/* timer thread executes in constant intervals ********************************/
static void tmrTask_thread(void){
for(;;) {
/* sleep for interval */
INCREMENT_1MS(CO_timer1ms);
if(CO_CAN_OK) {
bool_t syncWas;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, TMR_TASK_INTERVAL);
/* Reenable CANrx, if it was disabled by SYNC callback */
/* Further I/O or nonblocking application code may go here. */
/* Write outputs */
CO_process_TPDO(CO, syncWas, TMR_TASK_INTERVAL);
}
}
/* verify timer overflow */
if(0){
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0U);
}
}
/* Realtime thread for CAN receive and taskTmr ********************************/
static void* rt_thread(void* arg) {
/* Endless loop */
while(CO_endProgram == 0) {
int ready;
struct epoll_event ev;
ready = epoll_wait(rt_thread_epoll_fd, &ev, 1, -1);
if(ready != 1) {
if(errno != EINTR) {
CO_error(0x12100000L + errno);
}
}
else if(CANrx_taskTmr_process(ev.data.fd)) {
int i;
/* code was processed in the above function. Additional code process below */
INCREMENT_1MS(CO_timer1ms);
/* Monitor variables with trace objects */
CO_time_process(&CO_time);
#if CO_NO_TRACE > 0
for(i=0; i<OD_traceEnable && i<CO_NO_TRACE; i++) {
CO_trace_process(CO->trace[i], *CO_time.epochTimeOffsetMs);
}
#endif
/* Execute optional additional application code */
app_program1ms();
/* Detect timer large overflow */
if(OD_performance[ODA_performance_timerCycleMaxTime] > TMR_TASK_OVERFLOW_US && rtPriority > 0 && CO->CANmodule[0]->CANnormal) {
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0x22400000L | OD_performance[ODA_performance_timerCycleMaxTime]);
}
}
else {
/* No file descriptor was processed. */
CO_error(0x12200000L);
}
}
return NULL;
}
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);
}
