00001 /* -00002 This file is part of CanFestival, a library implementing CanOpen Stack. -00003 -00004 Copyright (C): Edouard TISSERANT and Francis DUPIN -00005 -00006 See COPYING file for copyrights details. -00007 -00008 This library is free software; you can redistribute it and/or -00009 modify it under the terms of the GNU Lesser General Public -00010 License as published by the Free Software Foundation; either -00011 version 2.1 of the License, or (at your option) any later version. -00012 -00013 This library is distributed in the hope that it will be useful, -00014 but WITHOUT ANY WARRANTY; without even the implied warranty of -00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -00016 Lesser General Public License for more details. -00017 -00018 You should have received a copy of the GNU Lesser General Public -00019 License along with this library; if not, write to the Free Software -00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -00021 */ -00022 -00023 // Uncomment if you don't need console informations. -00024 #define DEBUG_WAR_CONSOLE_ON -00025 #define DEBUG_ERR_CONSOLE_ON -00026 -00027 #include <stddef.h> /* for NULL */ -00028 -00029 #include <asm-m68hc12/portsaccess.h> -00030 #include <asm-m68hc12/ports_def.h> -00031 #include <asm-m68hc12/ports.h> -00032 #include <interrupt.h> -00033 -00034 #include "../include/data.h" -00035 #include <applicfg.h> -00036 -00037 -00038 -00039 #include "../include/hcs12/candriver.h" -00040 #include "../include/hcs12/canOpenDriver.h" -00041 #include "../include/def.h" -00042 #include "../include/can.h" -00043 #include "../include/objdictdef.h" -00044 #include "../include/objacces.h" -00045 #include "../include/sdo.h" -00046 #include "../include/pdo.h" -00047 #include "../include/timer.h" -00048 #include "../include/lifegrd.h" -00049 #include "../include/sync.h" -00050 -00051 #include "../include/nmtSlave.h" -00052 -00053 // File created by the GUI -00054 #include "objdict.h" -00055 -00056 -00057 -00058 -00059 -00060 // HCS12 configuration -00061 // ----------------------------------------------------- -00062 -00063 enum E_CanBaudrate -00064 { -00065 CAN_BAUDRATE_250K, -00066 CAN_BAUDRATE_500K, -00067 CAN_BAUDRATE_1M, -00068 }; -00069 -00070 -00071 const canBusTime CAN_Baudrates[] = -00072 { -00073 { -00074 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ -00075 3, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ -00076 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ -00077 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ -00078 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ -00079 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ -00080 -00081 /* -00082 With these values, -00083 - The width of the bit time is 16 time quantum : -00084 - 1 tq for the SYNC segment (could not be modified) -00085 - 13 tq for the TIME 1 segment (tseg1 = 12) -00086 - 2 tq for the TIME 2 segment (tseg2 = 1) -00087 - Because the bus clock of the MSCAN is 16 MHZ, and the -00088 freq of the time quantum is 4 MHZ (brp = 3+1), and there are 16 tq in the bit time, -00089 so the freq of the bit time is 250 kHz. -00090 */ -00091 }, -00092 -00093 { -00094 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ -00095 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ -00096 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ -00097 0, /* samp : chose btw 0 and 3 (2 bits) (samp + 1 ) samples per bit */ -00098 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ -00099 12, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ -00100 -00101 /* -00102 With these values, -00103 - The width of the bit time is 16 time quantum : -00104 - 1 tq for the SYNC segment (could not be modified) -00105 - 13 tq for the TIME 1 segment (tseg1 = 12) -00106 - 2 tq for the TIME 2 segment (tseg2 = 1) -00107 - Because the bus clock of the MSCAN is 16 MHZ, and the -00108 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 16 tq in the bit time, -00109 so the freq of the bit time is 500 kHz. -00110 */ -00111 }, -00112 -00113 { -00114 1, /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board */ -00115 1, /* brp : chose btw 0 and 63 (6 bits). freq time quantum = 16MHz / (brp + 1) */ -00116 0, /* sjw : chose btw 0 and 3 (2 bits). Sync on (sjw + 1 ) time quantum */ -00117 0, /* samp : chose btw 0 and 3 (2 bits) (samp +MSG_WAR(0x3F33, "Je suis le noeud ", getNodeId()); 1 ) samples per bit */ -00118 1, /* tseg2 : chose btw 0 and 7 (3 bits) Segment 2 width = (tseg2 + 1) tq */ -00119 4, /* tseg1 : chose btw 0 and 15 (4 bits) Segment 1 width = (tseg1 + 1) tq */ -00120 -00121 /* -00122 With these values, -00123 - The width of the bit time is 16 time quantum : -00124 - 1 tq for the SYNC segment (could not be modified) -00125 - 5 tq for the TIME 1 segment (tseg1 = 4) -00126 - 2 tq for the TIME 2 segment (tseg2 = 1) -00127 - Because the bus clock of the MSCAN is 16 MHZ, and the -00128 freq of the time quantum is 8 MHZ (brp = 1+1), and there are 8 tq in the bit time, -00129 so the freq of the bit time is 1 MHz. -00130 */ -00131 } -00132 }; -00133 -00134 -00135 -00136 -00137 /**************************prototypes*****************************************/ -00138 -00139 //Init can bus and Canopen -00140 void initCanopencapteur (void); -00141 // Init the sensor -00142 void initSensor(void); -00143 void initPortB(void); -00144 void initPortH(void); -00145 -00146 -00147 //------------------------------------------------------------------------------ -00148 //Initialisation of the port B for the leds. -00149 void initPortB(void) -00150 { -00151 // Port B is output -00152 IO_PORTS_8(DDRB)= 0XFF; -00153 // RAZ -00154 IO_PORTS_8(PORTB) = 0xFF; -00155 } -00156 -00157 //------------------------------------------------------------------------------ -00158 // Init of port H to choose the CAN rate by switch, and the nodeId -00159 void initPortH(void) -00160 { -00161 // Port H is input -00162 IO_PORTS_8(DDRH)= 0X00; -00163 // Enable pull device -00164 IO_PORTS_8(PERH) = 0XFF; -00165 // Choose the pull-up device -00166 IO_PORTS_8(PPSH) = 0X00; -00167 } -00168 -00169 //------------------------------------------------------------------------------ -00170 void initSensor(void) -00171 { -00172 UNS8 baudrate = 0; -00173 UNS8 nodeId = 0; -00174 // Init led control -00175 initPortB(); -00176 IO_PORTS_8(PORTB) &= ~ 0x01; //One led ON -00177 initPortH(); -00178 -00179 /* Defining the node Id */ -00180 // Uncomment to have a fixed nodeId -00181 //setNodeId(&gene_SYNC_Data, 0x03); -00182 -00183 // Comment below to have a fixed nodeId -00184 nodeId = ~(IO_PORTS_8(PTH)) & 0x3F; -00185 if (nodeId == 0) { -00186 MSG_WAR(0x3F33, "Using default nodeId : ", getNodeId(&gene_SYNC_Data)); -00187 } -00188 else -00189 setNodeId(&gene_SYNC_Data, nodeId); -00190 -00191 MSG_WAR(0x3F33, "My nodeId is : ", getNodeId(&gene_SYNC_Data)); -00192 -00193 canBusInit bi0 = { -00194 0, /* no low power */ -00195 0, /* no time stamp */ -00196 1, /* enable MSCAN */ -00197 0, /* clock source : oscillator (In fact, it is not used) */ -00198 0, /* no loop back */ -00199 0, /* no listen only */ -00200 0, /* no low pass filter for wk up */ -00201 CAN_Baudrates[CAN_BAUDRATE_250K], -00202 { -00203 0x00, /* Filter on 16 bits. See Motorola Block Guide V02.14 fig 4-3 */ -00204 0x00, 0xFF, /* filter 0 hight accept all msg */ -00205 0x00, 0xFF, /* filter 0 low accept all msg */ -00206 0x00, 0xFF, /* filter 1 hight filter all of msg */ -00207 0x00, 0xFF, /* filter 1 low filter all of msg */ -00208 0x00, 0xFF, /* filter 2 hight filter most of msg */ -00209 0x00, 0xFF, /* filter 2 low filter most of msg */ -00210 0x00, 0xFF, /* filter 3 hight filter most of msg */ -00211 0x00, 0xFF, /* filter 3 low filter most of msg */ -00212 } -00213 }; -00214 -00215 //Init the HCS12 microcontroler for CanOpen -00216 initHCS12(); -00217 -00218 // Chose the CAN rate (On our board, whe have switch for all purpose) -00219 // 7 8 -00220 // ON ON => 1000 kpbs -00221 // OFF ON => 500 kpbs -00222 // ON OFF => 250 kpbs -00223 -00224 baudrate = ~(IO_PORTS_8(PTH)) & 0xC0; -00225 -00226 // Uncomment to have a fixed baudrate of 250 kbps -00227 //baudrate = 1; -00228 -00229 switch (baudrate) { -00230 case 0x40: -00231 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K]; -00232 MSG_WAR(0x3F30, "CAN 250 kbps ", 0); -00233 break; -00234 case 0x80: -00235 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_500K]; -00236 MSG_WAR(0x3F31, "CAN 500 kbps ", 0); -00237 break; -00238 case 0xC0: -00239 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_1M]; -00240 MSG_WAR(0x3F31, "CAN 1000 kbps ", 0); -00241 break; -00242 default: -00243 bi0.clk = CAN_Baudrates[CAN_BAUDRATE_250K]; -00244 MSG_WAR(0x2F32, "CAN BAUD RATE NOT DEFINED => 250 kbps ", 0); -00245 } -00246 -00247 -00248 -00249 MSG_WAR(0x3F33, "SYNC signal generator ", 0); -00250 -00251 canInit(CANOPEN_LINE_NUMBER_USED, bi0); //initialize filters... -00252 initTimer(); // Init hcs12 timer used by CanFestival. (see timerhw.c) -00253 unlock(); // Allow interruptions -00254 } -00255 -00256 -00257 -00258 -00259 -00260 -00261 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -00262 // FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here. -00263 -00264 //------------------------------------------------------------------------------ -00265 void gene_SYNC_heartbeatError( UNS8 heartbeatID ) -00266 { -00267 -00268 MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID); -00269 } -00270 -00271 //------------------------------------------------------------------------------ -00272 void gene_SYNC_initialisation() -00273 { -00274 MSG_WAR (0x3F00, "Entering in INIT ", 0); -00275 initSensor(); -00276 -00277 IO_PORTS_8(PORTB) &= ~ 0x01; // led 0 : ON -00278 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3 : OFF -00279 -00280 } -00281 -00282 -00283 //------------------------------------------------------------------------------ -00284 void gene_SYNC_preOperational() -00285 { -00286 MSG_WAR (0x3F01, "Entering in PRE-OPERATIONAL ", 0); -00287 IO_PORTS_8(PORTB) &= ~ 0x03; // leds 0, 1 : ON -00288 IO_PORTS_8(PORTB) |= 0x0C; // leds 2, 3 : OFF -00289 /* default values for the msg CAN filters */ -00290 /* Accept all */ -00291 { -00292 canBusFilterInit filterConfiguration = -00293 { -00294 0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */ -00295 /*canidarx, canidmrx */ -00296 0x00, 0xFF, /* filter 0 */ -00297 0x00, 0xFF, /* filter 0 */ -00298 0x00, 0xFF, /* filter 1 */ -00299 0x00, 0xFF, /* filter 1 */ -00300 0x00, 0xFF, /* filter 2 */ -00301 0x00, 0xFF, /* filter 2 */ -00302 0x00, 0xFF, /* filter 3 */ -00303 0x00, 0xFF, /* filter 3 */ -00304 }; -00305 canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration); -00306 } -00307 // Reset the automatic change by SDO -00308 applyDownloadedFilters = 0; -00309 -00310 } -00311 -00312 -00313 //------------------------------------------------------------------------------ -00314 void gene_SYNC_operational() -00315 { -00316 MSG_WAR (0x3F02, "Entering in OPERATIONAL ", 0); -00317 IO_PORTS_8(PORTB) &= ~ 0x07; // leds 0, 1, 2 : ON -00318 IO_PORTS_8(PORTB) |= 0x08; // leds 3 : OFF -00319 -00320 // Filtering the CAN received msgs. -00321 // 2 ways -00322 // First :applying an automatic filter -00323 // Second : The values of the filtering registers are mapped in the object dictionary, -00324 // So that a filtering configuration can be downloaded by SDO in pre-operational mode -00325 -00326 if (applyDownloadedFilters == 0) {// No downloaded configuration to apply -00327 UNS16 accept1 = 0x0000; // Accept NMT -00328 UNS16 mask1 = 0x0FFF; // Mask NMT -00329 UNS16 accept2 = 0xE000; // Accept NMT error control (heartbeat, nodeguard) -00330 UNS16 mask2 = 0x0FFF; // Mask NMT error control (heartbeat, nodeguard) -00331 -00332 canBusFilterInit filterConfiguration = -00333 {// filters 3 and 4 not used, so configured like filter 1. -00334 0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */ -00335 /*canidarx, canidmrx */ -00336 (UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/ -00337 (UNS8)accept1 , (UNS8)mask1, /* filter 1 id2 ... */ -00338 (UNS8)(accept2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/ -00339 (UNS8)accept2 , (UNS8)mask2, /* filter 2 id2 ... */ -00340 (UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 3 id10...3*/ -00341 (UNS8)accept1 , (UNS8)mask1, /* filter 3 id2 ... */ -00342 (UNS8)(accept1 >> 8), (UNS8)(mask1 >> 8), /* filter 4 id10...3*/ -00343 (UNS8)accept1 , (UNS8)mask1 /* filter 4 id2 ... */ -00344 }; -00345 canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration); -00346 MSG_WAR (0x3F03, "Internal CAN Rcv filter applied ", 0); -00347 } -00348 else { // Apply filters downnloaded -00349 canBusFilterInit filterConfiguration = -00350 {// filters 3 and 4 not used, so configured like filter 1. -00351 0x01, /* Filter on 16 bits. See Motorola Block Guide V02.14 */ -00352 /*canidarx, canidmrx */ -00353 (UNS8)( acceptanceFilter1>> 8), (UNS8)(mask1 >> 8), /* filter 1 id10...3*/ -00354 (UNS8)acceptanceFilter1 , (UNS8)mask1, /* filter 1 id2 ... */ -00355 (UNS8)(acceptanceFilter2 >> 8), (UNS8)(mask2 >> 8), /* filter 2 id10...3*/ -00356 (UNS8)acceptanceFilter2 , (UNS8)mask2, /* filter 2 id2 ... */ -00357 (UNS8)(acceptanceFilter3 >> 8), (UNS8)(mask3 >> 8), /* filter 3 id10...3*/ -00358 (UNS8)acceptanceFilter3 , (UNS8)mask3, /* filter 3 id2 ... */ -00359 (UNS8)(acceptanceFilter4 >> 8), (UNS8)(mask4 >> 8), /* filter 4 id10...3*/ -00360 (UNS8)acceptanceFilter4 , (UNS8)mask4 /* filter 4 id2 ... */ -00361 }; -00362 canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration); -00363 MSG_WAR (0x3F04, "Downloaded CAN Rcv filter applied ", 0); -00364 } -00365 } -00366 -00367 //------------------------------------------------------------------------------ -00368 void gene_SYNC_stopped() -00369 { -00370 MSG_WAR (0x3F02, "Entering in STOPPED ", 0); -00371 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3, 4 : OFF -00372 } -00373 -00374 // End functions which are part of Canfestival -00375 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ -00376 -00377 -00378 /******************************************************************************/ -00379 /********************************* MAIN ***************************************/ -00380 /******************************************************************************/ -00381 -00382 -00383 UNS8 main (void) -00384 { -00385 -00386 MSG_WAR(0x3F34, "Entering in the main ", 0); -00387 //----------------------------- INITIALISATION -------------------------------- -00388 gene_SYNC_Data.heartbeatError = gene_SYNC_heartbeatError; -00389 gene_SYNC_Data.initialisation = gene_SYNC_initialisation; -00390 gene_SYNC_Data.preOperational = gene_SYNC_preOperational; -00391 gene_SYNC_Data.preOperational = gene_SYNC_operational; -00392 gene_SYNC_Data.stopped = gene_SYNC_stopped; -00393 -00394 -00395 /* Put the node in Initialisation mode */ -00396 MSG_WAR(0x3F35, "Will entering in INIT ", 0); -00397 setState(&gene_SYNC_Data, Initialisation); -00398 -00399 //----------------------------- START ----------------------------------------- -00400 /* Put the node in pre-operational mode */ -00401 //MSG_WAR(0x3F36, "va passer en pre-op", 0); -00402 //setState(&gene_SYNC_Data, Pre_operational); -00403 -00404 // Loop of receiving messages -00405 while (1) { -00406 Message m; -00407 if (f_can_receive(0, &m)) { -00408 //MSG_WAR(0x3F36, "Msg received", m.cob_id.w); -00409 lock(); // Not to have interruptions by timer, which can corrupt the data -00410 canDispatch(&gene_SYNC_Data, &m); -00411 unlock(); -00412 } -00413 } -00414 -00415 return (0); -00416 } -00417 -00418 -00419 -
1.5.1
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