/*
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
*/
#define DEBUG_WAR_CONSOLE_ON
#define DEBUG_ERR_CONSOLE_ON
#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 <../include/hcs12/candriver.h>
#include "../include/def.h"
#include "../include/can.h"
#include "../include/objdictdef.h"
#include "../include/objacces.h"
#include "../include/sdo.h"
#include "../include/pdo.h"
#include "../include/timer.h"
#include "../include/lifegrd.h"
#include "../include/sync.h"
#include "../include/nmtSlave.h"
#include "objdict.h"
// HCS12 configuration
// -----------------------------------------------------
enum E_CanBaudrate
{
CAN_BAUDRATE_250K,
CAN_BAUDRATE_500K,
CAN_BAUDRATE_1M,
};
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 +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId()); 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.
*/
}
};
/**************************prototypes*****************************************/
//fonction d'initialisation du bus can et la couche CANOPEN pour le capteur
void initCanopencapteur (void);
// les fonctions d'initialisation du capteur: timer, compteurs logiciel
void initSensor(void);
void initPortB(void);
//------------------------------------------------------------------------------
//Initialisation of the port B for the leds.
void initPortB(void)
{
// Port B is output
IO_PORTS_8(DDRB)= 0XFF;
// RAZ
IO_PORTS_8(PORTB) = 0xFF;
}
//------------------------------------------------------------------------------
void initSensor(void)
{
UNS8 baudrate = 0;
MSG_WAR(0x3F33, "I am the node : ", getNodeId(&gene_SYNC_Data));
// Init led control
initPortB();
IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON
// Init port to choose se CAN baudrate by switch
IO_PORTS_8(ATD0DIEN) = 0x03;
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 */
}
};
//Init the HCS12 microcontroler for CanOpen
initHCS12();
// Chose the CAN rate
baudrate = IO_PORTS_8(PORTAD0) & 0x03;
switch (baudrate) {
case 1:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K];
MSG_WAR(0x3F30, "CAN 250 kbps ", 0);
break;
case 2:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_500K];
MSG_WAR(0x3F31, "CAN 500 kbps ", 0);
break;
case 3:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M];
MSG_WAR(0x3F31, "CAN 1000 kbps ", 0);
break;
default:
MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED ", 0);
}
MSG_WAR(0x3F33, "SYNC signal generator", 0);
canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters...
initTimer(); // Init hcs12 timer used by CanFestival. (see timerhw.c)
unlock(); // Allow interruptions
}
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
// FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here.
//------------------------------------------------------------------------------
void gene_SYNC_heartbeatError( UNS8 heartbeatID )
{
MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID);
}
//------------------------------------------------------------------------------
void gene_SYNC_SDOtimeoutError (UNS8 line)
{
MSG_ERR(0x1F01, "SDO timeout for line : ", line);
}
//------------------------------------------------------------------------------
UNS8 gene_SYNC_canSend(Message *m)
{
// HCS12 driver function to send the CAN msg
canMsgTransmit(CAN0, *m);
return 0;
}
//------------------------------------------------------------------------------
void gene_SYNC_initialisation()
{
MSG_WAR (0x3F00, "Entering in INIT ", 0);
initSensor();
IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON
IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF
}
//------------------------------------------------------------------------------
void gene_SYNC_preOperational()
{
MSG_WAR (0x3F01, "Entering in PRE-OPERATIONAL ", 0);
IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON
IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF
}
//------------------------------------------------------------------------------
void gene_SYNC_operational()
{
MSG_WAR (0x3F02, "Entering in OPERATIONAL ", 0);
IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON
IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF
}
//------------------------------------------------------------------------------
void gene_SYNC_stopped()
{
MSG_WAR (0x3F02, "Entering in STOPPED ", 0);
}
//------------------------------------------------------------------------------
void gene_SYNC_post_sync()
{
}
//------------------------------------------------------------------------------
void gene_SYNC_post_TPDO()
{
}
// End functions which are part of Canfestival
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
/******************************************************************************/
/********************************* MAIN ***************************************/
/******************************************************************************/
UNS8 main (void)
{
MSG_WAR(0x3F34, "Entering in the main", 0);
//----------------------------- INITIALISATION --------------------------------
/* Defining the node Id */
setNodeId(&gene_SYNC_Data, 0x03);
/* Put the node in Initialisation mode */
MSG_WAR(0x3F35, "va passer en init", 0);
setState(&gene_SYNC_Data, Initialisation);
//----------------------------- START -----------------------------------------
/* Put the node in pre-operational mode */
//MSG_WAR(0x3F36, "va passer en pre-op", 0);
//setState(&gene_SYNC_Data, Pre_operational);
while (1) {
{
Message m;
if (f_can_receive(0, &m)) {
MSG_WAR(0x3F36, "Msg received", m.cob_id.w);
canDispatch(&gene_SYNC_Data, &m);
}
}
}
return (0);
}