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 /* for NULL */ etisserant@0: etisserant@0: #include etisserant@0: #include etisserant@0: #include etisserant@0: #include etisserant@0: etisserant@0: #include etisserant@0: #include etisserant@0: #include etisserant@0: etisserant@0: #include "def.h" etisserant@0: #include "can.h" etisserant@0: #include "objdictdef.h" etisserant@0: #include "objacces.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: #include "sync.h" etisserant@0: etisserant@0: #include "nmtMaster.h" etisserant@0: etisserant@0: // For prototype of exit(); etisserant@0: #define exit _exit etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: // HCS12 configuration etisserant@0: // ----------------------------------------------------- etisserant@0: etisserant@0: enum E_CanBaudrate etisserant@0: { etisserant@0: CAN_BAUDRATE_250K, etisserant@0: CAN_BAUDRATE_500K, etisserant@0: CAN_BAUDRATE_1M, etisserant@0: CAN_BAUDRATE_OLD_VALUE etisserant@0: }; etisserant@0: etisserant@0: const canBusTime CAN_Baudrates[] = etisserant@0: { etisserant@0: { etisserant@0: 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ etisserant@0: 3, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ etisserant@0: 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ etisserant@0: 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ etisserant@0: 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ etisserant@0: 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ etisserant@0: etisserant@0: /* etisserant@0: With these values, etisserant@0: - The width of the bit time is 16 time quantum : etisserant@0: - 1 tq for the SYNC segment (could not be modified) etisserant@0: - 13 tq for the TIME 1 segment (tseg1 = 12) etisserant@0: - 2 tq for the TIME 2 segment (tseg2 = 1) etisserant@0: - Because the bus clock of the MSCAN is 16 MHZ, and the etisserant@0: freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time, etisserant@0: so the freq of the bit time is 250 kHz. etisserant@0: */ etisserant@0: }, etisserant@0: etisserant@0: { etisserant@0: 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ etisserant@0: 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ etisserant@0: 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ etisserant@0: 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ etisserant@0: 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ etisserant@0: 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ etisserant@0: etisserant@0: /* etisserant@0: With these values, etisserant@0: - The width of the bit time is 16 time quantum : etisserant@0: - 1 tq for the SYNC segment (could not be modified) etisserant@0: - 13 tq for the TIME 1 segment (tseg1 = 12) etisserant@0: - 2 tq for the TIME 2 segment (tseg2 = 1) etisserant@0: - Because the bus clock of the MSCAN is 16 MHZ, and the etisserant@0: freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time, etisserant@0: so the freq of the bit time is 500 kHz. etisserant@0: */ etisserant@0: }, etisserant@0: etisserant@0: { etisserant@0: 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ etisserant@0: 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ etisserant@0: 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ etisserant@0: 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ etisserant@0: 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ etisserant@0: 4, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ etisserant@0: etisserant@0: /* etisserant@0: With these values, etisserant@0: - The width of the bit time is 16 time quantum : etisserant@0: - 1 tq for the SYNC segment (could not be modified) etisserant@0: - 5 tq for the TIME 1 segment (tseg1 = 4) etisserant@0: - 2 tq for the TIME 2 segment (tseg2 = 1) etisserant@0: - Because the bus clock of the MSCAN is 16 MHZ, and the etisserant@0: freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time, etisserant@0: so the freq of the bit time is 1 MHz. etisserant@0: */ etisserant@0: }, etisserant@0: etisserant@0: { etisserant@0: 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ etisserant@0: 0, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ etisserant@0: 1, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ etisserant@0: 1, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ etisserant@0: 4, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ etisserant@0: 9, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ etisserant@0: etisserant@0: /* etisserant@0: With these values, etisserant@0: - The width of the bit time is 16 time quantum : etisserant@0: - 1 tq for the SYNC segment (could not be modified) etisserant@0: - 10 tq for the TIME 1 segment (tseg1 = 9) etisserant@0: - 5 tq for the TIME 2 segment (tseg2 = 4) etisserant@0: - Because the bus clock of the MSCAN is 16 MHZ, and the etisserant@0: freq of the time quantum is 16 MHZ (brp = 0), and there are 16 tq in the bit time, etisserant@0: so the freq of the bit time is 1 MHz. etisserant@0: */ etisserant@0: } etisserant@0: }; etisserant@0: etisserant@0: 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: etisserant@0: UNS8 printMsgErrToConsole = 1; etisserant@0: UNS8 printMsgWarToConsole = 1; etisserant@0: etisserant@0: // The variables mapped in the object dictionnary etisserant@0: // ---------------------------------------------- etisserant@0: extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0 etisserant@0: extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0 etisserant@0: extern UNS8 second; // Mapped at index 0x6002, subindex 0x1 etisserant@0: extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2 etisserant@0: extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3 etisserant@0: extern UNS8 day; // Mapped at index 0x6002, subindex 0x4 etisserant@0: extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1 etisserant@0: extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2 etisserant@0: etisserant@0: /*************************User's variables declaration**************************/ etisserant@0: UNS8 connectedNode[128]; etisserant@0: volatile UNS8 sec = 0; // To count the time every second etisserant@0: UNS8 softCount = 0; etisserant@0: etisserant@0: /* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */ etisserant@0: typedef struct mappedVar etisserant@0: { etisserant@0: UNS32 index; etisserant@0: UNS8 subIndex; etisserant@0: UNS8 size; // in byte etisserant@0: } s_mappedVar; etisserant@0: etisserant@0: typedef struct heartbeatConsumer etisserant@0: { etisserant@0: UNS8 nodeProducer; etisserant@0: UNS16 time_ms; etisserant@0: } s_heartbeatConsumer; 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: void waitMessage (void ); etisserant@0: void heartBeat (void ); etisserant@0: void transmitSync (void); etisserant@0: e_nodeState stateNode (UNS8 node); etisserant@0: void configure_master_SDO (UNS32 index, UNS8 serverNode); etisserant@0: UNS8 waitingWriteToSlaveDict ( UNS8 slaveNode, UNS8 error); etisserant@0: UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error); etisserant@0: UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode); etisserant@0: void masterMappingPDO (UNS32 indexPDO, UNS32 cobId, etisserant@0: s_mappedVar *tabMappedVar, UNS8 nbVar); etisserant@0: void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, etisserant@0: s_mappedVar *tabMappedVar, UNS8 nbVar); etisserant@0: void masterHeartbeatConsumer (s_heartbeatConsumer etisserant@0: *tabHeartbeatConsumer, UNS8 nbHeartbeats); etisserant@0: void masterHeartbeatProducer (UNS16 time); etisserant@0: void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer etisserant@0: *tabHeartbeatConsumer, UNS8 nbHeartbeats); etisserant@0: void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time); etisserant@0: void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType); etisserant@0: void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType); etisserant@0: void masterSYNCPeriod (UNS32 SYNCPeriod); etisserant@0: int main (void); etisserant@0: etisserant@0: // Interruption timer 3. (The timer 4 is used by CanOpen) etisserant@0: void __attribute__((interrupt)) timer3Hdl (void); etisserant@0: void incDate (void); etisserant@0: void initLeds (void); etisserant@0: void initCanHCS12 (void); etisserant@0: void initTimerClk (void); etisserant@0: etisserant@0: etisserant@0: /*****************************************************************************/ etisserant@0: void heartbeatError(UNS8 heartbeatID) etisserant@0: { etisserant@0: // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO, etisserant@0: // But we do not have mapped the variables in a PDO, so it sends nothing. etisserant@0: // See the note at the end of END CONFIGURING THE NETWORK. etisserant@0: MSG_WAR(0x2F00, "HeartBeat, no response 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: //------------------------------------------------------------------------------ etisserant@0: /************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/ etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* Node mode result after NodeGuard query */ etisserant@0: e_nodeState stateNode(UNS8 node) etisserant@0: { etisserant@0: e_nodeState state = getNodeState(0, node); etisserant@0: switch (state) { etisserant@0: case Unknown_state: etisserant@0: MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node); etisserant@0: break; etisserant@0: case Operational: etisserant@0: MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node); etisserant@0: break; etisserant@0: case Pre_operational: etisserant@0: MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node); etisserant@0: break; etisserant@0: default: etisserant@0: MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node); etisserant@0: } etisserant@0: return state; etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* The master is writing in its dictionnary to configure the SDO parameters etisserant@0: to communicate with server_node etisserant@0: */ etisserant@0: void configure_master_SDO(UNS32 index, UNS8 serverNode) etisserant@0: { etisserant@0: UNS32 data32; etisserant@0: UNS8 data8; etisserant@0: UNS8 sizeData = 4 ; // in bytes etisserant@0: etisserant@0: /* At subindex 1, the cobId of the Can message from the client. etisserant@0: It is always defined inside the server dictionnary as 0x600 + server_node. etisserant@0: So, we have no choice here ! */ etisserant@0: data32 = 0x600 + serverNode; etisserant@0: setODentry(index, 1, &data32, sizeData, 0); etisserant@0: etisserant@0: { etisserant@0: // Test etisserant@0: UNS32 *pbData; etisserant@0: UNS8 length; etisserant@0: UNS32 returnValue; etisserant@0: UNS8 dataType; etisserant@0: // Relecture etisserant@0: MSG_WAR(0x1000, "Reading index : ", index); etisserant@0: MSG_WAR(0x1000, " subindex : ", 1); etisserant@0: returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); etisserant@0: MSG_WAR(0x1000, " val : ", *pbData); etisserant@0: } etisserant@0: etisserant@0: etisserant@0: /* At subindex 2, the cobId of the Can message from the server to the client. etisserant@0: It is always defined inside the server dictionnary as 0x580 + client_node. etisserant@0: So, we have no choice here ! */ etisserant@0: data32 = 0x580 + serverNode; etisserant@0: setODentry(index, 2, &data32, sizeData, 0); etisserant@0: etisserant@0: /* At subindex 3, the node of the server */ etisserant@0: data8 = serverNode; etisserant@0: sizeData = 1; etisserant@0: setODentry(index, 3, &data8, sizeData, 0); etisserant@0: etisserant@0: { etisserant@0: UNS8 *pbData; etisserant@0: UNS8 length; etisserant@0: UNS32 returnValue; etisserant@0: UNS8 dataType; etisserant@0: // Relecture etisserant@0: MSG_WAR(0x1000, "Reading index : ", index); etisserant@0: MSG_WAR(0x1000, " subindex : ", 3); etisserant@0: returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); etisserant@0: MSG_WAR(0x1000, " val : ", *pbData); etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error) etisserant@0: { etisserant@0: UNS8 err; etisserant@0: UNS32 abortCode; etisserant@0: MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode); etisserant@0: if (error) { etisserant@0: MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode); etisserant@0: return -1; etisserant@0: } etisserant@0: /* Waiting until the slave has responded */ etisserant@0: while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) { etisserant@0: // Check if some SDO response are missing etisserant@0: scanSDOtimeout(); etisserant@0: } etisserant@0: etisserant@0: err = getWriteResultNetworkDict (0, slaveNode, &abortCode); etisserant@0: if (err == SDO_FINISHED) { etisserant@0: MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode); etisserant@0: // Release the line. Don't forget !!! etisserant@0: closeSDOtransfer(0, slaveNode, SDO_CLIENT); etisserant@0: return 0; etisserant@0: } etisserant@0: etisserant@0: if (err == SDO_ABORTED_RCV) { etisserant@0: MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode); etisserant@0: } etisserant@0: etisserant@0: if (err == SDO_ABORTED_INTERNAL) { etisserant@0: MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode); etisserant@0: } etisserant@0: // Looking for the line transfert number to read the index, subindex and releasing the line. etisserant@0: { etisserant@0: UNS8 line; etisserant@0: err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); etisserant@0: if (err) { etisserant@0: MSG_WAR(0x2F21, "No line found for node : ", slaveNode); etisserant@0: exit(-1); etisserant@0: } etisserant@0: MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index); etisserant@0: MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex); etisserant@0: //Releasing the line. etisserant@0: closeSDOtransfer(0, slaveNode, SDO_CLIENT); etisserant@0: exit(-1); etisserant@0: } etisserant@0: return 0; etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error) etisserant@0: { etisserant@0: UNS8 err; etisserant@0: UNS32 abortCode; etisserant@0: MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode); etisserant@0: if (error) { etisserant@0: MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode); etisserant@0: return -1; etisserant@0: } etisserant@0: /* Waiting until the slave has responded */ etisserant@0: while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) { etisserant@0: // Check if some SDO response are missing etisserant@0: scanSDOtimeout(); etisserant@0: } etisserant@0: err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode); etisserant@0: if (err == SDO_FINISHED) { etisserant@0: MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode); etisserant@0: // Release the line. Don't forget !!! etisserant@0: closeSDOtransfer(0, slaveNode, SDO_CLIENT); etisserant@0: return 0; etisserant@0: } etisserant@0: if (err == SDO_ABORTED_RCV) { etisserant@0: MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode); etisserant@0: } etisserant@0: etisserant@0: if (err == SDO_ABORTED_INTERNAL) { etisserant@0: MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode); etisserant@0: } etisserant@0: // Looking for the line transfert number to read the index, subindex and releasing the line. etisserant@0: { etisserant@0: UNS8 line; etisserant@0: err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); etisserant@0: if (err) { etisserant@0: MSG_WAR(0x2F2F, "No line found for node : ", slaveNode); etisserant@0: exit(-1); etisserant@0: } etisserant@0: MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index); etisserant@0: MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex); etisserant@0: //Releasing the line. etisserant@0: closeSDOtransfer(0, slaveNode, SDO_CLIENT); etisserant@0: exit(-1); etisserant@0: } etisserant@0: etisserant@0: return 0; etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* The master is writing in the slave dictionnary to configure the SDO parameters etisserant@0: Remember that the slave is the server, and the master is the client. etisserant@0: */ etisserant@0: UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode) etisserant@0: { etisserant@0: UNS8 data; etisserant@0: UNS8 NbDataToWrite = 1 ; // in bytes etisserant@0: UNS8 err = 0; etisserant@0: MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node ", slaveNode); etisserant@0: /* It is only to put at subindex 3 the serverNode. It is optionnal. etisserant@0: In the slave dictionary, only one SDO server is defined, at index etisserant@0: 0x1200 */ etisserant@0: data = clientNode; etisserant@0: err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: etisserant@0: return 0; etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void masterMappingPDO(UNS32 indexPDO, UNS32 cobId, etisserant@0: s_mappedVar *tabMappedVar, UNS8 nbVar) etisserant@0: { etisserant@0: UNS32 *pbData; etisserant@0: UNS32 data32; etisserant@0: UNS8 i; etisserant@0: UNS8 size = 0; etisserant@0: UNS8 dataType; etisserant@0: etisserant@0: if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) etisserant@0: MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId); etisserant@0: etisserant@0: if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) etisserant@0: MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId); etisserant@0: etisserant@0: /* At indexPDO, subindex 1, defining the cobId of the PDO */ etisserant@0: setODentry(indexPDO, 1, &cobId, 4, 0); etisserant@0: /* The mapping ... */ etisserant@0: /* ----------------*/ etisserant@0: /* At subindex 0, the number of variables in the PDO */ etisserant@0: setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0); etisserant@0: getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0); etisserant@0: /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in etisserant@0: the PDO. The first variable after the COBID is defined at subindex 1, ... etisserant@0: The data to write is the concatenation on 32 bits of (msb ... lsb) : etisserant@0: index(16b),subIndex(8b),sizeVariable(8b) etisserant@0: */ etisserant@0: for (i = 0 ; i < nbVar ; i++) { etisserant@0: data32 = ((tabMappedVar + i)->index << 16) | etisserant@0: (((tabMappedVar + i)->subIndex & 0xFF) << 8) | etisserant@0: ((tabMappedVar + i)->size & 0xFF); etisserant@0: // Write dictionary etisserant@0: setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0); etisserant@0: etisserant@0: # ifdef MORE_COMMENTS etisserant@0: printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", etisserant@0: (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); etisserant@0: // Only to verify. etisserant@0: // Read dictionnary etisserant@0: getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0); etisserant@0: printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", etisserant@0: indexPDO + 0x200, i + 1, 8 * size, *pbData); etisserant@0: # endif etisserant@0: etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, etisserant@0: s_mappedVar *tabMappedVar, UNS8 nbVar) etisserant@0: { etisserant@0: UNS32 data32; etisserant@0: UNS8 i; etisserant@0: UNS8 err; etisserant@0: UNS8 nbBytes = 1; etisserant@0: if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) etisserant@0: MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId); etisserant@0: etisserant@0: if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) etisserant@0: MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId); etisserant@0: etisserant@0: /* At indexPDO, subindex 1, defining the cobId of the PDO */ etisserant@0: err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: etisserant@0: /* The mapping ... */ etisserant@0: /* ----------------*/ etisserant@0: /* At subindex 0, the number of variables in the PDO */ etisserant@0: err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: etisserant@0: /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in etisserant@0: the PDO. The first variable after the COBID is defined at subindex 1, ... etisserant@0: The data to write is the concatenation on 32 bits of (msb ... lsb) : etisserant@0: index(16b),subIndex(8b),sizeVariable(8b) etisserant@0: */ etisserant@0: for (i = 0 ; i < nbVar ; i++) { etisserant@0: data32 = ((tabMappedVar + i)->index << 16) | etisserant@0: (((tabMappedVar + i)->subIndex & 0xFF) << 8) | etisserant@0: ((tabMappedVar + i)->size & 0xFF); etisserant@0: etisserant@0: // Write dictionary etisserant@0: err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: etisserant@0: # ifdef MORE_COMMENTS etisserant@0: printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", etisserant@0: (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); etisserant@0: etisserant@0: printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", etisserant@0: slaveNode, indexPDO + 0x200, i + 1, 32, data32); etisserant@0: # endif etisserant@0: etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: void masterHeartbeatConsumer(s_heartbeatConsumer etisserant@0: *tabHeartbeatConsumer, UNS8 nbHeartbeats) etisserant@0: { etisserant@0: UNS32 data; etisserant@0: UNS8 i; etisserant@0: UNS8 nbHB = nbHeartbeats; etisserant@0: etisserant@0: MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0); etisserant@0: /* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */ etisserant@0: setODentry(0x1016, 0, & nbHB, 1, 0); etisserant@0: etisserant@0: /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : etisserant@0: 00 - node_consumer (8b) - time_ms (16b) etisserant@0: Put 0 to ignore the entry. etisserant@0: */ etisserant@0: for (i = 0 ; i < nbHeartbeats ; i++) { etisserant@0: data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); etisserant@0: setODentry(0x1016, i + 1, & data, 4, 0); etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void masterHeartbeatProducer(UNS16 time) etisserant@0: { etisserant@0: UNS16 hbTime = time; etisserant@0: MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0); etisserant@0: /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ etisserant@0: setODentry(0x1017, 0, &hbTime, 2, 0); etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer etisserant@0: *tabHeartbeatConsumer, UNS8 nbHeartbeats) etisserant@0: { etisserant@0: UNS32 data; etisserant@0: UNS8 err; etisserant@0: UNS8 i; etisserant@0: etisserant@0: MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode); etisserant@0: etisserant@0: /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : etisserant@0: 00 - node_consumer (8b) - time_ms (16b) etisserant@0: Put 0 to ignore the entry. etisserant@0: */ etisserant@0: for (i = 0 ; i < nbHeartbeats ; i++) { etisserant@0: data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | etisserant@0: ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); etisserant@0: err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time) etisserant@0: { etisserant@0: UNS8 err; etisserant@0: MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode); etisserant@0: /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ etisserant@0: etisserant@0: err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType) etisserant@0: { etisserant@0: MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO); etisserant@0: etisserant@0: /* At subindex 2, the transmission type */ etisserant@0: setODentry(indexPDO, 2, &transType, 1, 0); etisserant@0: } etisserant@0: etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType) etisserant@0: { etisserant@0: UNS8 err; etisserant@0: MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode); etisserant@0: MSG_WAR(0x3F42, " indexPDO : ", indexPDO); etisserant@0: etisserant@0: err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType); etisserant@0: waitingWriteToSlaveDict(slaveNode, err); etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: /* etisserant@0: */ etisserant@0: etisserant@0: void masterSYNCPeriod(UNS32 SYNCPeriod) etisserant@0: { etisserant@0: UNS32 cobId = 0x40000080; etisserant@0: MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod); etisserant@0: /* At index 0x1006, subindex 0 : the period in ms */ etisserant@0: setODentry(0x1006, 0, &SYNCPeriod , 4, 0); etisserant@0: /* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */ etisserant@0: setODentry(0x1005, 0, &cobId, 4, 0); etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: etisserant@0: etisserant@0: //Initialisation of the port B for the leds. etisserant@0: void initLeds(void) etisserant@0: { etisserant@0: // Port B is output etisserant@0: IO_PORTS_8(DDRB)= 0XFF; etisserant@0: // RAZ etisserant@0: IO_PORTS_8(PORTB) = 0xFF; etisserant@0: } etisserant@0: etisserant@0: //------------------------------------------------------------------------------ etisserant@0: etisserant@0: etisserant@0: etisserant@0: void initCanHCS12 (void) etisserant@0: { etisserant@0: //Init the HCS12 microcontroler for CanOpen etisserant@0: initHCS12(); etisserant@0: // Init the HCS12 CAN driver etisserant@0: const canBusInit bi0 = { etisserant@0: 0, /* no low power */ etisserant@0: 0, /* no time stamp */ etisserant@0: 1, /* enable MSCAN */ etisserant@0: 0, /* clock source : oscillator (In fact, it is not used) */ etisserant@0: 0, /* no loop back */ etisserant@0: 0, /* no listen only */ etisserant@0: 0, /* no low pass filter for wk up */ etisserant@0: CAN_Baudrates[CAN_BAUDRATE_250K], etisserant@0: { etisserant@0: 0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */ etisserant@0: 0x00, 0xFF, /* filter 0 hight accept all msg */ etisserant@0: 0x00, 0xFF, /* filter 0 low accept all msg */ etisserant@0: 0x00, 0xFF, /* filter 1 hight filter all of msg */ etisserant@0: 0x00, 0xFF, /* filter 1 low filter all of msg */ etisserant@0: 0x00, 0xFF, /* filter 2 hight filter most of msg */ etisserant@0: 0x00, 0xFF, /* filter 2 low filter most of msg */ etisserant@0: 0x00, 0xFF, /* filter 3 hight filter most of msg */ etisserant@0: 0x00, 0xFF, /* filter 3 low filter most of msg */ etisserant@0: } etisserant@0: }; etisserant@0: etisserant@0: canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters... etisserant@0: unlock(); // Allow interruptions etisserant@0: } etisserant@0: etisserant@0: /*********************************************************************/ etisserant@0: // For Second timer etisserant@0: void incDate(void) etisserant@0: { etisserant@0: if (sec == 59) etisserant@0: sec = 0; etisserant@0: else etisserant@0: sec++; etisserant@0: etisserant@0: // Toggle the led 4 every seconds etisserant@0: IO_PORTS_8(PORTB) ^= 0x10; etisserant@0: etisserant@0: } etisserant@0: etisserant@0: // Init the time for the second counter etisserant@0: void initTimerClk(void) etisserant@0: { etisserant@0: etisserant@0: lock(); // Inhibe les interruptions etisserant@0: etisserant@0: // Configuration du Channel 3 etisserant@0: IO_PORTS_8(TIOS) |= 0x08; // Canal 3 en sortie etisserant@0: IO_PORTS_8(TCTL2) &= ~(0xC0); // Canal 3 déconnecté du pin de sortie etisserant@0: IO_PORTS_8(TIE) |= 0x08; // Autorise interruption Canal 3 etisserant@0: IO_PORTS_8(TSCR1) |= 0x80; // Mise en route du timer etisserant@0: unlock(); // Autorise les interruptions etisserant@0: } etisserant@0: etisserant@0: etisserant@0: /*********************************************************************/ etisserant@0: void __attribute__((interrupt)) timer3Hdl(void) etisserant@0: { etisserant@0: //IO_PORTS_8(PORTB) ^= 0x10; etisserant@0: //IO_PORTS_8(PORTB) &= ~0x20; etisserant@0: IO_PORTS_8(TFLG1) = 0x08; // RAZ du flag interruption timer 3 etisserant@0: // Calcul evt suivant. Clock 8 MHz -> 8000 evt de 1 ms!! Doit tenir sur 16 bits etisserant@0: // Attention, ça change si on utilise la pll etisserant@0: // Lorsque le timer atteindra la valeur de TC3 (16 bits), l'interruption timer3Hdl sera déclenchée etisserant@0: // Si on utilise la PLL à 24 MHZ, alors la vitesse du bus est multipliée par 3. etisserant@0: etisserant@0: /* Assume that our board uses a 16 MHz quartz */ etisserant@0: /* Without pre-division, 8000 counts takes 1 ms. */ etisserant@0: /* We are using a pre-divisor of 32. (register TSCR2) See in CanOpenDriverHC12/timerhw.c */ etisserant@0: /* So 1000 counts takes 4 ms. */ etisserant@0: /* We must have a soft counter of 250 to count a second. */ etisserant@0: etisserant@0: /* etisserant@0: We check in an interrupt handler if a message is arrived. etisserant@0: */ etisserant@0: receiveMsgHandler(0); etisserant@0: etisserant@0: IO_PORTS_16(TC3H) += (1000); // IT every 4000 count. etisserant@0: softCount++; etisserant@0: if (softCount == 250) { etisserant@0: softCount = 0; etisserant@0: incDate(); etisserant@0: } etisserant@0: } etisserant@0: etisserant@0: etisserant@0: etisserant@0: etisserant@0: /*****************************************************************************/ etisserant@0: etisserant@0: etisserant@0: etisserant@0: /********************************* MAIN ***************************************/ etisserant@0: etisserant@0: etisserant@0: int main() etisserant@0: { etisserant@0: etisserant@0: UNS8 second_last; etisserant@0: UNS8 minutes_last; etisserant@0: UNS8 sendingResetError = 0; etisserant@0: UNS8 ok, i; etisserant@0: etisserant@0: /* initialisation du bus Can */ etisserant@0: initCanHCS12(); etisserant@0: etisserant@0: /* arrays initialisation, etc */ etisserant@0: initCANopenMain(); etisserant@0: etisserant@0: /* arrays initialisation, etc */ etisserant@0: initCANopenMaster(); etisserant@0: etisserant@0: /* Defining the node Id */ etisserant@0: setNodeId(0x01); etisserant@0: MSG_WAR(0x3F50, "My node ID is : ", getNodeId()); etisserant@0: etisserant@0: /* Put the master in operational mode */ etisserant@0: setState(Operational); etisserant@0: etisserant@0: /* Init the table of connected nodes */ etisserant@0: for (i = 0 ; i < 128 ; i++) etisserant@0: connectedNode[i] = 0; etisserant@0: etisserant@0: /* Initialisation */ etisserant@0: initLeds(); etisserant@0: initTimer( ); etisserant@0: initTimerClk(); etisserant@0: etisserant@0: etisserant@0: etisserant@0: /******************** CONFIGURING THE NETWORK **************************/ etisserant@0: etisserant@0: /* Which nodes are connected ? */ etisserant@0: /* Sending a request Node guard to node 5 and 6 */ etisserant@0: MSG_WAR(0x3F04, "Sending a node guard to node : ", 5); etisserant@0: masterReadNodeState(0, 0x05); etisserant@0: etisserant@0: /* Sending a message to the node 6, only as example */ etisserant@0: MSG_WAR(0x3F04, "Sending a node guard to node : ", 6); etisserant@0: masterReadNodeState(0, 0x06); etisserant@0: /* Waiting for a second the response */ etisserant@0: sec = 0; etisserant@0: while (sec < 2) {}; etisserant@0: etisserant@0: /* Whose node have answered ? */ etisserant@0: connectedNode[5] = stateNode(5); etisserant@0: if (connectedNode[5] != Unknown_state) { etisserant@0: MSG_WAR(0x3F06, "Node 5 connected. Its state is : ", connectedNode[5]); etisserant@0: } etisserant@0: else { etisserant@0: MSG_WAR(0x3F07, "Node 5 NOT connected ", connectedNode[5]); etisserant@0: } etisserant@0: etisserant@0: connectedNode[6] = stateNode(6); etisserant@0: if (connectedNode[6] != Unknown_state) { etisserant@0: MSG_WAR(0x3F08, "Node 6 connected. Its state is : ", connectedNode[6]); etisserant@0: } etisserant@0: else { etisserant@0: MSG_WAR(0x3F09, "Node 6 NOT connected ", connectedNode[6]); etisserant@0: } etisserant@0: etisserant@0: /* Configure the SDO master to communicate with node 5 and node 6 */ etisserant@0: configure_master_SDO(0x1280, 0x05); etisserant@0: /* Configure the SDO of node 5 */ etisserant@0: /* getNodeId() returns my node Id */ etisserant@0: configure_client_SDO(0x05, getNodeId()); etisserant@0: etisserant@0: /* Mapping of the PDO etisserant@0: Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F, etisserant@0: 381-3FF, 401-47F, 481-4FF, 501-57F, etisserant@0: without other restriction. etisserant@0: (Of course, you must not define 2 PDO transmit with the same cobId !!) etisserant@0: */ etisserant@0: etisserant@0: /* etisserant@0: *** PDO node 1 <-- node 5 *** etisserant@0: *** cobId 0x181 ************* etisserant@0: MASTER (node 1) etisserant@0: Mapped to variables (node1) [index-subindex-size_bits]: etisserant@0: day [0x6002 - 0x04 - 8] etisserant@0: hour [0x6002 - 0x03 - 8] etisserant@0: second [0x6002 - 0x01 - 8] etisserant@0: etisserant@0: SLAVE (node 5) etisserant@0: Mapped to variables (node5) [index-subindex-size_bits]: etisserant@0: day [0x2000 - 0x04 - 8] etisserant@0: hour [0x2000 - 0x03 - 8] etisserant@0: second [0x2000 - 0x01 - 8] etisserant@0: */ etisserant@0: etisserant@0: /* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, }; etisserant@0: masterMappingPDO(0x1400, 0x181, tabMappedVar, 3); etisserant@0: } etisserant@0: etisserant@0: /* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, }; etisserant@0: slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3); etisserant@0: } etisserant@0: /* etisserant@0: *** PDO node 1 <-- node 5 *** etisserant@0: *** cobId 0x182 ************* etisserant@0: MASTER (node 1) etisserant@0: Mapped to variables (node1) [index-subindex-size_bits]: etisserant@0: minute [0x6002 - 0x02 - 8] etisserant@0: etisserant@0: SLAVE (node 5) etisserant@0: Mapped to variables (node5) [index-subindex-size_bits]: etisserant@0: minute [0x2000 - 0x02 - 8] etisserant@0: */ etisserant@0: etisserant@0: /* Configuring PDO receive, defined at index 0x1400 and 0x1600 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6002,2,8} }; etisserant@0: masterMappingPDO(0x1401, 0x182, tabMappedVar, 1); etisserant@0: } etisserant@0: etisserant@0: /* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x2000,2,8} }; etisserant@0: slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1); etisserant@0: } etisserant@0: etisserant@0: etisserant@0: /* etisserant@0: *** PDO node 1 <-- node 5 *** etisserant@0: *** cobId 0x183 ************* etisserant@0: Error management : By this way, The node can send by PDO an error etisserant@0: MASTER (node 1) etisserant@0: Mapped to variables (node1) [index-subindex-size_bits]: etisserant@0: canopenErrNb_node5 [0x6000 - 0x00 - 32] etisserant@0: canopenErrVal_node5 [0x6001 - 0x00 - 32] etisserant@0: etisserant@0: SLAVE (node 5) etisserant@0: Mapped to variables (node5) [index-subindex-size_bytes]: etisserant@0: canopenErrNb [0x6000 - 0x00 - 32] etisserant@0: canopenErrVal [0x6001 - 0x00 - 32] etisserant@0: */ etisserant@0: etisserant@0: /* Configuring PDO receive, defined at index 0x1402 and 0x1602 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; etisserant@0: masterMappingPDO(0x1402, 0x183, tabMappedVar, 2); etisserant@0: } etisserant@0: etisserant@0: /* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; etisserant@0: slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2); etisserant@0: } etisserant@0: etisserant@0: /* etisserant@0: *** PDO node 1 --> node 5 *** etisserant@0: *** cobId 0x184 ************* etisserant@0: Error management : To reset the error etisserant@0: MASTER (node 1) etisserant@0: Mapped to variables (node1) [index-subindex-size_bits]: etisserant@0: canopenErrNb_node5 [0x6000 - 0x00 - 32] etisserant@0: canopenErrVal_node5 [0x6001 - 0x00 - 32] etisserant@0: etisserant@0: SLAVE (node 5) etisserant@0: Mapped to variables (node5) [index-subindex-size_bytes]: etisserant@0: canopenErrNb [0x6000 - 0x00 - 32] etisserant@0: canopenErrVal [0x6001 - 0x00 - 32] etisserant@0: */ etisserant@0: etisserant@0: /* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; etisserant@0: masterMappingPDO(0x1801, 0x184, tabMappedVar, 2); etisserant@0: } etisserant@0: etisserant@0: /* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */ etisserant@0: { etisserant@0: s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; etisserant@0: slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2); etisserant@0: } etisserant@0: etisserant@0: /* Configuring the node 5 heartbeat */ etisserant@0: /* Check every 3000 ms if it have received a heartbeat from node 1 */ etisserant@0: { etisserant@0: UNS8 nbHeartbeatsToReceive = 1; etisserant@0: s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}}; etisserant@0: slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive); etisserant@0: } etisserant@0: /* Sending every 1000 ms an heartbeat */ etisserant@0: slaveHeartbeatProducer(0x05, 0x3E8); etisserant@0: etisserant@0: /* Configuring the master heartbeat */ etisserant@0: /* Check every 3000 ms if it have received a heartbeat from node 5 */ etisserant@0: { etisserant@0: UNS8 nbHeartbeatsToReceive = 1; etisserant@0: s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}}; etisserant@0: masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive); etisserant@0: } etisserant@0: etisserant@0: /* Sending every 1000 ms an heartbeat */ etisserant@0: masterHeartbeatProducer(0x3E8); etisserant@0: etisserant@0: etisserant@0: etisserant@0: /* Configuring the transmission mode of the PDO */ etisserant@0: slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1)); etisserant@0: slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT); etisserant@0: slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT); etisserant@0: masterPDOTransmissionMode(0x1801, TRANS_EVENT); etisserant@0: etisserant@0: etisserant@0: /* Configuring the master to send a SYNC message every 1 s */ etisserant@0: /* Note than any other node can send the SYNC instead of the master */ etisserant@0: masterSYNCPeriod(1000000); etisserant@0: etisserant@0: { etisserant@0: // Reading the period of heartbeat which has been written in node 5 dictionary etisserant@0: UNS8 node = 5; etisserant@0: UNS16 index = 0x1017; etisserant@0: UNS8 subindex = 0; etisserant@0: //UNS8 notused = 0; etisserant@0: UNS16 hb = 0; etisserant@0: UNS8 size_data = 0; etisserant@0: UNS8 error; etisserant@0: MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0); etisserant@0: error = readNetworkDict(0, node, index, subindex, 0); etisserant@0: //error = readNetworkDict(0, node, index, subindex, ¬used); etisserant@0: if (error) { etisserant@0: MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0); etisserant@0: exit (-1); etisserant@0: } etisserant@0: /* Waiting until the server has responded */ etisserant@0: error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error); etisserant@0: MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb); etisserant@0: MSG_WAR(0x1F51, " size of data (bytes) = ", size_data); etisserant@0: } etisserant@0: etisserant@0: /* Put the node 5 in operational mode etisserant@0: The mode is changed according to the slave state machine mode : etisserant@0: initialisation ---> pre-operational (Automatic transition) etisserant@0: pre-operational <--> operational etisserant@0: pre-operational <--> stopped etisserant@0: pre-operational, operational, stopped -> initialisation etisserant@0: NMT_Start_Node // Put the node in operational mode etisserant@0: NMT_Stop_Node // Put the node in stopped mode etisserant@0: NMT_Enter_PreOperational // Put the node in pre_operational mode etisserant@0: NMT_Reset_Node // Put the node in initialization mode etisserant@0: NMT_Reset_Comunication // Put the node in initialization mode etisserant@0: */ etisserant@0: masterSendNMTstateChange(0, 0x05, NMT_Start_Node); etisserant@0: etisserant@0: // Note etisserant@0: //----- etisserant@0: // We do not have mapped the variable canopenErrNB and canopenErrVAL. etisserant@0: // We should have done that ! etisserant@0: // the macro MSG_ERR try to send the PDO(s) which contains these two variables. etisserant@0: // While the PDO will not be found, if you are printing the warnings in file pdo.c, etisserant@0: // it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for etisserant@0: // example when you enter the function heartbeatError. etisserant@0: etisserant@0: /******************** END CONFIGURING THE NETWORK **********************/ etisserant@0: etisserant@0: etisserant@0: etisserant@0: /* Init the errors values that may send the node 5 */ etisserant@0: canopenErrNB_node5 = 0; etisserant@0: canopenErrVAL_node5 = 0; etisserant@0: etisserant@0: /***********/ etisserant@0: /* Running */ etisserant@0: /***********/ etisserant@0: etisserant@0: /* SDO test with node 5 */ etisserant@0: /* This code may takes too much room in memory if you are also debugging the file sdo.c */ etisserant@0: { etisserant@0: // Reading string etisserant@0: UNS8 dataW[20]; etisserant@0: UNS8 dataR[20]; etisserant@0: UNS8 size; etisserant@0: UNS8 err; etisserant@0: MSG_WAR(0x3F05, "Test SDO", 0); etisserant@0: etisserant@0: MSG_WAR(0x3F10, "Writing to node 5 at 0x6002-0 ...", 0); etisserant@0: strcpy(dataW, "Au Revoir"); etisserant@0: MSG_WAR(0x3F10, dataW, 0); etisserant@0: size = 20; etisserant@0: err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW); etisserant@0: err = waitingWriteToSlaveDict(5, err); etisserant@0: etisserant@0: err = readNetworkDict(0, 5, 0x6002, 0, visible_string); etisserant@0: err = waitingReadToSlaveDict(5, dataR, &size, err); etisserant@0: MSG_WAR(0x3F08, "Read from node 5 at 0x6002-0" , 0); etisserant@0: MSG_WAR(0x3F08, dataR, 0); etisserant@0: etisserant@0: MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0); etisserant@0: err = readNetworkDict(0, 5, 0x1009, 0, visible_string); etisserant@0: etisserant@0: err = waitingReadToSlaveDict(5, dataR, &size, err); etisserant@0: MSG_WAR(0x3F08, dataR, 0); etisserant@0: etisserant@0: MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0); etisserant@0: err = readNetworkDict(0, 5, 0x100A, 0, visible_string); etisserant@0: err = waitingReadToSlaveDict(5, dataR, &size, err); etisserant@0: MSG_WAR(0x3F08, dataR, 0); etisserant@0: } etisserant@0: 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: while(1) { etisserant@0: // To transmit the SYNC if it is time to do. etisserant@0: computeSYNC(); etisserant@0: etisserant@0: // Testing if heartsbeat have been received, and send a heartbeat if it is time. etisserant@0: heartbeatMGR(); etisserant@0: etisserant@0: // Messages received ? etisserant@0: // The function is called in void __attribute__((interrupt)) timer3Hdl (void) etisserant@0: //receiveMsgHandler(0); etisserant@0: etisserant@0: if (minutes != minutes_last) { etisserant@0: MSG_WAR(0x3F80, "Minutes changed :", minutes); etisserant@0: minutes_last = minutes; etisserant@0: } etisserant@0: etisserant@0: if (second != second_last) { etisserant@0: MSG_WAR(0x3F81, "Seconds : ", second); etisserant@0: second_last = second; etisserant@0: etisserant@0: if (canopenErrNB_node5) { etisserant@0: MSG_WAR(0x3F82, "Received an error from node 5, NB : ", canopenErrNB_node5); etisserant@0: MSG_WAR(0x3F83, " VALUE : ", canopenErrVAL_node5); etisserant@0: // Reseting the error etisserant@0: canopenErrNB_node5 = 0; etisserant@0: canopenErrVAL_node5 = 0; etisserant@0: sendingResetError = 1; etisserant@0: } etisserant@0: etisserant@0: if ((second == 00) && sendingResetError) { etisserant@0: MSG_WAR(0x3F84, etisserant@0: "Sending to node 5 a PDO envent to reset the error NB and VAL : ",0); etisserant@0: sendPDOevent(0, &canopenErrNB_node5); etisserant@0: sendingResetError = 0; etisserant@0: } etisserant@0: etisserant@0: etisserant@0: } // end if (second != second_last) etisserant@0: etisserant@0: etisserant@0: } // end while etisserant@0: etisserant@0: etisserant@0: return (0); etisserant@0: } etisserant@0: