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main_dsPIC30F.c
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main_dsPIC30F.c
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/*
* CANopen main program file for dsPIC30F microcontroller.
*
* Example code for using CANopenNode library on dsPIC30F4011 microcontroller.
*
* @file main_dsPIC30F.c
* @author Janez Paternoster
* @copyright 2010 - 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free and open source software: you can redistribute
* it and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation, either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Following clarification and special exception to the GNU General Public
* License is included to the distribution terms of CANopenNode:
*
* Linking this library statically or dynamically with other modules is
* making a combined work based on this library. Thus, the terms and
* conditions of the GNU General Public License cover the whole combination.
*
* As a special exception, the copyright holders of this library give
* you permission to link this library with independent modules to
* produce an executable, regardless of the license terms of these
* independent modules, and to copy and distribute the resulting
* executable under terms of your choice, provided that you also meet,
* for each linked independent module, the terms and conditions of the
* license of that module. An independent module is a module which is
* not derived from or based on this library. If you modify this
* library, you may extend this exception to your version of the
* library, but you are not obliged to do so. If you do not wish
* to do so, delete this exception statement from your version.
*/
/**
* This file is tested on dsPIC30F4011 microcontroller with two led diodes and
* 8 MHz quartz. Device sends bootup and Heartbeat message. NodeID is 0x30.
*/
#define CO_FCY 16000 /* (8MHz Quartz used) */
#include "CANopen.h"
//#include "eeprom.h"
/* Configuration bits */
_FOSC(CSW_FSCM_ON & XT_PLL8);
/* macros */
#define CO_TIMER_ISR() void __attribute__((interrupt, auto_psv)) _T2Interrupt (void)
#define CO_TMR_TMR TMR2 /* TMR register */
#define CO_TMR_PR PR2 /* Period register */
#define CO_TMR_CON T2CON /* Control register */
#define CO_TMR_ISR_FLAG IFS0bits.T2IF /* Interrupt Flag bit */
#define CO_TMR_ISR_PRIORITY IPC1bits.T2IP /* Interrupt Priority */
#define CO_TMR_ISR_ENABLE IEC0bits.T2IE /* Interrupt Enable bit */
#define CO_CAN_ISR() void __attribute__((interrupt, auto_psv)) _C1Interrupt (void)
#define CO_CAN_ISR_FLAG IFS1bits.C1IF /* Interrupt Flag bit */
#define CO_CAN_ISR_PRIORITY IPC6bits.C1IP /* Interrupt Priority */
#define CO_CAN_ISR_ENABLE IEC1bits.C1IE /* Interrupt Enable bit */
/* Global variables and objects */
volatile uint16_t CO_timer1ms = 0U; /* variable increments each millisecond */
const CO_CANbitRateData_t CO_CANbitRateData[8] = {CO_CANbitRateDataInitializers};
//eeprom_t eeprom;
/* helpers */
void CANrx_lockCbSync(bool_t syncReceived) {
if(syncReceived) {
CO_CAN_ISR_ENABLE = 0;
}
}
/* main ***********************************************************************/
int main (void){
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
/* Initialize two CAN led diodes */
TRISFbits.TRISF4 = 0; LATFbits.LATF4 = 0;
TRISFbits.TRISF5 = 0; LATFbits.LATF5 = 1;
#define CAN_RUN_LED LATFbits.LATF4
#define CAN_ERROR_LED LATFbits.LATF5
/* 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 */
// eeprom_init(&eeprom,
// 0xFC00,
// (uint16_t*) &CO_OD_EEPROM,
// sizeof(CO_OD_EEPROM));
/* 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;
/* 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();
//eeprom_process(&eeprom);
}
}
/* program exit ***************************************************************/
/* save variables to eeprom */
RESTORE_CPU_IPL(7); /* disable interrupts */
CAN_RUN_LED = 0;
CAN_ERROR_LED = 0;
//eeprom_saveAll(&eeprom);
CAN_ERROR_LED = 1;
/* delete CANopen object from memory */
CO_delete(ADDR_CAN1);
/* reset */
return 0;
}
/* timer interrupt function executes every millisecond ************************/
CO_TIMER_ISR(){
/* clear interrupt flag bit */
CO_TMR_ISR_FLAG = 0;
CO_timer1ms++;
if(CO->CANmodule[0]->CANnormal) {
bool_t syncWas;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
/* Re-enable CANrx, if it was disabled by SYNC callback */
CO_CAN_ISR_ENABLE = 1;
/* Further I/O or nonblocking application code may go here. */
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
/* verify timer overflow */
if(CO_TMR_ISR_FLAG == 1){
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0);
CO_TMR_ISR_FLAG = 0;
}
}
/* calculate cycle time for performance measurement */
uint16_t t = CO_TMR_TMR / (CO_FCY / 100);
OD_performance[ODA_performance_timerCycleTime] = t;
if(t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
}
/* CAN interrupt function *****************************************************/
CO_CAN_ISR(){
CO_CANinterrupt(CO->CANmodule[0]);
/* Clear combined Interrupt flag */
CO_CAN_ISR_FLAG = 0;
}