diff -r f45fd4cd3832 -r 34654679f262 doc/doxygen/html/appli_8c-source.html --- a/doc/doxygen/html/appli_8c-source.html Fri Jul 06 10:53:15 2007 +0200 +++ b/doc/doxygen/html/appli_8c-source.html Mon Jul 16 08:56:03 2007 +0200 @@ -18,7 +18,7 @@
  • Globals
    • -examples » gene_SYNC_HCS12
    +examples » gene_SYNC_HCS12

    appli.c

    Go to the documentation of this file.
    00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -42,8 +42,8 @@
 00021 */
 00022 
 00023 // Uncomment if you don't need console informations.
-00024 #define DEBUG_WAR_CONSOLE_ON
-00025 #define DEBUG_ERR_CONSOLE_ON
+00024 #define DEBUG_WAR_CONSOLE_ON
+00025 #define DEBUG_ERR_CONSOLE_ON
 00026 
 00027 #include <stddef.h> /* for NULL */
 00028 
@@ -81,15 +81,15 @@
 00060 // HCS12 configuration
 00061 // -----------------------------------------------------
 00062 
-00063 enum E_CanBaudrate 
+00063 enum E_CanBaudrate 
 00064 {
-00065    CAN_BAUDRATE_250K,
-00066    CAN_BAUDRATE_500K,
-00067    CAN_BAUDRATE_1M,
+00065    CAN_BAUDRATE_250K,
+00066    CAN_BAUDRATE_500K,
+00067    CAN_BAUDRATE_1M,
 00068 };
 00069 
 00070 
-00071 const canBusTime CAN_Baudrates[] =
+00071 const canBusTime CAN_Baudrates[] =
 00072 {
 00073    {
 00074       1,  /* clksrc: Use the bus clock : 16 MHz, the freq. of the quartz's board        */
@@ -158,58 +158,58 @@
 00137 /**************************prototypes*****************************************/
 00138 
 00139 //Init can bus and Canopen
-00140 void initCanopencapteur (void);
+00140 void initCanopencapteur (void);
 00141 // Init the sensor
-00142 void initSensor(void);
-00143 void initPortB(void);
-00144 void initPortH(void);
+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)
+00149 void initPortB(void)
 00150 {
 00151   // Port B is output
-00152   IO_PORTS_8(DDRB)= 0XFF;
+00152   IO_PORTS_8(DDRB)= 0XFF;
 00153   // RAZ
-00154   IO_PORTS_8(PORTB) = 0xFF;
+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)
+00159 void initPortH(void)
 00160 {
 00161   // Port H is input
-00162   IO_PORTS_8(DDRH)= 0X00;
+00162   IO_PORTS_8(DDRH)= 0X00;
 00163   // Enable pull device
-00164   IO_PORTS_8(PERH) = 0XFF;
+00164   IO_PORTS_8(PERH) = 0XFF;
 00165   // Choose the pull-up device
-00166   IO_PORTS_8(PPSH) = 0X00;
+00166   IO_PORTS_8(PPSH) = 0X00;
 00167 }
 00168 
 00169 //------------------------------------------------------------------------------
-00170 void initSensor(void)
+00170 void initSensor(void)
 00171 { 
-00172   UNS8 baudrate = 0; 
-00173   UNS8 nodeId = 0; 
+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();
+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;
+00184   nodeId = ~(IO_PORTS_8(PTH)) & 0x3F;
 00185   if (nodeId == 0) {
-00186         MSG_WAR(0x3F33, "Using default nodeId :  ", getNodeId(&gene_SYNC_Data));
+00186         MSG_WAR(0x3F33, "Using default nodeId :  ", getNodeId(&gene_SYNC_Data));
 00187   }
 00188   else  
-00189     setNodeId(&gene_SYNC_Data, nodeId);
+00189     setNodeId(&gene_SYNC_Data, nodeId);
 00190   
-00191   MSG_WAR(0x3F33, "My nodeId is :  ", getNodeId(&gene_SYNC_Data));
+00191   MSG_WAR(0x3F33, "My nodeId is :  ", getNodeId(&gene_SYNC_Data));
 00192   
 00193   canBusInit bi0 = {
 00194     0,    /* no low power                 */ 
@@ -219,7 +219,7 @@
 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],
+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      */
@@ -234,7 +234,7 @@
 00213   };
 00214   
 00215   //Init the HCS12 microcontroler for CanOpen 
-00216   initHCS12();
+00216   initHCS12();
 00217    
 00218   // Chose the CAN rate (On our board, whe have switch for all purpose)
 00219   //  7    8
@@ -242,36 +242,36 @@
 00221   //  OFF  ON   =>  500 kpbs
 00222   //  ON   OFF  =>  250 kpbs
 00223   
-00224   baudrate = ~(IO_PORTS_8(PTH)) & 0xC0;
+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);
+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);
+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);
+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);
+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);
+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  
+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 
@@ -283,30 +283,30 @@
 00262 // FUNCTIONS WHICH ARE PART OF CANFESTIVAL and *must* be implemented here.
 00263 
 00264 //------------------------------------------------------------------------------
-00265 void gene_SYNC_heartbeatError( UNS8 heartbeatID )
+00265 void gene_SYNC_heartbeatError( UNS8 heartbeatID )
 00266 {
 00267   
-00268   MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID);
+00268   MSG_ERR(0x1F00, "HeartBeat not received from node : ", heartbeatID);
 00269 }
 00270 
 00271 //------------------------------------------------------------------------------
-00272 void gene_SYNC_initialisation()
+00272 void gene_SYNC_initialisation()
 00273 {  
-00274   MSG_WAR (0x3F00, "Entering in INIT ", 0); 
-00275   initSensor();  
+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
+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()
+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
+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     {
@@ -323,20 +323,20 @@
 00302       0x00, 0xFF,          /* filter 3 */
 00303       0x00, 0xFF,              /* filter 3 */
 00304          };
-00305          canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
+00305          canChangeFilter(CANOPEN_LINE_NUMBER_USED, filterConfiguration);
 00306    } 
 00307    // Reset the automatic change by SDO
-00308    applyDownloadedFilters = 0;
+00308    applyDownloadedFilters = 0;
 00309    
 00310 }
 00311 
 00312 
 00313 //------------------------------------------------------------------------------
-00314 void gene_SYNC_operational()
+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
+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
@@ -344,52 +344,52 @@
 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)
+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 ... */           
+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); 
+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 ... */           
+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); 
+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()
+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
+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
@@ -401,21 +401,21 @@
 00380 /******************************************************************************/
 00381 
 00382  
-00383 UNS8 main (void)
+00383 UNS8 main (void)
 00384 {
 00385 
-00386   MSG_WAR(0x3F34, "Entering in the main ", 0);
+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;
+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);
+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 */
@@ -425,11 +425,11 @@
 00404         // Loop of receiving messages
 00405   while (1) {
 00406         Message m;
-00407         if (f_can_receive(0, &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();
+00409           lock(); // Not to have interruptions by timer, which can corrupt the data
+00410           canDispatch(&gene_SYNC_Data, &m);
+00411           unlock();
 00412         }  
 00413         }
 00414 
@@ -438,7 +438,7 @@
 00417 
 00418 
 00419 
-
    Generated on Fri Jun 8 08:51:39 2007 for CanFestival by  +
    Generated on Mon Jul 2 19:10:16 2007 for CanFestival by  doxygen 1.5.1