void os_error (U32 err_code) {
/* This function is called when a runtime error is detected. Parameter */
/* 'err_code' holds the runtime error code (defined in RTL.H). */
switch (err_code)
{
case OS_ERR_STK_OVF:
TRACE_FATAL("Stack Overflow \n");
case OS_ERR_FIFO_OVF:
TRACE_FATAL("FIFO Overflow \n");
case OS_ERR_MBX_OVF:
TRACE_FATAL("Mailbox Overflow \n");
}
/* HERE: include optional code to be executed on runtime error. */
for (;;);
}
esint8 if_initInterface(hwInterface* file, eint8* opts)
{
unsigned int value;
file->pMedia = (Media *)opts;
if(file->pMedia->blockSize > SECTOR_SIZE_DISK) {
TRACE_FATAL("EFSL sector size < %d!\n\r", SECTOR_SIZE_DISK);
return -1;
}
if (file->pMedia->blockSize >= SECTOR_SIZE_DISK)
file->sectorCount = file->pMedia->size
* (file->pMedia->blockSize / SECTOR_SIZE_DISK);
else
file->sectorCount = file->pMedia->size
/ (SECTOR_SIZE_DISK / file->pMedia->blockSize);
return(0);
}
/* 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;
}
void HardFault_Handler(void) {
TRACE_FATAL("HardFault\n\r");
}
/**
* Configure the TC0 and DACC for audio output.
* \param sampleRate Audio sample rate.
* \param nbChannels Number of audio channels.
* \param mck MCK frequence.
*/
static void ConfigureAudioPlay(uint32_t sampleRate,
uint8_t nbChannels,
uint32_t mck)
{
uint32_t div = 2;
uint32_t tcclks = TC_CMR_TCCLKS_TIMER_CLOCK1;
uint32_t freq = sampleRate * nbChannels;
double ra, rc;
/* Enable TC0 Peripheral */
PMC_EnablePeripheral(ID_TC0);
{
uint32_t divs[5] = {2, 8, 32, 128,BOARD_MCK / 32768};
uint8_t i = 0;
divs[4] = mck/32768;
/* Minimize DIV & Maxmize RC for better waveform */
while(freq < ((mck / divs[i]) / 65536)) {
++ i;
if (i == 5) {
TRACE_FATAL("Cann't find TC0 divisor!\n\r");
}
}
div = divs[i];
tcclks = i;
}
/* Configure TC for tioa output: 48M -> 48K*2 */
TC_Configure(TC0,0, tcclks /*MCK/2*/
| TC_CMR_ACPC_SET
| TC_CMR_WAVE
| TC_CMR_ACPA_CLEAR
| TC_CMR_CPCTRG);
/* 50% duty ,freq frequency*/
ra = (((double)mck/div)/(freq*2) + 0.5 );
rc = (((double)mck/div)/(freq) + 0.99);
TC0->TC_CHANNEL[0].TC_RA = (uint32_t)ra;
TC0->TC_CHANNEL[0].TC_RC = (uint32_t)ra*2;
defaultRA = (uint32_t)ra;
printf("-I- MCK %dKHz, Div %d(%x), RA: %d*.01(%x), RC: %d*.01(%x)\n\r",
(int)mck/1000, (int)div, (unsigned int)div,
(int)(ra*100), (int)ra, (int)(rc*100), (int)rc);
/* Initialize DACC with HW as trigger */
DACC_Initialize( DACC, ID_DACC,
1,
1,
0, /* DACC_MR_WORD_HALF */
0,
BOARD_MCK,
8,
CHANNEL_R,
1,
16);
/* channel number is in the first 4 significant bits*/
DACC->DACC_MR |= DACC_MR_TAG;
/* disable PDC for DAC */
DACC->DACC_PTCR = DACC_PTCR_TXTDIS;
/* Mute */
AudioPlayEnable(0);
/* Enable DACC ISR */
NVIC_EnableIRQ(DACC_IRQn);
}
