--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AppliMaster_HCS12/appli.c Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,1143 @@
+/*
+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, ¬used);
+ 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);
+}
+