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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