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<a class="el" href="dir_fc8d77725c328f9de5a130dceab5a508.html">examples</a> » <a class="el" href="dir_41bf73311d8b7aeee9ef2a2b73ffd4dc.html">gene_SYNC_HCS12</a></div>
<h1>appli.c</h1><a href="appli_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">// Uncomment if you don't need console informations.</span>
<a name="l00024"></a><a class="code" href="appli_8c.html#4f52c00ab0d519e2965ebaa533975904">00024</a> <span class="preprocessor">#define DEBUG_WAR_CONSOLE_ON</span>
<a name="l00025"></a><a class="code" href="appli_8c.html#bb416887a32f7e4333e095356774f07f">00025</a> <span class="preprocessor"></span><span class="preprocessor">#define DEBUG_ERR_CONSOLE_ON</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span>
<a name="l00027"></a>00027 <span class="preprocessor">#include <stddef.h></span> <span class="comment">/* for NULL */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#include <<a class="code" href="portsaccess_8h.html">asm-m68hc12/portsaccess.h</a>></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include <<a class="code" href="ports__def_8h.html">asm-m68hc12/ports_def.h</a>></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="ports_8h.html">asm-m68hc12/ports.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="interrupt_8h.html">interrupt.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include "../include/data.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include "../include/hcs12/candriver.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "../include/hcs12/canOpenDriver.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "../include/def.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "../include/can.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "../include/objdictdef.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "../include/objacces.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "../include/sdo.h"</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include "../include/pdo.h"</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "../include/timer.h"</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include "../include/lifegrd.h"</span>
<a name="l00049"></a>00049 <span class="preprocessor">#include "../include/sync.h"</span>
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="preprocessor">#include "../include/nmtSlave.h"</span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="comment">// File created by the GUI </span>
<a name="l00054"></a>00054 <span class="preprocessor">#include "<a class="code" href="objdict_8h.html">objdict.h</a>"</span>
<a name="l00055"></a>00055
<a name="l00056"></a>00056
<a name="l00057"></a>00057
<a name="l00058"></a>00058
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">// HCS12 configuration</span>
<a name="l00061"></a>00061 <span class="comment">// -----------------------------------------------------</span>
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f">00063</a> <span class="keyword">enum</span> <a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f">E_CanBaudrate</a>
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f8d90575842d76640697deb1398f7023c">CAN_BAUDRATE_250K</a>,
<a name="l00066"></a>00066 <a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f07239165beed5e840aed12e7f46af89b">CAN_BAUDRATE_500K</a>,
<a name="l00067"></a>00067 <a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430ff84d248d0fb707925b35c9ec18624809">CAN_BAUDRATE_1M</a>,
<a name="l00068"></a>00068 };
<a name="l00069"></a>00069
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">00071</a> <span class="keyword">const</span> <a class="code" href="structcanBusTime.html">canBusTime</a> <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[] =
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
<a name="l00075"></a>00075 3, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
<a name="l00076"></a>00076 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
<a name="l00077"></a>00077 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */</span>
<a name="l00078"></a>00078 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
<a name="l00079"></a>00079 12, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">/*</span>
<a name="l00082"></a>00082 <span class="comment"> With these values, </span>
<a name="l00083"></a>00083 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
<a name="l00084"></a>00084 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
<a name="l00085"></a>00085 <span class="comment"> - 13 tq for the TIME 1 segment (tseg1 = 12)</span>
<a name="l00086"></a>00086 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
<a name="l00087"></a>00087 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
<a name="l00088"></a>00088 <span class="comment"> freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time,</span>
<a name="l00089"></a>00089 <span class="comment"> so the freq of the bit time is 250 kHz.</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 },
<a name="l00092"></a>00092
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
<a name="l00095"></a>00095 1, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
<a name="l00096"></a>00096 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
<a name="l00097"></a>00097 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */</span>
<a name="l00098"></a>00098 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
<a name="l00099"></a>00099 12, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment">/*</span>
<a name="l00102"></a>00102 <span class="comment"> With these values, </span>
<a name="l00103"></a>00103 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
<a name="l00104"></a>00104 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
<a name="l00105"></a>00105 <span class="comment"> - 13 tq for the TIME 1 segment (tseg1 = 12)</span>
<a name="l00106"></a>00106 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
<a name="l00107"></a>00107 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
<a name="l00108"></a>00108 <span class="comment"> freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time,</span>
<a name="l00109"></a>00109 <span class="comment"> so the freq of the bit time is 500 kHz.</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 },
<a name="l00112"></a>00112
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 1, <span class="comment">/* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */</span>
<a name="l00115"></a>00115 1, <span class="comment">/* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */</span>
<a name="l00116"></a>00116 0, <span class="comment">/* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */</span>
<a name="l00117"></a>00117 0, <span class="comment">/* samp : chose btw 0 and 3 (2 bits) (samp +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId()); 1 ) samples per bit */</span>
<a name="l00118"></a>00118 1, <span class="comment">/* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */</span>
<a name="l00119"></a>00119 4, <span class="comment">/* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment">/*</span>
<a name="l00122"></a>00122 <span class="comment"> With these values, </span>
<a name="l00123"></a>00123 <span class="comment"> - The width of the bit time is 16 time quantum :</span>
<a name="l00124"></a>00124 <span class="comment"> - 1 tq for the SYNC segment (could not be modified)</span>
<a name="l00125"></a>00125 <span class="comment"> - 5 tq for the TIME 1 segment (tseg1 = 4)</span>
<a name="l00126"></a>00126 <span class="comment"> - 2 tq for the TIME 2 segment (tseg2 = 1)</span>
<a name="l00127"></a>00127 <span class="comment"> - Because the bus clock of the MSCAN is 16 MHZ, and the </span>
<a name="l00128"></a>00128 <span class="comment"> freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time,</span>
<a name="l00129"></a>00129 <span class="comment"> so the freq of the bit time is 1 MHz.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132 };
<a name="l00133"></a>00133
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="comment">/**************************prototypes*****************************************/</span>
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">//Init can bus and Canopen</span>
<a name="l00140"></a>00140 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#8d772d897083e5a5c5f41878cfea50b8">initCanopencapteur</a> (<span class="keywordtype">void</span>);
<a name="l00141"></a>00141 <span class="comment">// Init the sensor</span>
<a name="l00142"></a>00142 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#ff8c2bab7ede63d3529f62b4fa3aca8c">initSensor</a>(<span class="keywordtype">void</span>);
<a name="l00143"></a>00143 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#c17a18fa3b7965bf6e850effaba7179a">initPortB</a>(<span class="keywordtype">void</span>);
<a name="l00144"></a>00144 <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#b7c33a91e5101b8d7371482fcfd6111d">initPortH</a>(<span class="keywordtype">void</span>);
<a name="l00145"></a>00145
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00148"></a>00148 <span class="comment">//Initialisation of the port B for the leds.</span>
<a name="l00149"></a><a class="code" href="appli_8c.html#c17a18fa3b7965bf6e850effaba7179a">00149</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#c17a18fa3b7965bf6e850effaba7179a">initPortB</a>(<span class="keywordtype">void</span>)
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151 <span class="comment">// Port B is output</span>
<a name="l00152"></a>00152 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#924a54df722121bc98383bdec5ae1898">DDRB</a>)= 0XFF;
<a name="l00153"></a>00153 <span class="comment">// RAZ</span>
<a name="l00154"></a>00154 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) = 0xFF;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00158"></a>00158 <span class="comment">// Init of port H to choose the CAN rate by switch, and the nodeId</span>
<a name="l00159"></a><a class="code" href="appli_8c.html#b7c33a91e5101b8d7371482fcfd6111d">00159</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#b7c33a91e5101b8d7371482fcfd6111d">initPortH</a>(<span class="keywordtype">void</span>)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 <span class="comment">// Port H is input</span>
<a name="l00162"></a>00162 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#1522fe4fdbaf2658e713ab782de9c3aa">DDRH</a>)= 0X00;
<a name="l00163"></a>00163 <span class="comment">// Enable pull device</span>
<a name="l00164"></a>00164 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#580827b8a3a5753e681acc0a31dd24d1">PERH</a>) = 0XFF;
<a name="l00165"></a>00165 <span class="comment">// Choose the pull-up device</span>
<a name="l00166"></a>00166 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#dee7f267a39162b3b98ad8c89fd3c9ab">PPSH</a>) = 0X00;
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168
<a name="l00169"></a>00169 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00170"></a><a class="code" href="appli_8c.html#ff8c2bab7ede63d3529f62b4fa3aca8c">00170</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#ff8c2bab7ede63d3529f62b4fa3aca8c">initSensor</a>(<span class="keywordtype">void</span>)
<a name="l00171"></a>00171 {
<a name="l00172"></a>00172 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> baudrate = 0;
<a name="l00173"></a>00173 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId = 0;
<a name="l00174"></a>00174 <span class="comment">// Init led control</span>
<a name="l00175"></a>00175 <a class="code" href="appli_8c.html#c17a18fa3b7965bf6e850effaba7179a">initPortB</a>();
<a name="l00176"></a>00176 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) &= ~ 0x01; <span class="comment">//One led ON</span>
<a name="l00177"></a>00177 <a class="code" href="appli_8c.html#b7c33a91e5101b8d7371482fcfd6111d">initPortH</a>();
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">/* Defining the node Id */</span>
<a name="l00180"></a>00180 <span class="comment">// Uncomment to have a fixed nodeId</span>
<a name="l00181"></a>00181 <span class="comment">//setNodeId(&gene_SYNC_Data, 0x03);</span>
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// Comment below to have a fixed nodeId</span>
<a name="l00184"></a>00184 nodeId = ~(<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#e195e4b974f64e9b64a49fdab0d4aa72">PTH</a>)) & 0x3F;
<a name="l00185"></a>00185 <span class="keywordflow">if</span> (nodeId == 0) {
<a name="l00186"></a>00186 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F33, <span class="stringliteral">"Using default nodeId : "</span>, <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(&<a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>));
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188 <span class="keywordflow">else</span>
<a name="l00189"></a>00189 <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(&<a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>, nodeId);
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F33, <span class="stringliteral">"My nodeId is : "</span>, <a class="code" href="states_8c.html#3020f2e5762f6e389a21382ec827b6a6">getNodeId</a>(&<a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>));
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <a class="code" href="structcanBusInit.html">canBusInit</a> bi0 = {
<a name="l00194"></a>00194 0, <span class="comment">/* no low power */</span>
<a name="l00195"></a>00195 0, <span class="comment">/* no time stamp */</span>
<a name="l00196"></a>00196 1, <span class="comment">/* enable MSCAN */</span>
<a name="l00197"></a>00197 0, <span class="comment">/* clock source : oscillator (In fact, it is not used) */</span>
<a name="l00198"></a>00198 0, <span class="comment">/* no loop back */</span>
<a name="l00199"></a>00199 0, <span class="comment">/* no listen only */</span>
<a name="l00200"></a>00200 0, <span class="comment">/* no low pass filter for wk up */</span>
<a name="l00201"></a>00201 <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f8d90575842d76640697deb1398f7023c">CAN_BAUDRATE_250K</a>],
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 0x00, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */</span>
<a name="l00204"></a>00204 0x00, 0xFF, <span class="comment">/* filter 0 hight accept all msg */</span>
<a name="l00205"></a>00205 0x00, 0xFF, <span class="comment">/* filter 0 low accept all msg */</span>
<a name="l00206"></a>00206 0x00, 0xFF, <span class="comment">/* filter 1 hight filter all of msg */</span>
<a name="l00207"></a>00207 0x00, 0xFF, <span class="comment">/* filter 1 low filter all of msg */</span>
<a name="l00208"></a>00208 0x00, 0xFF, <span class="comment">/* filter 2 hight filter most of msg */</span>
<a name="l00209"></a>00209 0x00, 0xFF, <span class="comment">/* filter 2 low filter most of msg */</span>
<a name="l00210"></a>00210 0x00, 0xFF, <span class="comment">/* filter 3 hight filter most of msg */</span>
<a name="l00211"></a>00211 0x00, 0xFF, <span class="comment">/* filter 3 low filter most of msg */</span>
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213 };
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment">//Init the HCS12 microcontroler for CanOpen </span>
<a name="l00216"></a>00216 <a class="code" href="canOpenDriver_8c.html#c71399958d35a7f703416f025603ee26">initHCS12</a>();
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="comment">// Chose the CAN rate (On our board, whe have switch for all purpose)</span>
<a name="l00219"></a>00219 <span class="comment">// 7 8</span>
<a name="l00220"></a>00220 <span class="comment">// ON ON => 1000 kpbs</span>
<a name="l00221"></a>00221 <span class="comment">// OFF ON => 500 kpbs</span>
<a name="l00222"></a>00222 <span class="comment">// ON OFF => 250 kpbs</span>
<a name="l00223"></a>00223
<a name="l00224"></a>00224 baudrate = ~(<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#e195e4b974f64e9b64a49fdab0d4aa72">PTH</a>)) & 0xC0;
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="comment">// Uncomment to have a fixed baudrate of 250 kbps</span>
<a name="l00227"></a>00227 <span class="comment">//baudrate = 1;</span>
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="keywordflow">switch</span> (baudrate) {
<a name="l00230"></a>00230 <span class="keywordflow">case</span> 0x40:
<a name="l00231"></a>00231 bi0.<a class="code" href="structcanBusInit.html#fc9eb7ca2f89001dca552e3f956beb73">clk</a> = <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f8d90575842d76640697deb1398f7023c">CAN_BAUDRATE_250K</a>];
<a name="l00232"></a>00232 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F30, <span class="stringliteral">"CAN 250 kbps "</span>, 0);
<a name="l00233"></a>00233 <span class="keywordflow">break</span>;
<a name="l00234"></a>00234 <span class="keywordflow">case</span> 0x80:
<a name="l00235"></a>00235 bi0.<a class="code" href="structcanBusInit.html#fc9eb7ca2f89001dca552e3f956beb73">clk</a> = <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f07239165beed5e840aed12e7f46af89b">CAN_BAUDRATE_500K</a>];
<a name="l00236"></a>00236 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F31, <span class="stringliteral">"CAN 500 kbps "</span>, 0);
<a name="l00237"></a>00237 <span class="keywordflow">break</span>;
<a name="l00238"></a>00238 <span class="keywordflow">case</span> 0xC0:
<a name="l00239"></a>00239 bi0.<a class="code" href="structcanBusInit.html#fc9eb7ca2f89001dca552e3f956beb73">clk</a> = <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430ff84d248d0fb707925b35c9ec18624809">CAN_BAUDRATE_1M</a>];
<a name="l00240"></a>00240 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F31, <span class="stringliteral">"CAN 1000 kbps "</span>, 0);
<a name="l00241"></a>00241 <span class="keywordflow">break</span>;
<a name="l00242"></a>00242 <span class="keywordflow">default</span>:
<a name="l00243"></a>00243 bi0.<a class="code" href="structcanBusInit.html#fc9eb7ca2f89001dca552e3f956beb73">clk</a> = <a class="code" href="appli_8c.html#43fd1d8fc333eddd19554acb6cc2baf8">CAN_Baudrates</a>[<a class="code" href="appli_8c.html#a5385c49943465978358d459b4fc430f8d90575842d76640697deb1398f7023c">CAN_BAUDRATE_250K</a>];
<a name="l00244"></a>00244 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x2F32, <span class="stringliteral">"CAN BAUD RATE NOT DEFINED => 250 kbps "</span>, 0);
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246
<a name="l00247"></a>00247
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F33, <span class="stringliteral">"SYNC signal generator "</span>, 0);
<a name="l00250"></a>00250
<a name="l00251"></a>00251 <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a>(<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>, bi0); <span class="comment">//initialize filters...</span>
<a name="l00252"></a>00252 <a class="code" href="canOpenDriver_8c.html#02922529b60419a94afe8f369dda070b">initTimer</a>(); <span class="comment">// Init hcs12 timer used by CanFestival. (see timerhw.c)</span>
<a name="l00253"></a>00253 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>(); <span class="comment">// Allow interruptions </span>
<a name="l00254"></a>00254 }
<a name="l00255"></a>00255
<a name="l00256"></a>00256
<a name="l00257"></a>00257
<a name="l00258"></a>00258
<a name="l00259"></a>00259
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="comment">//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
<a name="l00262"></a>00262 <span class="comment">// FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here.</span>
<a name="l00263"></a>00263
<a name="l00264"></a>00264 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00265"></a><a class="code" href="objdict_8h.html#ec227d00c96cd255df85389fdae21f8f">00265</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#07f58b5c2d6a07142f3e6e695798646b">gene_SYNC_heartbeatError</a>( <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> heartbeatID )
<a name="l00266"></a>00266 {
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <a class="code" href="hcs12_2applicfg_8h.html#99178e2619db849578b20df5aa241844">MSG_ERR</a>(0x1F00, <span class="stringliteral">"HeartBeat not received from node : "</span>, heartbeatID);
<a name="l00269"></a>00269 }
<a name="l00270"></a>00270
<a name="l00271"></a>00271 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00272"></a><a class="code" href="objdict_8h.html#7b7bf51feb35fc1d708cf5cde9f1f5a7">00272</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#5249682c125c7e4ad9583bf63c20b5fa">gene_SYNC_initialisation</a>()
<a name="l00273"></a>00273 {
<a name="l00274"></a>00274 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F00, <span class="stringliteral">"Entering in INIT "</span>, 0);
<a name="l00275"></a>00275 <a class="code" href="appli_8c.html#ff8c2bab7ede63d3529f62b4fa3aca8c">initSensor</a>();
<a name="l00276"></a>00276
<a name="l00277"></a>00277 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) &= ~ 0x01; <span class="comment">// led 0 : ON</span>
<a name="l00278"></a>00278 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) |= 0x0E; <span class="comment">// leds 1, 2, 3 : OFF</span>
<a name="l00279"></a>00279
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00284"></a><a class="code" href="objdict_8h.html#398570bf126805099a8b551500c34f40">00284</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#ccd49c1b2614c38aeac93733ede6cd91">gene_SYNC_preOperational</a>()
<a name="l00285"></a>00285 {
<a name="l00286"></a>00286 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F01, <span class="stringliteral">"Entering in PRE-OPERATIONAL "</span>, 0);
<a name="l00287"></a>00287 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) &= ~ 0x03; <span class="comment">// leds 0, 1 : ON</span>
<a name="l00288"></a>00288 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) |= 0x0C; <span class="comment">// leds 2, 3 : OFF</span>
<a name="l00289"></a>00289 <span class="comment">/* default values for the msg CAN filters */</span>
<a name="l00290"></a>00290 <span class="comment">/* Accept all */</span>
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
<a name="l00293"></a>00293 {
<a name="l00294"></a>00294 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
<a name="l00295"></a>00295 <span class="comment">/*canidarx, canidmrx */</span>
<a name="l00296"></a>00296 0x00, 0xFF, <span class="comment">/* filter 0 */</span>
<a name="l00297"></a>00297 0x00, 0xFF, <span class="comment">/* filter 0 */</span>
<a name="l00298"></a>00298 0x00, 0xFF, <span class="comment">/* filter 1 */</span>
<a name="l00299"></a>00299 0x00, 0xFF, <span class="comment">/* filter 1 */</span>
<a name="l00300"></a>00300 0x00, 0xFF, <span class="comment">/* filter 2 */</span>
<a name="l00301"></a>00301 0x00, 0xFF, <span class="comment">/* filter 2 */</span>
<a name="l00302"></a>00302 0x00, 0xFF, <span class="comment">/* filter 3 */</span>
<a name="l00303"></a>00303 0x00, 0xFF, <span class="comment">/* filter 3 */</span>
<a name="l00304"></a>00304 };
<a name="l00305"></a>00305 <a class="code" href="canOpenDriver_8c.html#751a41c9747b96ab400b5599370cea83">canChangeFilter</a>(<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
<a name="l00306"></a>00306 }
<a name="l00307"></a>00307 <span class="comment">// Reset the automatic change by SDO</span>
<a name="l00308"></a>00308 <a class="code" href="objdict_8c.html#c6a202de14ed5a1ba3f7bef3c1408ee0">applyDownloadedFilters</a> = 0;
<a name="l00309"></a>00309
<a name="l00310"></a>00310 }
<a name="l00311"></a>00311
<a name="l00312"></a>00312
<a name="l00313"></a>00313 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00314"></a><a class="code" href="objdict_8h.html#0c4a1f975f361d0a6f744c3254743594">00314</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#688e52d5ec8da35ad5c61b4337df495d">gene_SYNC_operational</a>()
<a name="l00315"></a>00315 {
<a name="l00316"></a>00316 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F02, <span class="stringliteral">"Entering in OPERATIONAL "</span>, 0);
<a name="l00317"></a>00317 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) &= ~ 0x07; <span class="comment">// leds 0, 1, 2 : ON</span>
<a name="l00318"></a>00318 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) |= 0x08; <span class="comment">// leds 3 : OFF</span>
<a name="l00319"></a>00319
<a name="l00320"></a>00320 <span class="comment">// Filtering the CAN received msgs.</span>
<a name="l00321"></a>00321 <span class="comment">// 2 ways</span>
<a name="l00322"></a>00322 <span class="comment">// First :applying an automatic filter</span>
<a name="l00323"></a>00323 <span class="comment">// Second : The values of the filtering registers are mapped in the object dictionary,</span>
<a name="l00324"></a>00324 <span class="comment">// So that a filtering configuration can be downloaded by SDO in pre-operational mode</span>
<a name="l00325"></a>00325
<a name="l00326"></a>00326 <span class="keywordflow">if</span> (<a class="code" href="objdict_8c.html#c6a202de14ed5a1ba3f7bef3c1408ee0">applyDownloadedFilters</a> == 0) {<span class="comment">// No downloaded configuration to apply</span>
<a name="l00327"></a>00327 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> accept1 = 0x0000; <span class="comment">// Accept NMT</span>
<a name="l00328"></a>00328 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> <a class="code" href="objdict_8c.html#c917a1516c699e38ca1335671fed3ccb">mask1</a> = 0x0FFF; <span class="comment">// Mask NMT</span>
<a name="l00329"></a>00329 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> accept2 = 0xE000; <span class="comment">// Accept NMT error control (heartbeat, nodeguard)</span>
<a name="l00330"></a>00330 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> <a class="code" href="objdict_8c.html#7dc98c2ef9a08148e275949b376282cb">mask2</a> = 0x0FFF; <span class="comment">// Mask NMT error control (heartbeat, nodeguard)</span>
<a name="l00331"></a>00331
<a name="l00332"></a>00332 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
<a name="l00333"></a>00333 {<span class="comment">// filters 3 and 4 not used, so configured like filter 1.</span>
<a name="l00334"></a>00334 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
<a name="l00335"></a>00335 <span class="comment">/*canidarx, canidmrx */</span>
<a name="l00336"></a>00336 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 1 id10...3*/</span>
<a name="l00337"></a>00337 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)mask1, <span class="comment">/* filter 1 id2 ... */</span>
<a name="l00338"></a>00338 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(accept2 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(mask2 >> 8), <span class="comment">/* filter 2 id10...3*/</span>
<a name="l00339"></a>00339 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)accept2 , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)mask2, <span class="comment">/* filter 2 id2 ... */</span>
<a name="l00340"></a>00340 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 3 id10...3*/</span>
<a name="l00341"></a>00341 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)mask1, <span class="comment">/* filter 3 id2 ... */</span>
<a name="l00342"></a>00342 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(accept1 >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(mask1 >> 8), <span class="comment">/* filter 4 id10...3*/</span>
<a name="l00343"></a>00343 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)accept1 , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)mask1 <span class="comment">/* filter 4 id2 ... */</span>
<a name="l00344"></a>00344 };
<a name="l00345"></a>00345 <a class="code" href="canOpenDriver_8c.html#751a41c9747b96ab400b5599370cea83">canChangeFilter</a>(<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
<a name="l00346"></a>00346 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F03, <span class="stringliteral">"Internal CAN Rcv filter applied "</span>, 0);
<a name="l00347"></a>00347 }
<a name="l00348"></a>00348 <span class="keywordflow">else</span> { <span class="comment">// Apply filters downnloaded</span>
<a name="l00349"></a>00349 <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> filterConfiguration =
<a name="l00350"></a>00350 {<span class="comment">// filters 3 and 4 not used, so configured like filter 1.</span>
<a name="l00351"></a>00351 0x01, <span class="comment">/* Filter on 16 bits. See Motorola Block Guide V02.14 */</span>
<a name="l00352"></a>00352 <span class="comment">/*canidarx, canidmrx */</span>
<a name="l00353"></a>00353 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)( <a class="code" href="objdict_8c.html#254f99d099ca6f0a734e77c0226eb46c">acceptanceFilter1</a>>> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#c917a1516c699e38ca1335671fed3ccb">mask1</a> >> 8), <span class="comment">/* filter 1 id10...3*/</span>
<a name="l00354"></a>00354 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#254f99d099ca6f0a734e77c0226eb46c">acceptanceFilter1</a> , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#c917a1516c699e38ca1335671fed3ccb">mask1</a>, <span class="comment">/* filter 1 id2 ... */</span>
<a name="l00355"></a>00355 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#f6ce36bd51988682a6c1c6b6bb48d358">acceptanceFilter2</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#7dc98c2ef9a08148e275949b376282cb">mask2</a> >> 8), <span class="comment">/* filter 2 id10...3*/</span>
<a name="l00356"></a>00356 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#f6ce36bd51988682a6c1c6b6bb48d358">acceptanceFilter2</a> , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#7dc98c2ef9a08148e275949b376282cb">mask2</a>, <span class="comment">/* filter 2 id2 ... */</span>
<a name="l00357"></a>00357 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#f6b4d7c56fb80e2b64b649b89b2ed9ca">acceptanceFilter3</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#017e60df8f7a5ae5e2dddaf458045e8d">mask3</a> >> 8), <span class="comment">/* filter 3 id10...3*/</span>
<a name="l00358"></a>00358 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#f6b4d7c56fb80e2b64b649b89b2ed9ca">acceptanceFilter3</a> , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#017e60df8f7a5ae5e2dddaf458045e8d">mask3</a>, <span class="comment">/* filter 3 id2 ... */</span>
<a name="l00359"></a>00359 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#58c4e3e229107296a48ea47a91afea95">acceptanceFilter4</a> >> 8), (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(<a class="code" href="objdict_8c.html#e0007c46695fc121ef6c2a6e6a511d17">mask4</a> >> 8), <span class="comment">/* filter 4 id10...3*/</span>
<a name="l00360"></a>00360 (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#58c4e3e229107296a48ea47a91afea95">acceptanceFilter4</a> , (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)<a class="code" href="objdict_8c.html#e0007c46695fc121ef6c2a6e6a511d17">mask4</a> <span class="comment">/* filter 4 id2 ... */</span>
<a name="l00361"></a>00361 };
<a name="l00362"></a>00362 <a class="code" href="canOpenDriver_8c.html#751a41c9747b96ab400b5599370cea83">canChangeFilter</a>(<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>, filterConfiguration);
<a name="l00363"></a>00363 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F04, <span class="stringliteral">"Downloaded CAN Rcv filter applied "</span>, 0);
<a name="l00364"></a>00364 }
<a name="l00365"></a>00365 }
<a name="l00366"></a>00366
<a name="l00367"></a>00367 <span class="comment">//------------------------------------------------------------------------------</span>
<a name="l00368"></a><a class="code" href="objdict_8h.html#22a7ae3e04ad4cccdbee597ce4a31843">00368</a> <span class="keywordtype">void</span> <a class="code" href="appli_8c.html#00e6a6d0f2186f329263023a7f1de155">gene_SYNC_stopped</a>()
<a name="l00369"></a>00369 {
<a name="l00370"></a>00370 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a> (0x3F02, <span class="stringliteral">"Entering in STOPPED "</span>, 0);
<a name="l00371"></a>00371 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) |= 0x0E; <span class="comment">// leds 1, 2, 3, 4 : OFF</span>
<a name="l00372"></a>00372 }
<a name="l00373"></a>00373
<a name="l00374"></a>00374 <span class="comment">// End functions which are part of Canfestival</span>
<a name="l00375"></a>00375 <span class="comment">//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
<a name="l00376"></a>00376
<a name="l00377"></a>00377
<a name="l00378"></a>00378 <span class="comment">/******************************************************************************/</span>
<a name="l00379"></a>00379 <span class="comment">/********************************* MAIN ***************************************/</span>
<a name="l00380"></a>00380 <span class="comment">/******************************************************************************/</span>
<a name="l00381"></a>00381
<a name="l00382"></a>00382
<a name="l00383"></a><a class="code" href="appli_8c.html#ef83014be811ae964a5ef7f0af7b46a2">00383</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="appli_8c.html#ef83014be811ae964a5ef7f0af7b46a2">main</a> (<span class="keywordtype">void</span>)
<a name="l00384"></a>00384 {
<a name="l00385"></a>00385
<a name="l00386"></a>00386 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F34, <span class="stringliteral">"Entering in the main "</span>, 0);
<a name="l00387"></a>00387 <span class="comment">//----------------------------- INITIALISATION --------------------------------</span>
<a name="l00388"></a>00388 <a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a> = <a class="code" href="appli_8c.html#07f58b5c2d6a07142f3e6e695798646b">gene_SYNC_heartbeatError</a>;
<a name="l00389"></a>00389 <a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a> = <a class="code" href="appli_8c.html#5249682c125c7e4ad9583bf63c20b5fa">gene_SYNC_initialisation</a>;
<a name="l00390"></a>00390 <a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a> = <a class="code" href="appli_8c.html#ccd49c1b2614c38aeac93733ede6cd91">gene_SYNC_preOperational</a>;
<a name="l00391"></a>00391 <a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a> = <a class="code" href="appli_8c.html#688e52d5ec8da35ad5c61b4337df495d">gene_SYNC_operational</a>;
<a name="l00392"></a>00392 <a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>.<a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a> = <a class="code" href="appli_8c.html#00e6a6d0f2186f329263023a7f1de155">gene_SYNC_stopped</a>;
<a name="l00393"></a>00393
<a name="l00394"></a>00394
<a name="l00395"></a>00395 <span class="comment">/* Put the node in Initialisation mode */</span>
<a name="l00396"></a>00396 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3F35, <span class="stringliteral">"Will entering in INIT "</span>, 0);
<a name="l00397"></a>00397 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&<a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>);
<a name="l00398"></a>00398
<a name="l00399"></a>00399 <span class="comment">//----------------------------- START -----------------------------------------</span>
<a name="l00400"></a>00400 <span class="comment">/* Put the node in pre-operational mode */</span>
<a name="l00401"></a>00401 <span class="comment">//MSG_WAR(0x3F36, "va passer en pre-op", 0);</span>
<a name="l00402"></a>00402 <span class="comment">//setState(&gene_SYNC_Data, Pre_operational);</span>
<a name="l00403"></a>00403
<a name="l00404"></a>00404 <span class="comment">// Loop of receiving messages</span>
<a name="l00405"></a>00405 <span class="keywordflow">while</span> (1) {
<a name="l00406"></a>00406 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00407"></a>00407 <span class="keywordflow">if</span> (<a class="code" href="canOpenDriver_8c.html#0bf58f014d47581c9ffd1b2db9a858d7">f_can_receive</a>(0, &m)) {
<a name="l00408"></a>00408 <span class="comment">//MSG_WAR(0x3F36, "Msg received", m.cob_id.w);</span>
<a name="l00409"></a>00409 <a class="code" href="interrupt_8c.html#eb99ff49b4a6d5157416f9b5bd0d9c2c">lock</a>(); <span class="comment">// Not to have interruptions by timer, which can corrupt the data</span>
<a name="l00410"></a>00410 <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(&<a class="code" href="objdict_8c.html#f8bdf9fcfcd90a3000da3036277bcd39">gene_SYNC_Data</a>, &m);
<a name="l00411"></a>00411 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>();
<a name="l00412"></a>00412 }
<a name="l00413"></a>00413 }
<a name="l00414"></a>00414
<a name="l00415"></a>00415 <span class="keywordflow">return</span> (0);
<a name="l00416"></a>00416 }
<a name="l00417"></a>00417
<a name="l00418"></a>00418
<a name="l00419"></a>00419
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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