int main(void)
{
InitBoard();
//Set ErrorStateFlag
ErrorStateFlag = FALSE;
m_state = InitPeripheral;
//LED2 ^= 1;
//Most of the functions in the while(1) loop are timed by Timer1
while (1)
{
// Process state machine
ImplBMS();
ClearWDT();
//CallBMSImpl();
/*NETV_MESSAGE oMsgRecep;
EVERY_X_MS(1000)
oMsgRecep.msg_cmd = 0;
oMsgRecep.msg_comm_iface =0xFF;
oMsgRecep.msg_data_length = 0;
oMsgRecep.msg_dest = 0xFF;
oMsgRecep.msg_remote = 1;
oMsgRecep.msg_source = GetMyAddr();
oMsgRecep.msg_type = 0x80;
oMsgRecep.msg_priority = 1;
netv_send_message(&oMsgRecep );
LED1 ^= 1;
END_OF_EVERY
if(netv_transceiver((unsigned char)GetBoardID(), &oMsgRecep))
{
//LED2 ^= 1;
OnMsgBMS(&oMsgRecep);
}*/
}
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;
}
//***********************************
//***********************************
//********** MAIN FUNCTION **********
//***********************************
//***********************************
int main (void)
{
BYTE display_html_file_name[12];
DWORD file_size;
//**********************
//**********************
//***** INITIALISE *****
//**********************
//**********************
initialise();
//*********************
//*********************
//***** MAIN LOOP *****
//*********************
//*********************
while(1) //(Do forever)
{
//----- RESET THE WATCHDOG TIMEOUT TIMER -----
ClearWDT();
switches_1_new = 0;
if (do_10ms_functions)
{
do_10ms_functions = 0;
//----- READ SWITCHES -----
read_switches();
}
//------------------------------------
//----- CHECK FOR SWITCH PRESSES -----
//------------------------------------
if (SWITCH_UP_NEW_PRESS)
{
//----- UP PRESSED -----
//Load the index.htm file
if (display_html_setup_read_file(index_htm, 0, &file_size)) //Find HTML file ready to display it
display_html_file(file_size);
}
else if (SWITCH_DOWN_NEW_PRESS)
{
//----- DOWN PRESSED -----
//Load text1.htm using name as a variable to demonstrate finding file by name at run time
display_html_file_name[0] = 'T';
display_html_file_name[1] = 'E';
display_html_file_name[2] = 'X';
display_html_file_name[3] = 'T';
display_html_file_name[4] = '1';
display_html_file_name[5] = '.';
display_html_file_name[6] = 'H';
display_html_file_name[7] = 'T';
display_html_file_name[8] = 'M';
display_html_file_name[9] = 0x00;
if (display_html_setup_read_file(0, display_html_file_name, &file_size))
{
display_html_file(file_size);
}
}
else if (SWITCH_LEFT_NEW_PRESS)
{
//----- LEFT PRESSED -----
//Load dynamic text demo HTML file - the text is added by the html_get_dynamic_text_character function below
if (display_html_setup_read_file(dyntext_htm, 0, &file_size))
display_html_file(file_size);
}
else if (SWITCH_RIGHT_NEW_PRESS)
{
//----- RIGHT PRESSED -----
//Load text2.htm
if (display_html_setup_read_file(text2_htm, 0, &file_size))
display_html_file(file_size);
}
else if (SWITCH_FIRE_NEW_PRESS)
{
//----- FIRE PRESSED -----
//Generate content using code instead of HTML
display_clear_screen(DISPLAY_COLOUR_WHITE);
display_bitmap(indeximg_bmp, 0, 0, 0x00ffffff); //p_bitmap, x_coord, y_coord, transparency_colour(0xffffffff to not use)
display_foreground_colour = DISPLAY_COLOUR_RED;
display_background_colour = DISPLAY_COLOUR_TURQUOISE;
display_const_string (disp_font_5w_7h, DISPLAY_TEXT_ALIGN_LEFT, //Font, Options
2, 2, //Hoz padding, vertical padding
20, 50, //X start coord, Y start coord
0, 0, //X end coord, Y end coord (0 if area containment not required)
string1); //Text
display_const_string(disp_font_5w_11h, DISPLAY_TEXT_ALIGN_LEFT, //Font, Options
2, 2, //Hoz padding, vertical padding
20, 70, //X start coord, Y start coord
0, 0, //X end coord, Y end coord (0 if area containment not required)
string1); //Text
display_foreground_colour = DISPLAY_COLOUR_VIOLET;
display_background_colour = DISPLAY_COLOUR_YELLOW;
display_const_string(disp_font_22h, DISPLAY_TEXT_ALIGN_CENTRE, //Font, Options
2, 2, //Hoz padding, vertical padding
20, 105, //X start coord, Y start coord
200, 160, //X end coord, Y end coord (0 if area containment not required)
string1); //Text
display_foreground_colour = DISPLAY_COLOUR_BLACK;
display_background_colour = DISPLAY_COLOUR_NULL; //(DISPLAY_COLOUR_NULL == no background colour / leave existing colour)
display_const_string(disp_font_15h, DISPLAY_TEXT_ALIGN_LEFT, //Font, Options
2, 2, //Hoz padding, vertical padding
176, 134, //X start coord, Y start coord
0, 0, //X end coord, Y end coord (0 if area containment not required)
string1); //Text
display_foreground_colour = DISPLAY_COLOUR_WHITE;
display_background_colour = DISPLAY_COLOUR_BLUE;
display_const_string(disp_font_42h, DISPLAY_TEXT_ALIGN_CENTRE, //Font, Options
2, 2, //Hoz padding, vertical padding
0, 170, //X start coord, Y start coord
319, 0, //X end coord, Y end coord (0 if area containment not required)
string1); //Text
}
}
}
void SLAVE_TASKS(void) {
ClearWDT();
if (FLAG.IndicatorINTEGRATED_OnOff == 0) {
if (FLAG.FlagTimerRemaining3 == 0) {
FLAG.FlagTimerRemaining3 = TIMER_SEC_Remaining3(10);
if (FLAG.FlagTimerRemaining3 == 1) {
if(FLAG.SensorACTIVE == 1){
ChangeFadeCOLOR(COLORS.RED_A, COLORS.GREEN_A, COLORS.BLUE_A, 0, 0, 0);
PWM1_OFF();
PWM2_OFF();
PWM4_OFF();
TIMER0_OFF();
FLAG.IndicatorINTEGRATED_OnOff = 0;
}else{
ChangeFadeCOLOR(COLORS.RED_D, COLORS.GREEN_D, COLORS.BLUE_D, 0, 0, 0);
PWM1_OFF();
PWM2_OFF();
PWM4_OFF();
TIMER0_OFF();
FLAG.IndicatorINTEGRATED_OnOff = 0;
}
LED_AZUL = 0;
LED_ROJO = 0;
LED_VERDE = 0;
}
}
}
Task_UART_Slave(&BusSLAVE_R);
if (FLAG.NOT_SENSE == 0) {
PRESENCE_SONAR_4_0(&FLAG.StateSONAR);
if (FLAG_TIMER_HIGH == 1) {
FLAG_TIMER_HIGH = 0;
if (FLAG.FlagTimerRemaining2 == 0) {
FLAG.FlagTimerRemaining2 = TIMER_SEC_Remaining1(65 + (IDSlave.VAL));
if (FLAG.FlagTimerRemaining2 == 1) {
FLAG.StartCommSLAVE = 1;
BusSLAVE_T.IDR = IDMaster.VAL;
BusSLAVE_T.IDT1 = IDSlave.VAL;
BusSLAVE_T.IDT2 = 0;
BusSLAVE_T.CMD = CMD1_PARKUEST;
BusSLAVE_T.Data[0].val = (unsigned char)FLAG.SensorACTIVE;
BusSLAVE_T.Data[1].val = STOP_COMMUNICATION;
BusSLAVE_T.Data[2].val = STOP_COMMUNICATION2;
SendDATA1(&BusSLAVE_T);
}
}
}
if (FLAG.StateSONAR == 3) {
if (FLAG.ChangeSTATE == 1 && FLAG.INDICATOR_ACTIVE == 0) {
FLAG.SensorACTIVE = 1;
BusSLAVE_T.IDR = IDMaster.VAL;
BusSLAVE_T.IDT1 = IDSlave.VAL;
BusSLAVE_T.IDT2 = 0;
BusSLAVE_T.CMD = CMD1_PARKUEST;
BusSLAVE_T.Data[0].val = (unsigned char)FLAG.SensorACTIVE;
BusSLAVE_T.Data[1].val = STOP_COMMUNICATION;
BusSLAVE_T.Data[2].val = STOP_COMMUNICATION2;
if(FLAG.StartCommSLAVE == 1) SendDATA1(&BusSLAVE_T);
SmartOnlyOneIndicator(IDSlave.VAL, (unsigned char) FLAG.SensorACTIVE, ChangeStatusSOFTWARE_A);
if (FLAG.ChangeSTATE == 1)ChangeFadeCOLOR(COLORS.RED_D, COLORS.GREEN_D, COLORS.BLUE_D, COLORS.RED_A, COLORS.GREEN_A, COLORS.BLUE_A);
RGB_8bit(COLORS.RED_A, COLORS.GREEN_A, COLORS.BLUE_A);
}
FLAG.ChangeSTATE = 0;
BusSLAVE_R.TimeOut2 = 0;
} else {
if (FLAG.ChangeSTATE == 0 && FLAG.INDICATOR_ACTIVE == 0) {
FLAG.SensorACTIVE = 0;
BusSLAVE_T.IDR = IDMaster.VAL;
BusSLAVE_T.IDT1 = IDSlave.VAL;
BusSLAVE_T.IDT2 = 0;
BusSLAVE_T.CMD = CMD1_PARKUEST;
BusSLAVE_T.Data[0].val = (unsigned char)FLAG.SensorACTIVE;
BusSLAVE_T.Data[1].val = STOP_COMMUNICATION;
BusSLAVE_T.Data[2].val = STOP_COMMUNICATION2;
if(FLAG.StartCommSLAVE == 1) SendDATA1(&BusSLAVE_T);
SmartOnlyOneIndicator(IDSlave.VAL, (unsigned char) FLAG.SensorACTIVE, ChangeStatusSOFTWARE_D);
if (FLAG.ChangeSTATE == 0)ChangeFadeCOLOR(COLORS.RED_A, COLORS.GREEN_A, COLORS.BLUE_A, COLORS.RED_D, COLORS.GREEN_D, COLORS.BLUE_D);
RGB_8bit(COLORS.RED_D, COLORS.GREEN_D, COLORS.BLUE_D);
}
FLAG.ChangeSTATE = 1;
BusSLAVE_R.TimeOut1 = 0;
}
}
}
/* main ***********************************************************************/
int main (void){
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
/* Configure system for maximum performance and enable multi vector interrupts. */
SYSTEMConfig(CO_FSYS*1000, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
INTEnableInterrupts();
/* 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) ClearWDT();
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) while(1) ClearWDT();
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) while(1) 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;
/* disable timer and CAN interrupts */
CO_TMR_ISR_ENABLE = 0;
CO_CAN_ISR_ENABLE = 0;
CO_CAN_ISR2_ENABLE = 0;
/* initialize CANopen */
err = CO_init();
if(err != CO_ERROR_NO){
while(1) 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;
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);
ClearWDT();
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
ClearWDT();
#ifdef USE_EEPROM
CO_EE_process(&CO_EEO);
#endif
}
}
/* program exit ***************************************************************/
CO_DISABLE_INTERRUPTS();
/* delete objects from memory */
programEnd();
CO_delete();
/* reset */
SoftReset();
}
