160 lines
4.3 KiB
C
160 lines
4.3 KiB
C
/*
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* CANopen main program file.
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*
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* This file is a template for other microcontrollers.
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*
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* @file main_generic.c
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* @author Janez Paternoster
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* @copyright 2004 - 2020 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "CANopen.h"
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#define TMR_TASK_INTERVAL (1000) /* Interval of tmrTask thread in microseconds */
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#define INCREMENT_1MS(var) (var++) /* Increment 1ms variable in tmrTask */
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/**
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* User-defined CAN base structure, passed as argument to CO_init.
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*/
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struct CANbase {
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uintptr_t baseAddress; /**< Base address of the CAN module */
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};
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/* Global variables and objects */
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volatile uint16_t CO_timer1ms = 0U; /* variable increments each millisecond */
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/* main ***********************************************************************/
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int main (void){
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CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
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/* Configure microcontroller. */
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/* initialize EEPROM */
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/* increase variable each startup. Variable is stored in EEPROM. */
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OD_powerOnCounter++;
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while(reset != CO_RESET_APP){
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/* CANopen communication reset - initialize CANopen objects *******************/
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CO_ReturnError_t err;
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uint16_t timer1msPrevious;
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/* disable CAN and CAN interrupts */
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struct CANbase canBase = {
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.baseAddress = 0u, /* CAN module address */
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};
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/* initialize CANopen */
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err = CO_init(&canBase, 10/* NodeID */, 125 /* bit rate */);
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if(err != CO_ERROR_NO){
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while(1);
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/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
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}
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/* Configure Timer interrupt function for execution every 1 millisecond */
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/* Configure CAN transmit and receive interrupt */
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/* start CAN */
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CO_CANsetNormalMode(CO->CANmodule[0]);
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reset = CO_RESET_NOT;
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timer1msPrevious = CO_timer1ms;
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while(reset == CO_RESET_NOT){
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/* loop for normal program execution ******************************************/
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uint16_t timer1msCopy, timer1msDiff;
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timer1msCopy = CO_timer1ms;
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timer1msDiff = timer1msCopy - timer1msPrevious;
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timer1msPrevious = timer1msCopy;
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/* CANopen process */
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reset = CO_process(CO, timer1msDiff, NULL);
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/* Nonblocking application code may go here. */
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/* Process EEPROM */
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}
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}
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/* program exit ***************************************************************/
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/* stop threads */
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/* delete objects from memory */
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CO_delete((void*) 0/* CAN module address */);
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/* reset */
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return 0;
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}
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/* timer thread executes in constant intervals ********************************/
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static void tmrTask_thread(void){
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for(;;) {
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/* sleep for interval */
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INCREMENT_1MS(CO_timer1ms);
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if(CO->CANmodule[0]->CANnormal) {
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bool_t syncWas;
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/* Process Sync */
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syncWas = CO_process_SYNC(CO, TMR_TASK_INTERVAL);
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/* Read inputs */
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CO_process_RPDO(CO, syncWas);
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/* Further I/O or nonblocking application code may go here. */
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/* Write outputs */
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CO_process_TPDO(CO, syncWas, TMR_TASK_INTERVAL);
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/* verify timer overflow */
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if(0) {
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CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0U);
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}
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}
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}
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}
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/* CAN interrupt function *****************************************************/
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void /* interrupt */ CO_CAN1InterruptHandler(void){
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CO_CANinterrupt(CO->CANmodule[0]);
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/* clear interrupt flag */
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}
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