/* main ***********************************************************************/
int main (void){
unsigned int temp_ui;
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
/* Configure system for maximum performance. plib is necessary for that.*/
/* SYSTEMConfig(CO_FSYS*1000, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); */
/* Enable system multi vectored interrupts */
INTCONbits.MVEC = 1;
__builtin_enable_interrupts();
/* Disable JTAG and trace port */
DDPCONbits.JTAGEN = 0;
DDPCONbits.TROEN = 0;
/* Verify, if OD structures have proper alignment of initial values */
if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) while(1) CO_clearWDT();
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) while(1) CO_clearWDT();
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) while(1) CO_clearWDT();
/* initialize EEPROM - part 1 */
#ifdef USE_EEPROM
CO_ReturnError_t eeStatus = CO_EE_init_1(&CO_EEO, (uint8_t*) &CO_OD_EEPROM, sizeof(CO_OD_EEPROM),
(uint8_t*) &CO_OD_ROM, sizeof(CO_OD_ROM));
#endif
programStart();
/* increase variable each startup. Variable is stored in eeprom. */
OD_powerOnCounter++;
while(reset != CO_RESET_APP){
/* CANopen communication reset - initialize CANopen objects *******************/
CO_ReturnError_t err;
uint16_t timer1msPrevious;
uint16_t TMR_TMR_PREV = 0;
uint8_t nodeId;
uint16_t CANBitRate;
/* disable timer and CAN interrupts */
CO_TMR_ISR_ENABLE = 0;
CO_CAN_ISR_ENABLE = 0;
CO_CAN_ISR2_ENABLE = 0;
/* Read CANopen Node-ID and CAN bit-rate from object dictionary */
nodeId = OD_CANNodeID;
if(nodeId<1 || nodeId>127) nodeId = 0x10;
CANBitRate = OD_CANBitRate;/* in kbps */
/* initialize CANopen */
err = CO_init(ADDR_CAN1, nodeId, CANBitRate);
if(err != CO_ERROR_NO){
while(1) CO_clearWDT();
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* initialize eeprom - part 2 */
#ifdef USE_EEPROM
CO_EE_init_2(&CO_EEO, eeStatus, CO->SDO, CO->em);
#endif
/* initialize variables */
timer1msPrevious = CO_timer1ms;
OD_performance[ODA_performance_mainCycleMaxTime] = 0;
OD_performance[ODA_performance_timerCycleMaxTime] = 0;
reset = CO_RESET_NOT;
/* Configure Timer interrupt function for execution every 1 millisecond */
CO_TMR_CON = 0;
CO_TMR_TMR = 0;
#if CO_PBCLK > 65000
#error wrong timer configuration
#endif
CO_TMR_PR = CO_PBCLK - 1; /* Period register */
CO_TMR_CON = 0x8000; /* start timer (TON=1) */
CO_TMR_ISR_FLAG = 0; /* clear interrupt flag */
CO_TMR_ISR_PRIORITY = 3; /* interrupt - set lower priority than CAN (set the same value in interrupt) */
/* Configure CAN1 Interrupt (Combined) */
CO_CAN_ISR_FLAG = 0; /* CAN1 Interrupt - Clear flag */
CO_CAN_ISR_PRIORITY = 5; /* CAN1 Interrupt - Set higher priority than timer (set the same value in '#define CO_CAN_ISR_PRIORITY') */
CO_CAN_ISR2_FLAG = 0; /* CAN2 Interrupt - Clear flag */
CO_CAN_ISR2_PRIORITY = 5; /* CAN Interrupt - Set higher priority than timer (set the same value in '#define CO_CAN_ISR_PRIORITY') */
communicationReset();
/* start CAN and enable interrupts */
CO_CANsetNormalMode(ADDR_CAN1);
CO_TMR_ISR_ENABLE = 1;
CO_CAN_ISR_ENABLE = 1;
#if CO_NO_CAN_MODULES >= 2
CO_CANsetNormalMode(ADDR_CAN2);
CO_CAN_ISR2_ENABLE = 1;
#endif
while(reset == CO_RESET_NOT){
/* loop for normal program execution ******************************************/
uint16_t timer1msCopy, timer1msDiff;
CO_clearWDT();
/* calculate cycle time for performance measurement */
timer1msCopy = CO_timer1ms;
timer1msDiff = timer1msCopy - timer1msPrevious;
timer1msPrevious = timer1msCopy;
uint16_t t0 = CO_TMR_TMR;
uint16_t t = t0;
if(t >= TMR_TMR_PREV){
t = t - TMR_TMR_PREV;
t = (timer1msDiff * 100) + (t / (CO_PBCLK / 100));
}
else if(timer1msDiff){
t = TMR_TMR_PREV - t;
t = (timer1msDiff * 100) - (t / (CO_PBCLK / 100));
}
else t = 0;
OD_performance[ODA_performance_mainCycleTime] = t;
if(t > OD_performance[ODA_performance_mainCycleMaxTime])
OD_performance[ODA_performance_mainCycleMaxTime] = t;
TMR_TMR_PREV = t0;
/* Application asynchronous program */
programAsync(timer1msDiff);
CO_clearWDT();
/* CANopen process */
reset = CO_process(CO, timer1msDiff, NULL);
CO_clearWDT();
#ifdef USE_EEPROM
CO_EE_process(&CO_EEO);
#endif
}
}
/* program exit ***************************************************************/
// CO_DISABLE_INTERRUPTS();
/* delete objects from memory */
programEnd();
CO_delete(ADDR_CAN1);
/* reset */
SYSKEY = 0x00000000;
SYSKEY = 0xAA996655;
SYSKEY = 0x556699AA;
RSWRSTSET = 1;
temp_ui = RSWRST;
while(1);
}
/* main ***********************************************************************/
int main(void) {
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
InitCanLeds();
DBGU_Configure(115200);
TRACE_INFO_WP("\n\rCanOpenNode %s (%s %s)\n\r", cVer, __DATE__, __TIME__);
/* Configure Timer interrupt function for execution every 1 millisecond */
if (SysTick_Config(SysTick_1ms))
TRACE_FATAL("SysTick_Config\n\r");
initTimer(getTimer_us);
/* Todo: initialize EEPROM */
/* Todo: Loading COD */
TRACE_INFO("Loading COD\n\r");
/* Verify, if OD structures have proper alignment of initial values */
TRACE_DEBUG("Checking COD in RAM (size=%d)\n\r", &CO_OD_RAM.LastWord - &CO_OD_RAM.FirstWord);
if (CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord)
TRACE_FATAL("Err COD in RAM\n\r");
TRACE_DEBUG("Checking COD in EEPROM (size=%d)\n\r", &CO_OD_EEPROM.LastWord - &CO_OD_EEPROM.FirstWord);
if (CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord)
TRACE_FATAL("Err COD in EEPROM\n\r");
TRACE_DEBUG("Checking COD in ROM (size=%d)\n\r", &CO_OD_ROM.LastWord - &CO_OD_ROM.FirstWord);
if (CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord)
TRACE_FATAL("Err COD in ROM\n\r");
/* increase variable each startup. Variable is stored in eeprom. */
OD_powerOnCounter++;
TRACE_INFO("CO power-on (BTR=%dk Node=0x%x)\n\r", CO_OD_ROM.CANBitRate, CO_OD_ROM.CANNodeID);
ttimer tprof;
while (reset != CO_RESET_APP) {
/* CANopen communication reset - initialize CANopen objects *******************/
static uint32_t timer1msPrevious;
CO_ReturnError_t err;
/* disable timer interrupts, turn on red LED */
canTimerOff = 1;
CanLedsSet(eCoLed_Red);
/* initialize CANopen */
err = CO_init();
if (err) {
TRACE_FATAL("CO_init\n\r");
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* start Timer */
canTimerOff = 0;
reset = CO_RESET_NOT;
timer1msPrevious = CO_timer1ms;
TRACE_INFO("CO (re)start\n\r");
while (reset == CO_RESET_NOT) {
saveTime(&tprof);
/* loop for normal program execution ******************************************/
uint32_t timer1msDiff;
timer1msDiff = CO_timer1ms - timer1msPrevious;
timer1msPrevious = CO_timer1ms;
ClearWDT();
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
CanLedsSet((LED_GREEN_RUN(CO->NMT)>0 ? eCoLed_Green : 0) | (LED_RED_ERROR(CO->NMT)>0 ? eCoLed_Red : 0));
ClearWDT();
/* (not implemented) eeprom_process(&eeprom); */
uint32_t t = getTime_us(&tprof);
OD_performance[ODA_performance_mainCycleTime] = t;
if (t > OD_performance[ODA_performance_mainCycleMaxTime])
OD_performance[ODA_performance_mainCycleMaxTime] = t;
} /* while (reset != 0) */
} /* while (reset != 2) */
/* program exit ***************************************************************/
/* save variables to eeprom */
CO_DISABLE_INTERRUPTS();
CanLedsSet(eCoLed_None);
/* (not implemented) eeprom_saveAll(&eeprom); */
CanLedsSet(eCoLed_Red);
/* delete CANopen object from memory */
CO_delete();
/* reset - by WD */
return 0;
}
/* main ***********************************************************************/
int main (void){
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
/* Configure microcontroller. */
/* initialize EEPROM */
/* increase variable each startup. Variable is stored in EEPROM. */
OD_powerOnCounter++;
while(reset != CO_RESET_APP){
/* CANopen communication reset - initialize CANopen objects *******************/
CO_ReturnError_t err;
uint16_t timer1msPrevious;
/* disable timer and CAN interrupts */
CO_CAN_OK = false;
/* initialize CANopen */
err = CO_init(0/* CAN module address */, 10/* NodeID */, 125 /* bit rate */);
if(err != CO_ERROR_NO){
while(1);
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* set callback functions for task control. */
/* Configure Timer interrupt function for execution every 1 millisecond */
/* Configure CAN transmit and receive interrupt */
/* start CAN */
CO_CANsetNormalMode(CO->CANmodule[0]);
CO_CAN_OK = true;
reset = CO_RESET_NOT;
timer1msPrevious = CO_timer1ms;
while(reset == CO_RESET_NOT){
/* loop for normal program execution ******************************************/
uint16_t timer1msCopy, timer1msDiff;
timer1msCopy = CO_timer1ms;
timer1msDiff = timer1msCopy - timer1msPrevious;
timer1msPrevious = timer1msCopy;
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
/* Nonblocking application code may go here. */
/* Process EEPROM */
}
}
/* program exit ***************************************************************/
/* stop threads */
/* delete objects from memory */
CO_delete(0/* CAN module address */);
/* reset */
return 0;
}
//===========================================================================
// CANopen stack main entry point
//===========================================================================
void CO_main(void)
{
CO_FlashInit();
while (1)
{
reset = CO_RESET_NOT;
// Application interface
programStart();
// increase variable each startup. Variable is stored in EEPROM.
OD_powerOnCounter++;
while (reset < CO_RESET_APP)
{
// CANopen communication reset - initialize CANopen objects
int16_t err;
cyg_uint64 timer1msPrevious = CO_TmrGetMilliSec();
// initialize CANopen
err = CO_init();
if(err)
{
CO_eCos_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR,
CO_EMC_SOFTWARE_INTERNAL, err);
while(1);
}
// register object dictionary functions to support store and restore
// of parameters via objects 0x1010 and 0x1011
CO_FlashRegisterODFunctions(CO);
// initialize variables
reset = CO_RESET_NOT;
// Application interface
communicationReset();
// start CAN and enable interrupts
CO_CANsetNormalMode(ADDR_CAN1);
while (CO_RESET_NOT == reset)
{
//diag_print_reg("CAN GSR", CAN_CTRL_1_REG_BASE + CANREG_GSR);
// loop for normal program execution
cyg_uint64 timer1ms = CO_TmrGetMilliSec();
uint16_t timer1msDiff = timer1ms - timer1msPrevious;
timer1msPrevious = timer1ms;
// Application interface
programAsync(timer1msDiff);
// CANopen process
reset = CO_process(CO, timer1msDiff);
if (CO_TmrIsExpired(CANopenPollingTimer))
{
CANopenPollingTimer = CO_TmrStartFrom(CANopenPollingTimer, 1);
CO_process_RPDO(CO);
program1ms();
CO_process_TPDO(CO);
}
}
}
}
}
DWORD WINAPI CanOpen_run(LPVOID lpParam)
{
/* initialize EEPROM - part 1 */
#ifdef USE_EEPROM
CO_ReturnError_t eeStatus = CO_EE_init_1(&CO_EEO, (uint8_t*)&CO_OD_EEPROM, sizeof(CO_OD_EEPROM),
(uint8_t*)&CO_OD_ROM, sizeof(CO_OD_ROM));
#endif
programStart();
/* increase variable each startup. Variable is stored in eeprom. */
OD_powerOnCounter++;
while (reset != CO_RESET_APP) {
/* CANopen communication reset - initialize CANopen objects *******************/
CO_ReturnError_t err;
uint16_t timer1msPrevious;
uint16_t TMR_TMR_PREV = 0;
uint8_t nodeId;
uint16_t CANBitRate;
/* disable CAN and CAN interrupts */
CO_CAN_ISR_ENABLE = 0;
CO_CAN_ISR2_ENABLE = 0;
/* Read CANopen Node-ID and CAN bit-rate from object dictionary */
nodeId = OD_CANNodeID;
if (nodeId<1 || nodeId>127) nodeId = 0x10;
CANBitRate = OD_CANBitRate;/* in kbps */
/* initialize CANopen */
err = CO_init(ADDR_CAN1, nodeId, CANBitRate);
if (err != CO_ERROR_NO) {
//FIXME do something here?
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* initialize eeprom - part 2 */
#ifdef USE_EEPROM
CO_EE_init_2(&CO_EEO, eeStatus, CO->SDO[0], CO->em);
#endif
/* Configure callback functions */
CO_SYNC_initCallback(CO->SYNC, CANrx_lockCbSync);
/* initialize variables */
timer1msPrevious = CO_timer1ms;
OD_performance[ODA_performance_mainCycleMaxTime] = 0;
OD_performance[ODA_performance_timerCycleMaxTime] = 0;
reset = CO_RESET_NOT;
/* Configure Timer interrupt function for execution every 1 millisecond */
/* Not sure if this is the best type of timer to use */
/* The jitter on the timing is not great */
BOOL success = CreateTimerQueueTimer(
&m_timerHandle,
NULL,
TimerProc,
NULL,
0,
1, //Period in ms
WT_EXECUTEINTIMERTHREAD);
#if CO_PBCLK > 65000
#error wrong timer configuration
#endif
communicationReset();
/* start CAN and enable interrupts */
CO_CANsetNormalMode(CO->CANmodule[0]);
#if CO_NO_CAN_MODULES >= 2
CO_CANsetNormalMode(CO->CANmodule[1]);
CO_CAN_ISR2_ENABLE = 1;
#endif
while (reset == CO_RESET_NOT) {
/* loop for normal program execution ******************************************/
uint16_t timer1msCopy, timer1msDiff;
/* calculate cycle time for performance measurement */
timer1msCopy = CO_timer1ms;
timer1msDiff = timer1msCopy - timer1msPrevious;
timer1msPrevious = timer1msCopy;
LARGE_INTEGER Frequency;
LARGE_INTEGER StartingTime;
LARGE_INTEGER ElapsedMicroseconds;
QueryPerformanceFrequency(&Frequency);
QueryPerformanceCounter(&StartingTime);
ElapsedMicroseconds.QuadPart = StartingTime.QuadPart - li_main.QuadPart;
ElapsedMicroseconds.QuadPart *= 1000000;
ElapsedMicroseconds.QuadPart /= Frequency.QuadPart;
double t = ElapsedMicroseconds.QuadPart / 1000.0;
t = 1000.0 / t;
OD_performance[ODA_performance_mainCycleTime] = t;
if (t > OD_performance[ODA_performance_mainCycleMaxTime])
OD_performance[ODA_performance_mainCycleMaxTime] = t;
li_main = StartingTime;
/* Application asynchronous program */
programAsync(timer1msDiff);
/* Pump the SDO master */
/* TODO In theory we should support as many masters as is defined in OD*/
canprocessSDOmaster(timer1msDiff);
/* CANopen process */
reset = CO_process(CO, timer1msDiff, NULL);
Sleep(1); //add some grace time to the thread as we do not want to hammer the async thread at 100%
}
#ifdef USE_EEPROM
CO_EE_process(&CO_EEO);
#endif
}
/* program exit ***************************************************************/
/* delete objects from memory */
programEnd();
CO_delete(ADDR_CAN1);
// fix me graceful shutdown on win32
return 0;
}
int main (int argc, char *argv[]) {
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
CO_ReturnError_t odStorStatus_rom, odStorStatus_eeprom;
int CANdevice0Index = 0;
int opt;
bool_t firstRun = true;
char* CANdevice = NULL; /* CAN device, configurable by arguments. */
int nodeId = -1; /* Set to 1..127 by arguments */
bool_t rebootEnable = false; /* Configurable by arguments */
#ifndef CO_SINGLE_THREAD
bool_t commandEnable = false; /* Configurable by arguments */
#endif
if(argc < 3 || strcmp(argv[1], "--help") == 0){
printUsage(argv[0]);
exit(EXIT_SUCCESS);
}
/* Get program options */
while((opt = getopt(argc, argv, "i:p:rc:s:a:")) != -1) {
switch (opt) {
case 'i': nodeId = strtol(optarg, NULL, 0); break;
case 'p': rtPriority = strtol(optarg, NULL, 0); break;
case 'r': rebootEnable = true; break;
#ifndef CO_SINGLE_THREAD
case 'c':
/* In case of empty string keep default name, just enable interface. */
if(strlen(optarg) != 0) {
CO_command_socketPath = optarg;
}
commandEnable = true;
break;
#endif
case 's': odStorFile_rom = optarg; break;
case 'a': odStorFile_eeprom = optarg; break;
default:
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
}
if(optind < argc) {
CANdevice = argv[optind];
CANdevice0Index = if_nametoindex(CANdevice);
}
if(nodeId < 1 || nodeId > 127) {
fprintf(stderr, "Wrong node ID (%d)\n", nodeId);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
if(rtPriority != -1 && (rtPriority < sched_get_priority_min(SCHED_FIFO)
|| rtPriority > sched_get_priority_max(SCHED_FIFO))) {
fprintf(stderr, "Wrong RT priority (%d)\n", rtPriority);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
if(CANdevice0Index == 0) {
char s[120];
snprintf(s, 120, "Can't find CAN device \"%s\"", CANdevice);
CO_errExit(s);
}
printf("%s - starting CANopen device with Node ID %d(0x%02X)", argv[0], nodeId, nodeId);
/* Verify, if OD structures have proper alignment of initial values */
if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_RAM.\n", argv[0]);
exit(EXIT_FAILURE);
}
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_EEPROM.\n", argv[0]);
exit(EXIT_FAILURE);
}
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_ROM.\n", argv[0]);
exit(EXIT_FAILURE);
}
/* initialize Object Dictionary storage */
odStorStatus_rom = CO_OD_storage_init(&odStor, (uint8_t*) &CO_OD_ROM, sizeof(CO_OD_ROM), odStorFile_rom);
odStorStatus_eeprom = CO_OD_storage_init(&odStorAuto, (uint8_t*) &CO_OD_EEPROM, sizeof(CO_OD_EEPROM), odStorFile_eeprom);
/* Catch signals SIGINT and SIGTERM */
if(signal(SIGINT, sigHandler) == SIG_ERR)
CO_errExit("Program init - SIGINIT handler creation failed");
if(signal(SIGTERM, sigHandler) == SIG_ERR)
CO_errExit("Program init - SIGTERM handler creation failed");
/* increase variable each startup. Variable is automatically stored in non-volatile memory. */
printf(", count=%u ...\n", ++OD_powerOnCounter);
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
/* CANopen communication reset - initialize CANopen objects *******************/
CO_ReturnError_t err;
printf("%s - communication reset ...\n", argv[0]);
#ifndef CO_SINGLE_THREAD
/* Wait other threads (command interface). */
pthread_mutex_lock(&CO_CAN_VALID_mtx);
#endif
/* Wait rt_thread. */
if(!firstRun) {
CO_LOCK_OD();
CO->CANmodule[0]->CANnormal = false;
CO_UNLOCK_OD();
}
/* Enter CAN configuration. */
CO_CANsetConfigurationMode(CANdevice0Index);
/* initialize CANopen */
err = CO_init(CANdevice0Index, nodeId, 0);
if(err != CO_ERROR_NO) {
char s[120];
snprintf(s, 120, "Communication reset - CANopen initialization failed, err=%d", err);
CO_errExit(s);
}
/* initialize OD objects 1010 and 1011 and verify errors. */
CO_OD_configure(CO->SDO[0], OD_H1010_STORE_PARAM_FUNC, CO_ODF_1010, (void*)&odStor, 0, 0U);
CO_OD_configure(CO->SDO[0], OD_H1011_REST_PARAM_FUNC, CO_ODF_1011, (void*)&odStor, 0, 0U);
if(odStorStatus_rom != CO_ERROR_NO) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_rom);
}
if(odStorStatus_eeprom != CO_ERROR_NO) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_eeprom + 1000);
}
/* Configure callback functions for task control */
CO_EM_initCallback(CO->em, taskMain_cbSignal);
CO_SDO_initCallback(CO->SDO[0], taskMain_cbSignal);
CO_SDOclient_initCallback(CO->SDOclient, taskMain_cbSignal);
CO_SYNC_initCallback(CO->SYNC, CANrx_lockCbSync);
/* Initialize time */
CO_time_init(&CO_time, CO->SDO[0], &OD_time.epochTimeBaseMs, &OD_time.epochTimeOffsetMs, 0x2130);
/* First time only initialization. */
if(firstRun) {
firstRun = false;
/* Configure epoll for mainline */
mainline_epoll_fd = epoll_create(4);
if(mainline_epoll_fd == -1)
CO_errExit("Program init - epoll_create mainline failed");
/* Init mainline */
taskMain_init(mainline_epoll_fd, &OD_performance[ODA_performance_mainCycleMaxTime]);
#ifdef CO_SINGLE_THREAD
/* Init taskRT */
CANrx_taskTmr_init(mainline_epoll_fd, TMR_TASK_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);
OD_performance[ODA_performance_timerCycleTime] = TMR_TASK_INTERVAL_NS/1000; /* informative */
/* Set priority for mainline */
if(rtPriority > 0) {
struct sched_param param;
param.sched_priority = rtPriority;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) != 0)
CO_errExit("Program init - mainline set scheduler failed");
}
#else
/* Configure epoll for rt_thread */
rt_thread_epoll_fd = epoll_create(2);
if(rt_thread_epoll_fd == -1)
CO_errExit("Program init - epoll_create rt_thread failed");
/* Init taskRT */
CANrx_taskTmr_init(rt_thread_epoll_fd, TMR_TASK_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);
OD_performance[ODA_performance_timerCycleTime] = TMR_TASK_INTERVAL_NS/1000; /* informative */
/* Create rt_thread */
if(pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0)
CO_errExit("Program init - rt_thread creation failed");
/* Set priority for rt_thread */
if(rtPriority > 0) {
struct sched_param param;
param.sched_priority = rtPriority;
if(pthread_setschedparam(rt_thread_id, SCHED_FIFO, ¶m) != 0)
CO_errExit("Program init - rt_thread set scheduler failed");
}
#endif
#ifndef CO_SINGLE_THREAD
/* Initialize socket command interface */
if(commandEnable) {
if(CO_command_init() != 0) {
CO_errExit("Socket command interface initialization failed");
}
printf("%s - Command interface on socket '%s' started ...\n", argv[0], CO_command_socketPath);
}
#endif
/* Execute optional additional application code */
app_programStart();
}
/* Execute optional additional application code */
app_communicationReset();
/* start CAN */
CO_CANsetNormalMode(CO->CANmodule[0]);
#ifndef CO_SINGLE_THREAD
pthread_mutex_unlock(&CO_CAN_VALID_mtx);
#endif
reset = CO_RESET_NOT;
printf("%s - running ...\n", argv[0]);
while(reset == CO_RESET_NOT && CO_endProgram == 0) {
/* loop for normal program execution ******************************************/
int ready;
struct epoll_event ev;
ready = epoll_wait(mainline_epoll_fd, &ev, 1, -1);
if(ready != 1) {
if(errno != EINTR) {
CO_error(0x11100000L + errno);
}
}
#ifdef CO_SINGLE_THREAD
else if(CANrx_taskTmr_process(ev.data.fd)) {
/* code was processed in the above function. Additional code process below */
INCREMENT_1MS(CO_timer1ms);
/* Detect timer large overflow */
if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_TASK_OVERFLOW_US && rtPriority > 0) {
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
}
}
#endif
else if(taskMain_process(ev.data.fd, &reset, CO_timer1ms)) {
uint16_t timer1msDiff;
static uint16_t tmr1msPrev = 0;
/* Calculate time difference */
timer1msDiff = CO_timer1ms - tmr1msPrev;
tmr1msPrev = CO_timer1ms;
/* code was processed in the above function. Additional code process below */
/* Execute optional additional application code */
app_programAsync(timer1msDiff);
CO_OD_storage_autoSave(&odStorAuto, CO_timer1ms, 60000);
}
else {
/* No file descriptor was processed. */
CO_error(0x11200000L);
}
}
}
/* program exit ***************************************************************/
/* join threads */
#ifndef CO_SINGLE_THREAD
if(commandEnable) {
if(CO_command_clear() != 0) {
CO_errExit("Socket command interface removal failed");
}
}
#endif
CO_endProgram = 1;
#ifndef CO_SINGLE_THREAD
if(pthread_join(rt_thread_id, NULL) != 0) {
CO_errExit("Program end - pthread_join failed");
}
#endif
/* Execute optional additional application code */
app_programEnd();
/* Store CO_OD_EEPROM */
CO_OD_storage_autoSave(&odStorAuto, 0, 0);
CO_OD_storage_autoSaveClose(&odStorAuto);
/* delete objects from memory */
CANrx_taskTmr_close();
taskMain_close();
CO_delete(CANdevice0Index);
printf("%s on %s (nodeId=0x%02X) - finished.\n\n", argv[0], CANdevice, nodeId);
/* Flush all buffers (and reboot) */
if(rebootEnable && reset == CO_RESET_APP) {
sync();
if(reboot(LINUX_REBOOT_CMD_RESTART) != 0) {
CO_errExit("Program end - reboot failed");
}
}
exit(EXIT_SUCCESS);
}
/* main ***********************************************************************/
int main (void){
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
/* Initialize two CAN led diodes */
TRISAbits.TRISA0 = 0; LATAbits.LATA0 = 0;
TRISAbits.TRISA1 = 0; LATAbits.LATA1 = 1;
#define CAN_RUN_LED LATAbits.LATA0
#define CAN_ERROR_LED LATAbits.LATA1
/* Initialize other LED diodes for RPDO */
TRISAbits.TRISA2 = 0; LATAbits.LATA2 = 0;
TRISAbits.TRISA3 = 0; LATAbits.LATA3 = 0;
TRISAbits.TRISA4 = 0; LATAbits.LATA4 = 0;
TRISAbits.TRISA5 = 0; LATAbits.LATA5 = 0;
TRISAbits.TRISA6 = 0; LATAbits.LATA6 = 0;
TRISAbits.TRISA7 = 0; LATAbits.LATA7 = 0;
/* Configure Oscillator */
/* Fosc = Fin*M/(N1*N2), Fcy=Fosc/2 */
/* Fosc = 8M*24(2*2) = 48MHz -> Fcy = 24MHz */
PLLFBD=22; /* M=24 */
CLKDIVbits.PLLPOST=0; /* N1=2 */
CLKDIVbits.PLLPRE=0; /* N2=2 */
OSCTUN=0; /* Tune FRC oscillator, if FRC is used */
while(OSCCONbits.LOCK!=1) ClrWdt(); /* wait for PLL to lock */
/* Verify, if OD structures have proper alignment of initial values */
if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) while(1) ClrWdt();
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) while(1) ClrWdt();
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) while(1) ClrWdt();
/* initialize EEPROM */
/* (not implemented) */
/* increase variable each startup. Variable is stored in eeprom. */
OD_powerOnCounter++;
while(reset != CO_RESET_APP){
/* CANopen communication reset - initialize CANopen objects *******************/
static uint16_t timer1msPrevious;
CO_ReturnError_t err;
/* disable timer and CAN interrupts, turn on red LED */
CO_TMR_ISR_ENABLE = 0;
CO_CAN_ISR_ENABLE = 0;
CAN_RUN_LED = 0;
CAN_ERROR_LED = 1;
/* Initialize digital outputs */
TRISAbits.TRISA2 = 0; LATAbits.LATA2 = 0;
TRISAbits.TRISA3 = 0; LATAbits.LATA3 = 0;
TRISAbits.TRISA4 = 0; LATAbits.LATA4 = 0;
TRISAbits.TRISA5 = 0; LATAbits.LATA5 = 0;
TRISAbits.TRISA6 = 0; LATAbits.LATA6 = 0;
TRISAbits.TRISA7 = 0; LATAbits.LATA7 = 0;
OD_writeOutput8Bit[0] = 0;
OD_writeOutput8Bit[1] = 0;
/* initialize CANopen */
err = CO_init();
if(err != CO_ERROR_NO){
while(1) ClrWdt();
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
}
/* start CAN */
CO_CANsetNormalMode(ADDR_CAN1);
/* Configure Timer interrupt function for execution every 1 millisecond */
CO_TMR_CON = 0;
CO_TMR_TMR = 0;
CO_TMR_PR = CO_FCY - 1; /* Period register */
CO_TMR_CON = 0x8000; /* start timer (TON=1) */
CO_timer1ms = 0;
CO_TMR_ISR_FLAG = 0; /* clear interrupt flag */
CO_TMR_ISR_PRIORITY = 3; /* interrupt - set lower priority than CAN */
CO_TMR_ISR_ENABLE = 1; /* enable interrupt */
/* Configure CAN1 Interrupt (Combined) */
CO_CAN_ISR_FLAG = 0; /* CAN1 Interrupt - Clear flag */
CO_CAN_ISR_PRIORITY = 5; /* CAN1 Interrupt - Set higher priority than timer */
CO_CAN_ISR_ENABLE = 1; /* CAN1 Interrupt - Enable interrupt */
reset = CO_RESET_NOT;
timer1msPrevious = CO_timer1ms;
while(reset == CO_RESET_NOT){
/* loop for normal program execution ******************************************/
uint16_t timer1msCopy, timer1msDiff;
static uint16_t TMR_TMR_PREV = 0;
timer1msCopy = CO_timer1ms;
timer1msDiff = timer1msCopy - timer1msPrevious;
timer1msPrevious = timer1msCopy;
ClrWdt();
/* calculate cycle time for performance measurement */
uint16_t t0 = CO_TMR_TMR;
uint16_t t = t0;
if(t >= TMR_TMR_PREV){
t = t - TMR_TMR_PREV;
t = (timer1msDiff * 100) + (t / (CO_FCY / 100));
}
else if(timer1msDiff){
t = TMR_TMR_PREV - t;
t = (timer1msDiff * 100) - (t / (CO_FCY / 100));
}
else t = 0;
OD_performance[ODA_performance_mainCycleTime] = t;
if(t > OD_performance[ODA_performance_mainCycleMaxTime])
OD_performance[ODA_performance_mainCycleMaxTime] = t;
TMR_TMR_PREV = t0;
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
CAN_RUN_LED = LED_GREEN_RUN(CO->NMT);
CAN_ERROR_LED = LED_RED_ERROR(CO->NMT);
ClrWdt();
/* (not implemented) eeprom_process(&eeprom); */
}
}
/* program exit ***************************************************************/
/* save variables to eeprom */
RESTORE_CPU_IPL(7); /* disable interrupts */
CAN_RUN_LED = 0;
/* CAN_ERROR_LED = 0; */
/* (not implemented) eeprom_saveAll(&eeprom); */
CAN_ERROR_LED = 1;
/* delete CANopen object from memory */
CO_delete();
/* reset */
return 0;
}