0x04 - 8]
-       hour   [0x6002 - 0x03 - 8]
-       second [0x6002 - 0x01 - 8]
-
-     SLAVE (node 5)
-     Mapped to variables (node5) [index-subindex-size_bits]: 
-       day    [0x2000 - 0x04 - 8]
-       hour   [0x2000 - 0x03 - 8]
-       second [0x2000 - 0x01 - 8]
-*/
-
-  /* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, };
-    masterMappingPDO(0x1400, 0x181, tabMappedVar, 3);
-  }
-
-  /* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, };
-    slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3);
-  }
-   /*
-     *** PDO node 1 <-- node 5 ***
-     *** cobId 0x182 *************
-     MASTER (node 1)
-     Mapped to variables (node1) [index-subindex-size_bits]: 
-       minute    [0x6002 - 0x02 - 8]
-
-     SLAVE (node 5)
-     Mapped to variables (node5) [index-subindex-size_bits]: 
-       minute    [0x2000 - 0x02 - 8]
-   */
-
-  /* Configuring PDO receive, defined at index 0x1400 and 0x1600 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6002,2,8} };
-    masterMappingPDO(0x1401, 0x182, tabMappedVar, 1);
-  }
-
-  /* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x2000,2,8} };
-    slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1);
-  }
-
-
-  /*
-     *** PDO node 1 <-- node 5 ***
-     *** cobId 0x183 *************
-     Error management :  By this way, The node can send by PDO an error
-     MASTER (node 1)
-     Mapped to variables (node1) [index-subindex-size_bits]: 
-       canopenErrNb_node5     [0x6000 - 0x00 - 32]
-       canopenErrVal_node5    [0x6001 - 0x00 - 32] 
-
-     SLAVE (node 5)
-     Mapped to variables (node5) [index-subindex-size_bytes]: 
-       canopenErrNb     [0x6000 - 0x00 - 32]
-       canopenErrVal    [0x6001 - 0x00 - 32]  
-  */
-
-  /* Configuring  PDO receive, defined at index 0x1402 and 0x1602 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
-    masterMappingPDO(0x1402, 0x183, tabMappedVar, 2);
-  }
-
-  /* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
-    slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2);
-  }
- 
-  /*
-     *** PDO node 1 --> node 5 ***
-     *** cobId 0x184 *************
-     Error management :  To reset the error
-     MASTER (node 1)
-     Mapped to variables (node1) [index-subindex-size_bits]: 
-       canopenErrNb_node5     [0x6000 - 0x00 - 32]
-       canopenErrVal_node5    [0x6001 - 0x00 - 32] 
-
-     SLAVE (node 5)
-     Mapped to variables (node5) [index-subindex-size_bytes]: 
-       canopenErrNb     [0x6000 - 0x00 - 32]
-       canopenErrVal    [0x6001 - 0x00 - 32]  
-  */
-
-  /* Configuring  PDO transmit, defined at index 0x1803 and 0x1103 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
-    masterMappingPDO(0x1801, 0x184, tabMappedVar, 2);
-  }
-
-  /* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */
-  {
-    s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
-    slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2);
-  }
-
-  /* Configuring the node 5 heartbeat */
-  /* Check every 3000 ms if it have received a heartbeat from node 1 */
-  {
-    UNS8 nbHeartbeatsToReceive = 1;
-    s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}};
-    slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive);
-  }
-  /* Sending every 1000 ms an heartbeat */
-  slaveHeartbeatProducer(0x05, 0x3E8);
-
-  /* Configuring the master heartbeat */
-  /* Check every 3000 ms if it have received a heartbeat from node 5 */
-    {
-    UNS8 nbHeartbeatsToReceive = 1;
-    s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}};
-    masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive);
-  }
-
-    /* Sending every 1000 ms an heartbeat */
-    masterHeartbeatProducer(0x3E8);
-
-
-    
-    /* Configuring the transmission mode of the PDO */
-    slavePDOTransmissionMode(0x05, 0x1800,  TRANS_EVERY_N_SYNC (1));
-    slavePDOTransmissionMode(0x05, 0x1801,  TRANS_EVENT);
-    slavePDOTransmissionMode(0x05, 0x1802,  TRANS_EVENT);
-    masterPDOTransmissionMode(0x1801,  TRANS_EVENT);
-
-
-    /* Configuring the master to send a SYNC message every 1 s */
-    /* Note than any other node can send the SYNC instead of the master */
-    masterSYNCPeriod(1000000); 
-
-    {
-      // Reading the period of heartbeat which has been written in node 5 dictionary
-      UNS8 node = 5;
-      UNS16 index = 0x1017;
-      UNS8 subindex = 0;
-      //UNS8 notused = 0;
-      UNS16 hb = 0;
-      UNS8  size_data = 0;
-      UNS8 error;
-      MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0);
-      error = readNetworkDict(0, node, index, subindex, 0);
-      //error = readNetworkDict(0, node, index, subindex, &notused);
-      if (error) {
-	MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0);
-	exit (-1);
-      }
-      /* Waiting until the server has responded */
-      error = waitingReadToSlaveDict(node,  (UNS16 *)&hb,  &size_data, error);
-      MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb);
-      MSG_WAR(0x1F51, "         size of data (bytes) = ", size_data);
-    }
-
-    /* Put the node 5 in operational mode 
-       The mode is changed according to the slave state machine mode :
-         initialisation  ---> pre-operational (Automatic transition)
-         pre-operational <--> operational
-         pre-operational <--> stopped
-         pre-operational, operational, stopped -> initialisation
-       NMT_Start_Node           // Put the node in operational mode       
-       NMT_Stop_Node		// Put the node in stopped mode    
-       NMT_Enter_PreOperational // Put the node in pre_operational mode
-       NMT_Reset_Node		// Put the node in initialization mode 
-       NMT_Reset_Comunication	// Put the node in initialization mode 
-    */
-    masterSendNMTstateChange(0, 0x05, NMT_Start_Node);
-
-    // Note
-    //-----
-    // We do not have mapped the variable canopenErrNB and canopenErrVAL.
-    // We should have done that !
-    // the macro MSG_ERR try to send the PDO(s) which contains these two variables.
-    // While the PDO will not be found, if you are printing the warnings in file pdo.c,
-    // it will print "0X393B Unable to send variable on event :  not mapped in a PDO to send on event" for  
-    // example when you enter the function heartbeatError. 
-
-   /******************** END CONFIGURING THE NETWORK **********************/
-    
-    
-    
-    /* Init the errors values that may send the node 5 */
-    canopenErrNB_node5 = 0;
-    canopenErrVAL_node5 = 0;
-
-    /***********/
-    /* Running */
-    /***********/
-
-  /* SDO test with node 5 */
-  /* This code may takes too much room in memory if you are also debugging the file sdo.c */
-  {
-    // Reading string
-    UNS8 dataW[20];
-    UNS8 dataR[20];
-    UNS8 size;
-    UNS8 err;
-    MSG_WAR(0x3F05, "Test SDO", 0);
-
-    MSG_WAR(0x3F10, "Writing to node 5 at 0x6002-0 ...", 0);
-    strcpy(dataW, "Au Revoir");
-    MSG_WAR(0x3F10, dataW, 0);
-    size = 20;
-    err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW);
-    err = waitingWriteToSlaveDict(5, err);
-  
-    err = readNetworkDict(0, 5, 0x6002, 0, visible_string);
-    err = waitingReadToSlaveDict(5, dataR, &size, err);
-    MSG_WAR(0x3F08, "Read from node 5 at 0x6002-0" , 0);
-    MSG_WAR(0x3F08, dataR, 0);
-    
-    MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0);
-    err = readNetworkDict(0, 5, 0x1009, 0, visible_string);
- 
-    err = waitingReadToSlaveDict(5, dataR, &size, err);
-    MSG_WAR(0x3F08, dataR, 0);
-
-    MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0);
-    err = readNetworkDict(0, 5, 0x100A, 0, visible_string);
-    err = waitingReadToSlaveDict(5, dataR, &size, err);
-    MSG_WAR(0x3F08, dataR, 0);
-  }
-
-  // Node identity ?
-  {
-    UNS8 *data;
-    UNS8 size;
-    UNS8 dataType;
-    // Manufacturer Device name (default = empty string)
-    getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
-    MSG_WAR(0x3F09, data, 0);
-    // Manufacturer Hardware version. (default = compilation. date)
-    getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
-    MSG_WAR(0x3F09, data, 0);
-    // Manufacturer Software version. (default = compilation. time)
-    getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
-    MSG_WAR(0x3F09, data, 0);
-  }
-    
-  while(1) { 
-    // To transmit the SYNC if it is time to do.
-    computeSYNC();
-
-    // Testing if heartsbeat have been received, and send a heartbeat if it is time.
-     heartbeatMGR();
-
-     // Messages received ?
-     // The function is called in void __attribute__((interrupt)) timer3Hdl (void)
-     //receiveMsgHandler(0);
-
- if (minutes != minutes_last) {
-	MSG_WAR(0x3F80, "Minutes changed :", minutes);
-	minutes_last = minutes;
-      }
-
-      if (second != second_last) {
-	MSG_WAR(0x3F81, "Seconds : ", second);
-	second_last = second;
-
-	if (canopenErrNB_node5) {
-	  MSG_WAR(0x3F82, "Received an error from node 5, NB : ", canopenErrNB_node5);
-	  MSG_WAR(0x3F83, "                            VALUE : ", canopenErrVAL_node5);
-	  // Reseting the error
-	  canopenErrNB_node5 = 0;
-	  canopenErrVAL_node5 = 0;
-	  sendingResetError = 1;
-	}
-       
-	if ((second == 00) && sendingResetError) {
-	  MSG_WAR(0x3F84, 
-		 "Sending to node 5 a PDO envent to reset the error NB and VAL : ",0);
-	  sendPDOevent(0, &canopenErrNB_node5);
-	  sendingResetError = 0; 
-	}
-      
-      
-      }	// end if (second != second_last)
-
-      
-  } // end while
-      
- 
-  return (0); 
-}
-