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); }
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; }
/* 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 LED diode for CANrx */ TRISAbits.TRISA2 = 0; LATAbits.LATA2 = 0; #define CAN_RX_LED LATAbits.LATA2 /* Initialize other LED diodes for RPDO */ 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; uint8_t nodeId; uint16_t CANBitRate; /* disable CAN and CAN interrupts, turn on red LED */ CO->CANmodule[0]->CANnormal = false; CO_CAN_ISR_ENABLE = 0; CAN_RUN_LED = 0; CAN_ERROR_LED = 1; /* Initialize digital outputs */ 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; /* 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) ClrWdt(); /* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */ } /* Configure callback functions */ CO_SYNC_initCallback(CO->SYNC, CANrx_lockCbSync); /* start CAN */ CO_CANsetNormalMode(CO->CANmodule[0]); /* 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_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, NULL); 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(ADDR_CAN1); /* reset */ return 0; }