--- a/examples/AppliSlave_HCS12/appli.c Tue Feb 13 17:21:19 2007 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,514 +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 "../include/def.h"
-#include "../include/can.h"
-#include "../include/objdictdef.h"
-#include "../include/objacces.h"
-#include "../include/canOpenDriver.h"
-#include "../include/sdo.h"
-#include "../include/pdo.h"
-#include "../include/init.h"
-#include "../include/timer.h"
-#include "../include/lifegrd.h"
-#include "../include/sync.h"
-
-#include "../include/nmtSlave.h"
-
-
-
-// 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.
- */
- }
-};
-
-
-// The variables sent or updated by PDO
-// -----------------------------------------------------
-extern UNS8 seconds; // Mapped at index 0x2000, subindex 0x1
-extern UNS8 minutes; // Mapped at index 0x2000, subindex 0x2
-extern UNS8 hours; // Mapped at index 0x2000, subindex 0x3
-extern UNS8 day; // Mapped at index 0x2000, subindex 0x4
-extern UNS32 canopenErrNB; // Mapped at index 0x6000, subindex 0x0
-extern UNS32 canopenErrVAL; // Mapped at index 0x6001, subindex 0x0
-
-// 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.
-// if not null, allow the printing of message to the console
-// Could be managed by PDO
-UNS8 printMsgErrToConsole = 1;
-UNS8 printMsgWarToConsole = 1;
-
-
-
-/*************************User's variables declaration**************************/
-UNS8 softCount = 0;
-UNS8 lastMinute = 0;
-UNS8 lastSecond = 0;
-UNS8 sendingError = 0;
-//--------------------------------FONCTIONS-------------------------------------
-/* You *must* have these 2 functions in your code*/
-void heartbeatError(UNS8 heartbeatID);
-void SD0timeoutError(UNS8 bus_id, UNS8 line);
-
-// Interruption timer 3. (The timer 4 is used by CanOpen)
-void __attribute__((interrupt)) timer3Hdl (void);
-
-void incDate(void);
-void initLeds(void);
-void initTimerClk(void);
-void initCanHCS12 (void);
-void initialisation(void);
-void preOperational(void);
-void operational(void);
-void stopped(void);
-//------------------------------------------------------------------------------
-
-
-//------------------------------------------------------------------------------
-// Interruption timer 3
-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 10000 counts takes 40 ms. */
-/* We must have a soft counter of 25 to count a second. */
-
- IO_PORTS_16(TC3H) += (10000); // IT every 40000 count.
- softCount++;
- if (softCount == 25) {
- softCount = 0;
- incDate();
- }
-}
-
-//------------------------------------------------------------------------------
-void heartbeatError(UNS8 heartbeatID)
-{
- MSG_ERR(0x1F00, "!!! No heart beat received 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
-}
-
-//------------------------------------------------------------------------------
-// Incrementation of the date, every second
-void incDate(void)
-{
- if (seconds == 59) {
- seconds = 0;
- if (minutes == 59) {
- minutes = 0;
- if (hours == 23) {
- hours = 0;
- day++;
- }
- else
- hours++;
- }
- else
- minutes++;
- }
- else
- seconds++;
-
- // Toggle the led 4 every seconds
- IO_PORTS_8(PORTB) ^= 0x10;
-
-}
-
-//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;
-}
-
-
-
-//------------------------------------------------------------------------------
-// Init the timer for the clock demo
-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
-}
-
-
-//------------------------------------------------------------------------------
-
-// A placer avant initTimer de la bibliothèque CanOpen
-/* void initTimerbis(void) */
-/* { */
-
-/* lock(); // Inhibe les interruptions */
-/* // Configuration des IT Channels (0..3) */
-/* IO_PORTS_8(TIOS) &= 0xF0; // Canals 0->3 en entrées. */
-/* IO_PORTS_8(TCTL4) &= 0XFD; // Canal 0 détection sur front montant. */
-/* IO_PORTS_8(TCTL4) |= 0X01; */
-/* IO_PORTS_8(TCTL4) &= 0XF7; // Canal 1 détection sur front montant. */
-/* IO_PORTS_8(TCTL4) |= 0X04; */
-/* IO_PORTS_8(TCTL4) &= 0XDF; // Canal 2 détection sur front montant. */
-/* IO_PORTS_8(TCTL4) |= 0X10; */
-/* IO_PORTS_8(TCTL4) &= 0X7F; // Canal 3 détection sur front montant. */
-/* IO_PORTS_8(TCTL4) |= 0X40; */
-/* IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32. */
-
-/* IO_PORTS_8(ICOVW) |= 0x0F; // La sauvgrade des valeures de TC0 et TC0H */
-/* // correspondant aux canals (0..3) jusqu'a la */
-/* // prochaine lecture dans ces registres. */
-/* MASK = IO_PORTS_8(ICSYS); */
-/* MASK &= 0xFE; // Canals (0..3) en IC QUEUE MODE. */
-/* MASK |= 0x08; // Canals (0..3) : génére une interruption aprés */
-/* // la capture de deux valeures du timer sur detection */
-/* // d'un front montant à l'entrée des canals (0..3). */
-/* MASK |= 0x02; */
-/* IO_PORTS_8(ICSYS) = MASK; */
-/* IO_PORTS_16(TC0HH); // Vider le registre holding correspondant au canal0. */
-/* IO_PORTS_8(TSCR1) |= 0x10; // RAZ automatique des flags d'interruption aprés lecture */
-/* // dans les registres correspondant. */
-
-/* IO_PORTS_8(TIE) |= 0x0F; // Autorise interruption Canals (0..3). */
-/* IO_PORTS_8(TSCR2) |= 0X80; // Autorise interruption sur l'Overflow. */
-/* unlock(); // Autorise les interruptions */
-
-/* } */
-
-//------------------------------------------------------------------------------
-
-
-
-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
-}
-
-
-/*********************************************************************/
-void initialisation( void )
-{
- //initcapteur(); //initialisation du capteur, timer, compteurs logiciels
- initCanHCS12(); //initialisation du bus Can
- MSG_WAR(0X3F05, "I am in INITIALISATION mode ", 0);
- /* Defining the node Id */
- setNodeId(0x05);
- MSG_WAR(0x3F06, "My node ID is : ", getNodeId());
- {
- 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);
- }
- initCANopenMain(); //initialisation du canopen
- heartbeatInit(); //initialisation du lifeguarding
- initResetMode();
- initTimer(); //initialisation of the timer used by Canopen
- initTimerClk();
-}
-
-
-/*********************************************************************/
-void preOperational(void)
-{
- // Test if the heartBeat have been received. Send headbeat
- heartbeatMGR();
- // Read message
- receiveMsgHandler(0);
-}
-
-
-/********************************************************************/
-void operational( void )
-{
-
- // Init the errors
- canopenErrNB = 0;
- canopenErrVAL = 0;
-
- // Test if the heartBeat have been received. Send headbeat
- heartbeatMGR();
- // Read message
- receiveMsgHandler(0);
-
- if (lastMinute != minutes) {
- MSG_WAR(0x3F00, "event : minutes change -> node decides to send it. Value : ", minutes);
- sendPDOevent( 0, &minutes );
- lastMinute = minutes;
- }
-
- if (canopenErrNB == 0)
- sendingError = 0;
-
-
- if (lastSecond != seconds) {
- MSG_WAR (0x3F50, "Seconds = ", seconds);
- if ((seconds == 50) && (sendingError == 0))
- {
- MSG_ERR(0x1F55, "DEMO of ERROR. Sent by PDO. Value : ", 0xABCD);
- sendingError = 1;
- }
-
- if (canopenErrNB) {
- MSG_WAR(0x3F56, "ERROR nb : ", canopenErrNB);
- }
- lastSecond = seconds;
-
- }
-
-}
-
-
-/*****************************************************************************/
-void stopped( void )
-{
- heartbeatMGR();
- // Read message
- receiveMsgHandler(0);
-}
-
-
-/*****************************************************************************/
-
-
-
-/********************************* MAIN ***************************************/
-
-
-int main ()
-{
- e_nodeState lastState = Unknown_state;
-
- /* CanOpen slave state machine */
- /* ------------------------------------*/
-
- while(1) { /* slave's state machine */
-
- switch( getState() ) {
- case Initialisation:
- if (lastState != getState()) {
- initLeds();
- IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON
- IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF
- MSG_WAR(0X3F10, "Entering in INITIALISATION mode ", 0);
- }
- initialisation();
- /* change automatically into pre_operational state */
- lastState = Initialisation;
- setState(Pre_operational);
- break;
-
- case Pre_operational:
- if (lastState != getState()) {
- IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON
- IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF
- MSG_WAR(0X3F11, "Entering in PRE_OPERATIONAL mode ", 0);
- initPreOperationalMode();
- }
- preOperational();
- if (lastState == Initialisation)
- slaveSendBootUp(0);
- lastState = Pre_operational;
- break;
-
- case Operational:
- if (lastState != getState()) {
- IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON
- IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF
- MSG_WAR(0X3F12, "Entering in OPERATIONAL mode ", 0);
- }
- operational();
- lastState = Operational;
- break;
-
- case Stopped:
- if (lastState != getState()) {
- IO_PORTS_8(PORTB) |= 0x0F; // leds 0, 1, 2, 3 : OFF
- MSG_WAR(0X3F13, "Entering in STOPPED mode", 0);
- }
- stopped();
- lastState = Stopped;
- break;
- }//end switch case
-
- }
- return (0);
-}
-