etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stdio.h>
etisserant@0: #include <string.h>
etisserant@0: #include <unistd.h>
etisserant@0: #include <stdlib.h>
etisserant@0: #include <time.h>
etisserant@0: #include <pthread.h>
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include <timerhw.h>
etisserant@0: #include <linuxCan.h>
etisserant@0: 
etisserant@0: #include "def.h"
etisserant@0: #include "can.h"
etisserant@0: #include "canOpenDriver.h"
etisserant@0: #include "sdo.h"
etisserant@0: #include "pdo.h"
etisserant@0: #include "init.h"
etisserant@0: #include "timer.h"
etisserant@0: #include "lifegrd.h"
etisserant@0: 
etisserant@0: #include "nmtSlave.h"
etisserant@0: 
etisserant@0: // Adlink 7841 or Peak PCI/CAN board
etisserant@0: // ---------------------------------
etisserant@0: 
etisserant@0: // Baudrate values for Peak board :
etisserant@0: // CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
etisserant@0: // CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
etisserant@0: 
etisserant@0: #ifdef CAN_BAUD_250K
etisserant@0: # define BAUDRATE CAN_BAUD_250K
etisserant@0: #else
etisserant@0: // Appli have been compiled for Adlink-arbraca. Baudrate not used
etisserant@0: # define BAUDRATE 0
etisserant@0: #endif
etisserant@0: 
etisserant@0: s_BOARD board = {"1", BAUDRATE};
etisserant@0: 
etisserant@0: 
etisserant@0: // The variables sent or updated by PDO
etisserant@0: // -----------------------------------------------------
etisserant@0: extern UNS8 seconds;		// Mapped at index 0x2000, subindex 0x1
etisserant@0: extern UNS8 minutes;		// Mapped at index 0x2000, subindex 0x2
etisserant@0: extern UNS8 hours;		// Mapped at index 0x2000, subindex 0x3
etisserant@0: extern UNS8 day;		// Mapped at index 0x2000, subindex 0x4
etisserant@0: extern UNS32 canopenErrNB;	// Mapped at index 0x6000, subindex 0x0
etisserant@0: extern UNS32 canopenErrVAL;	// Mapped at index 0x6001, subindex 0x0
etisserant@0: 
etisserant@0: // Required definition variables
etisserant@0: // -----------------------------
etisserant@0: // The variables that you should define for debugging.
etisserant@0: // They are used by the macro MSG_ERR and MSG_WAR in applicfg.h
etisserant@0: // if the node is a slave, they can be mapped in the object dictionnary.
etisserant@0: // if not null, allow the printing of message to the console
etisserant@0: // Could be managed by PDO
etisserant@0: UNS8 printMsgErrToConsole = 1;
etisserant@0: UNS8 printMsgWarToConsole = 1;
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: /*************************User's variables declaration**************************/
etisserant@0: struct tm date;
etisserant@0: struct tm *ptrdate;
etisserant@0: struct tm date_prec;
etisserant@0: time_t  tme;
etisserant@0: UNS8 lastSecond;
etisserant@0: e_nodeState lastState;
etisserant@0: pthread_t threadRcvMsg;
etisserant@0: pthread_t threadHeartbeatAndSDO;
etisserant@0: UNS8 sendingError = 0;
etisserant@0: 
etisserant@0: 
etisserant@0: /******************************prototypes*****************************/
etisserant@0: /* You *must* have these 2 functions in your code*/
etisserant@0: void heartbeatError(UNS8 heartbeatID);
etisserant@0: void SD0timeoutError(UNS8 bus_id, UNS8 line);
etisserant@0: 
etisserant@0: UNS8 scanSDOtimeout(void);
etisserant@0: void preOperational(void);
etisserant@0: void operational(void); 
etisserant@0: void stopped(void);
etisserant@0: void waitMessage(void);
etisserant@0: void waitMessage_heartbeat(void);
etisserant@0: 
etisserant@0: /*********************************************************************/
etisserant@0: void heartbeatError(UNS8 heartbeatID)
etisserant@0: {
etisserant@0:   MSG_ERR(0x1F00, "!!! No heart beat received from node : ", heartbeatID);
etisserant@0: }
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: void SD0timeoutError (UNS8 bus_id, UNS8 line)
etisserant@0: {
etisserant@0:   // Informations on what occurs are in transfers[bus_id][line]....
etisserant@0:   // See scanSDOtimeout() in sdo.c
etisserant@0: }
etisserant@0: 
etisserant@0: /*********************************** THREADS **********************************/
etisserant@0: //------------------------------------------------------------------------------
etisserant@0: // Wait for a received message
etisserant@0: void waitMessage( void )
etisserant@0: {       
etisserant@0:   while (1) {
etisserant@0:     receiveMsgHandler(0); // blocked until new message
etisserant@0:   }
etisserant@0: }
etisserant@0: 
etisserant@0: //------------------------------------------------------------------------------
etisserant@0: // Heartbeat Manager (sending and receiving) and test SDO timeout
etisserant@0: void heartbeatAndSDO(void)
etisserant@0: {
etisserant@0:   while (1) {
etisserant@0:     heartbeatMGR();
etisserant@0:     // Check if some SDO response are missing
etisserant@0:     scanSDOtimeout();
etisserant@0:     // Sleep 10 ms
etisserant@0:     usleep(10000);	
etisserant@0:   }
etisserant@0: }
etisserant@0: 
etisserant@0: /*********************************************************************/
etisserant@0: void preOperational( void )
etisserant@0: {	
etisserant@0:   /* Init some variables */
etisserant@0:   canopenErrNB = 0;
etisserant@0:   canopenErrVAL = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /********************************************************************/
etisserant@0: void operational( void )
etisserant@0: {
etisserant@0:   /* read systeme date */
etisserant@0:   tme = time (&tme);
etisserant@0:   ptrdate = gmtime(&tme);
etisserant@0:   date = *ptrdate;
etisserant@0:   
etisserant@0:   /* Update the dictionary */
etisserant@0:   day = date.tm_mday;
etisserant@0:   hours = date.tm_hour;
etisserant@0:   minutes = date.tm_min;
etisserant@0:   seconds = date.tm_sec;
etisserant@0:   
etisserant@0: 
etisserant@0:   if ( date_prec.tm_min != date.tm_min ) {
etisserant@0:     MSG_WAR(0x3F00, "event : minutes change -> node decides to send it. Value : ", date.tm_min);
etisserant@0:     sendPDOevent( 0, &minutes );
etisserant@0:     date_prec = date;
etisserant@0:   }
etisserant@0:   if (canopenErrNB == 0)
etisserant@0:     sendingError = 0;
etisserant@0: 
etisserant@0:   if (lastSecond != seconds) {
etisserant@0:     MSG_WAR (0x3F50, "Seconds = ", seconds);
etisserant@0:     if ((seconds == 50) && (sendingError == 0))
etisserant@0:       {
etisserant@0: 	MSG_ERR(0x1F55, "DEMO of ERROR. Sent by PDO. Value : ", 0xABCD);
etisserant@0: 	sendingError = 1;
etisserant@0:       }
etisserant@0:     
etisserant@0:     if (canopenErrNB) {
etisserant@0:       MSG_WAR(0x3F56, "ERROR nb : ",  canopenErrNB);
etisserant@0:     }
etisserant@0:     lastSecond = seconds;
etisserant@0:     
etisserant@0:   }
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: void stopped( void )
etisserant@0: {
etisserant@0: }
etisserant@0: 
etisserant@0: void help()
etisserant@0: {
etisserant@0:   printf("**************************************************************\n");
etisserant@0:   printf("*  AppliSlave                                                *\n");
etisserant@0:   printf("*                [-b b]                                      *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("*     b : bus [default 1]                                    *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("*  This exemple run AppliSlave on bus 0                      *\n");
etisserant@0:   printf("*   AppliSlave -b 0                                          *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("**************************************************************\n");
etisserant@0: }
etisserant@0: 
etisserant@0: /****************************************************************************/
etisserant@0: /***************************  MAIN  *****************************************/
etisserant@0: /****************************************************************************/
etisserant@0: int main(int argc,char **argv)
etisserant@0: {
etisserant@0: 
etisserant@0:   HANDLE ok;
etisserant@0:   UNS32 *    pSize;
etisserant@0:   UNS32      size;
etisserant@0:   pSize = &size;
etisserant@0:   char c;
etisserant@0:   extern char *optarg;
etisserant@0: 
etisserant@0:   while ((c = getopt(argc, argv, "-b:")) != EOF)
etisserant@0:   {
etisserant@0:     switch(c)
etisserant@0:     {
etisserant@0:       case 'b' :
etisserant@0:         if (optarg[0] == 0)
etisserant@0:         {
etisserant@0:           help();
etisserant@0:           exit(1);
etisserant@0:         }
etisserant@0:         board.busname = optarg;
etisserant@0:         break;
etisserant@0:       default:
etisserant@0:         help();
etisserant@0:         exit(1);
etisserant@0:     }
etisserant@0:   }
etisserant@0: 
etisserant@0:   // Global initialization before launching the threads. (also done in init mode.
etisserant@0:   /* Defining the node Id */
etisserant@0:   setNodeId(0x05);
etisserant@0:   MSG_WAR(0x3F06, "My node ID is : ", getNodeId()); 
etisserant@0:   initCANopenMain();
etisserant@0:   initTimer( );
etisserant@0:   heartbeatInit();
etisserant@0:   initResetMode();
etisserant@0: 
etisserant@0:   /* Launch the thread to receive the messages */
etisserant@0:   pthread_create( &threadRcvMsg, NULL, (void *)&waitMessage, NULL); 
etisserant@0:   /* Launch the thread to manage the heartbeat */
etisserant@0:   pthread_create( &threadHeartbeatAndSDO, NULL, (void *)&heartbeatAndSDO, NULL); 
etisserant@0: 
etisserant@0:   /* open the communication with the board */
etisserant@0:   ok = f_can_open(& board);
etisserant@0:   if (ok == NULL) {
etisserant@0:     MSG_ERR(0x1F02,"Unable to open the board", 0);
etisserant@0:     MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0);
etisserant@0:     exit (-1);
etisserant@0:   }
etisserant@0:   else {
etisserant@0:     MSG_WAR(0x3F03, "Board 1 opened ", 0);
etisserant@0:     /* slave's state initialization */
etisserant@0:     setState(Initialisation);
etisserant@0:     lastState = Unknown_state;
etisserant@0: 
etisserant@0: 
etisserant@0:     while(1) { /* slave's state machine */
etisserant@0:       switch( getState() ) {	
etisserant@0:       case Initialisation:
etisserant@0: 	if (lastState != getState()) 
etisserant@0: 	  MSG_WAR(0X3F05, "I am in INITIALISATION mode ", 0);
etisserant@0:         /* Defining the node Id */
etisserant@0: 	setNodeId(0x05);
etisserant@0: 	MSG_WAR(0x3F06, "My node ID is : ", getNodeId()); 
etisserant@0: 	  // Node identity ?
etisserant@0: 	{
etisserant@0: 	  UNS8 *data;
etisserant@0: 	  UNS8 size;
etisserant@0: 	  UNS8 dataType;
etisserant@0: 	  // Manufacturer Device name (default = empty string)
etisserant@0: 	  getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
etisserant@0: 	  MSG_WAR(0x3F09, data, 0);
etisserant@0: 	  // Manufacturer Hardware version. (default = compilation. date)
etisserant@0: 	  getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
etisserant@0: 	  MSG_WAR(0x3F09, data, 0);
etisserant@0: 	  // Manufacturer Software version. (default = compilation. time)
etisserant@0: 	  getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
etisserant@0: 	  MSG_WAR(0x3F09, data, 0);
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	initCANopenMain();
etisserant@0: 	initTimer( );
etisserant@0: 	heartbeatInit();
etisserant@0: 	initResetMode();
etisserant@0: 	/* the slave send an NMT trame to say to the master 
etisserant@0: 	   that it is going to enter into operational state 
etisserant@0: 	   In fact, you must send the boot-up when you are in 
etisserant@0: 	   operational mode !
etisserant@0: 	*/
etisserant@0:   
etisserant@0: 	/* change automatically into pre_operational state */ 
etisserant@0: 	lastState = getState();
etisserant@0: 	setState(Pre_operational);
etisserant@0: 	break;
etisserant@0: 					
etisserant@0:       case Pre_operational:
etisserant@0: 	if (lastState != getState())
etisserant@0: 	  {
etisserant@0: 	  MSG_WAR(0X3F11, "I am in PRE_OPERATIONAL mode ", 0);
etisserant@0: 	  // Some stuff to do when the node enter in pre-operational mode
etisserant@0: 	  initPreOperationalMode();
etisserant@0: 	  }
etisserant@0: 	if (lastState == Initialisation)
etisserant@0: 	  slaveSendBootUp(0);
etisserant@0: 	lastState = getState();
etisserant@0: 	preOperational( );	
etisserant@0: 	break;
etisserant@0: 					
etisserant@0:       case Operational:
etisserant@0: 	if (lastState != getState())
etisserant@0: 	  MSG_WAR(0X3F12, "I am in OPERATIONAL mode ", 0);
etisserant@0: 	lastState = getState();
etisserant@0: 	operational( );
etisserant@0: 	break;
etisserant@0: 			
etisserant@0:       case Stopped:
etisserant@0: 	if (lastState !=  getState())
etisserant@0: 	  MSG_WAR(0X3F13, "I am in STOPPED mode", 0);
etisserant@0: 	lastState = getState();
etisserant@0: 	stopped( );
etisserant@0: 	break;
etisserant@0:       }//end switch case
etisserant@0:       // Sleep 10 ms
etisserant@0:       usleep(10000);	
etisserant@0:     }//end while
etisserant@0:   }//end else
etisserant@0: 
etisserant@0:  
etisserant@0:   return 0;	
etisserant@0: }
etisserant@0: