/* 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;
}
int main(void)
{
uint32_t timer1msDiff;
uint32_t t;
static uint32_t timer1msPrevious;
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
HAL_Init();
/* Configure the system clock to 48 MHz */
SystemClock_Config();
/* Enable GPIOA Clock */
LED_GPIOA_CLK_ENABLE();
/* Enable CAN peripherals */
CAN_CLK_ENABLE();
CAN_GPIO_CLK_ENABLE();
// debug_printf("This is a pass test");
/* Initialize LEDs */
InitCanLeds(); /* -3- Toggle IOs in an infinite loop */
CanLedsSet(CoLed_Green);
// CanLedsSet(CoLed_Red);
// CanLedsSet(CoLed_Blue);
// CanLedsSet(CoLed_Yellow);
/* Configure Timer interrupt function for execution every 1 ms*/
TIMER_InitRCC();
TIMER_InitGeneral();
/* Program start - Application Call */
programStart();
while (reset != CO_RESET_APP) {
/* disable timer interrupts */
NVIC_DisableIRQ(TIM2_IRQn);
/* CANopen communication reset - initialize CANopen objects; CanOpen is initialized from within communication reset function */
communicationReset();
/* start Timer interupts*/
NVIC_EnableIRQ(TIM2_IRQn);
reset = CO_RESET_NOT;
timer1msPrevious = timer1ms;
while (reset == CO_RESET_NOT) {
/* loop for normal program execution */
timer1msDiff = timer1ms - timer1msPrevious;
timer1msPrevious = timer1ms;
/* Program Async for SDO and NMT messages */
reset = programAsync(timer1msDiff);
// t = getTime_us(&tprof); //
t = 100;
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 */
CO_DISABLE_INTERRUPTS();
CanLedsSet(CoLed_None);
CanLedsSet(CoLed_Red);
/* delete CANopen object from memory */
CO_delete();
}
