/*
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
*/
// Uncomment if you don't need console informations.
#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 "../include/data.h"
#include <applicfg.h>
#include "../include/hcs12/candriver.h"
#include "../include/hcs12/canOpenDriver.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"
// Variables defined in the object dictionary (See objdict.c)
extern UNS16 acceptanceFilter1; // Mapped at index 0x2015, subindex 0x00
extern UNS16 acceptanceFilter2; // Mapped at index 0x2016, subindex 0x00
extern UNS16 acceptanceFilter3; // Mapped at index 0x2017, subindex 0x00
extern UNS16 acceptanceFilter4; // Mapped at index 0x2018, subindex 0x00
extern UNS16 mask1; // Mapped at index 0x2019, subindex 0x00
extern UNS16 mask2; // Mapped at index 0x2020, subindex 0x00
extern UNS16 mask3; // Mapped at index 0x2021, subindex 0x00
extern UNS16 mask4; // Mapped at index 0x2022, subindex 0x00
extern UNS8 applyDownloadedFilters;
// 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*****************************************/
//Init can bus and Canopen
void initCanopencapteur (void);
// Init the sensor
void initSensor(void);
void initPortB(void);
void initPortH(void);
// Functions needed by Canfestival
// Notice that gene_SYNC is the name of the sensor defined in python GUI.
// Do not change it !.
void gene_SYNC_initialisation(void);
void gene_SYNC_preOperational(void);
void gene_SYNC_operational(void);
void gene_SYNC_stopped(void);
void gene_SYNC_post_sync(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;
}
//------------------------------------------------------------------------------
// Init of port H to choose the CAN rate by switch, and the nodeId
void initPortH(void)
{
// Port H is input
IO_PORTS_8(DDRH)= 0X00;
// Enable pull device
IO_PORTS_8(PERH) = 0XFF;
// Choose the pull-up device
IO_PORTS_8(PPSH) = 0X00;
}
//------------------------------------------------------------------------------
void initSensor(void)
{
UNS8 baudrate = 0;
UNS8 nodeId = 0;
// Init led control
initPortB();
IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON
initPortH();
/* Defining the node Id */
// Uncomment to have a fixed nodeId
//setNodeId(&gene_SYNC_Data, 0x03);
// Comment below to have a fixed nodeId
nodeId = ~(IO_PORTS_8(PTH)) & 0x3F;
if (nodeId == 0) {
MSG_WAR(0x3F33, "Using default nodeId : ", getNodeId(&gene_SYNC_Data));
}
else
setNodeId(&gene_SYNC_Data, nodeId);
MSG_WAR(0x3F33, "My nodeId is : ", getNodeId(&gene_SYNC_Data));
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 (On our board, whe have switch for all purpose)
// 7 8
// ON ON => 1000 kpbs
// OFF ON => 500 kpbs
// ON OFF => 250 kpbs
baudrate = ~(IO_PORTS_8(PTH)) & 0xC0;
// Uncomment to have a fixed baudrate of 250 kbps
//baudrate = 1;
switch (baudrate) {
case 0x40:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K];
MSG_WAR(0x3F30, "CAN 250 kbps ", 0);
break;
case 0x80:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_500K];
MSG_WAR(0x3F31, "CAN 500 kbps ", 0);
break;
case 0xC0:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M];
MSG_WAR(0x3F31, "CAN 1000 kbps ", 0);
break;
default:
bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M];
MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED => 250 kbps ", 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
/* default values for the msg CAN filters */
/* Accept all */
{
canBusFilterInit filterConfiguration =
{
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
/*canidarx, canidmrx */
0x00, 0xFF, /* filter 0 */
0x00, 0xFF, /* filter 0 */
0x00, 0xFF, /* filter 1 */
0x00, 0xFF, /* filter 1 */
0x00, 0xFF, /* filter 2 */
0x00, 0xFF, /* filter 2 */
0x00, 0xFF, /* filter 3 */
0x00, 0xFF, /* filter 3 */
};
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
}
// Reset the automatic change by SDO
applyDownloadedFilters = 0;
}
//------------------------------------------------------------------------------
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
// Filtering the CAN received msgs.
// 2 ways
// First :applying an automatic filter
// Second : The values of the filtering registers are mapped in the object dictionary,
// So that a filtering configuration can be downloaded by SDO in pre-operational mode
if (applyDownloadedFilters == 0) {// No downloaded configuration to apply
UNS16 accept1 = 0x0000; // Accept NMT
UNS16 mask1 = 0x0FFF; // Mask NMT
UNS16 accept2 = 0xE000; // Accept NMT error control (heartbeat, nodeguard)
UNS16 mask2 = 0x0FFF; // Mask NMT error control (heartbeat, nodeguard)
canBusFilterInit filterConfiguration =
{// filters 3 and 4 not used, so configured like filter 1.
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
/*canidarx, canidmrx */
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/
(UNS8)accept1 , (UNS8)mask1, /* filter 1 id2 ... */
(UNS8)(accept2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/
(UNS8)accept2 , (UNS8)mask2, /* filter 2 id2 ... */
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 3 id10...3*/
(UNS8)accept1 , (UNS8)mask1, /* filter 3 id2 ... */
(UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 4 id10...3*/
(UNS8)accept1 , (UNS8)mask1 /* filter 4 id2 ... */
};
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
MSG_WAR (0x3F03, "Internal CAN Rcv filter applied ", 0);
}
else { // Apply filters downnloaded
canBusFilterInit filterConfiguration =
{// filters 3 and 4 not used, so configured like filter 1.
0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */
/*canidarx, canidmrx */
(UNS8)( acceptanceFilter1>> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/
(UNS8)acceptanceFilter1 , (UNS8)mask1, /* filter 1 id2 ... */
(UNS8)(acceptanceFilter2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/
(UNS8)acceptanceFilter2 , (UNS8)mask2, /* filter 2 id2 ... */
(UNS8)(acceptanceFilter3 >> 8), (UNS8)(mask3 >> 8), /* filter 3 id10...3*/
(UNS8)acceptanceFilter3 , (UNS8)mask3, /* filter 3 id2 ... */
(UNS8)(acceptanceFilter4 >> 8), (UNS8)(mask4 >> 8), /* filter 4 id10...3*/
(UNS8)acceptanceFilter4 , (UNS8)mask4 /* filter 4 id2 ... */
};
canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
MSG_WAR (0x3F04, "Downloaded CAN Rcv filter applied ", 0);
}
}
//------------------------------------------------------------------------------
void gene_SYNC_stopped()
{
MSG_WAR (0x3F02, "Entering in STOPPED ", 0);
IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3, 4 : OFF
}
//------------------------------------------------------------------------------
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 --------------------------------
/* Put the node in Initialisation mode */
MSG_WAR(0x3F35, "Will entering in 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);
// Loop of receiving messages
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);
}