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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\main.c //---------------------------------------------------------------------------- #include #include // CANopen related includes #include #include #include #include #include #include #include #include #include #include // because of the bug-workaround #include #include //---------------------------------------------------------------------------- //---------------------------------------------------------------------------- // Defines //---------------------------------------------------------------------------- //---------------------------------------------------------------------------- // Funktions Prototypen //---------------------------------------------------------------------------- void SetupCanbus(void); void main(void); //---------------------------------------------------------------------------- // SetupCanbus(void) // //---------------------------------------------------------------------------- void SetupCanbus(void) { BYTE i; sInitParameter param; // initialize canopen device param.bNodeID = PORTC & (BYTE)0x7F; // gets the node-id from the dip-switch param.wBaudRateIndex = b125k; param.wProcSpeed = (WORD)FOSC; initConnection( ¶m ); // !!!!!!! should be changed! // dirty hack: canMessageRxBuffer should be initialized by values... but // i couln't manage to get it work. so do it here. for( i=0; i

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\main.c case INITIALISATION_NODE: initTimer( ); // change automatically into initialisation of the node bStateMachineState = INITIALISATION_NODE; break; // because sending of heartbeat must start just after bootup, lets do that... // the first message has to be the boot-up message (with first data-byte // set to 0, therefore we have to send this heartbeat NOW. initialisation( ); // create the list with all heartbeat-entries... lifeguardInit( ); sendBootUp( ); bStateMachineState = PRE_OPERATIONAL; break; preOperational( ); break; operational( ); break; case STOPPED: stopped( ); break; case PRE_OPERATIONAL: case OPERATIONAL: 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 } } } 2

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\timer.h 1 /*************************************************************************** 2 timer.h - description 3 ------------------- 4 begin : Fri May 17 2002 5 copyright : (C) 2002 by Raphael Zulliger 6 email : zulli@hsr.ch 7 ***************************************************************************/ 8 9 /*************************************************************************** 10 * * 11 * This library is Copyright (c) Raphael Zulliger . * 12 * It is licensed under the GNU Library General Public License (LGPL). * 13 * * 14 ***************************************************************************/ 15 16 17 /*************************************************************************** 18 * * 19 * * 20 ***************************************************************************/ 21 22 #ifndef __timer_h__ 23 #define __timer_h__ 24 25 #include 26 27 /** Initialises the timer. This includes setting up the timer-interrupt, 28 * calculating the timer-interrupt registers, so every millisecond an 29 * interrupt occures. 30 */ 31 void initTimer( void ); 32 33 /** Resets the timer: In the ISR of the timer interrupt we have to set 34 * the timer interrupt registers to the correct value, so the next interrupt 35 * occures after another millisecond. This function sets this registers 36 * to the correct values (calculated by initTimer) 37 */ 38 void resetTimer( void ); 39 40 /** This function returns the correct value of the actual time. If the time 41 * would be read without this function, its possible to get the wrong time, 42 * because the interrupt service routine could be executed during reading 43 * this value, and the LSB of the time value is incremented, so an overflow 44 * of the LSB occrues, and the program read the wrong value.\n 45 * This function calls itself (recursive) if it seams that the ISR was called 46 * during reading the time. 47 * \param time The pointer to the variable thats points to the time that 48 * should be used in the program 49 */ 50 WORD getTime( WORD* time ); 51 52 /** This function sets the correct value of the actual time. If the time 53 * would be written without this function, its possible to set the wrong time, 54 * because the interrupt service routine could be executed during writing 55 * this value.\n 56 * This function calls itself (recursive) if it seams that the ISR was called 57 * during setting the time. 58 * \param time The pointer to the variable thats points to the time that 59 * should be set in the program 60 * \param value The time that should be set. 61 */ 62 void setTime( WORD* time, WORD value ); 63 64 #endif // #define __timer_h__ 65 1

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\timer.c /*************************************************************************** timer.c - description ------------------- begin : Fri May 17 2002 copyright : (C) 2002 by Raphael Zulliger email : zulli@hsr.ch ***************************************************************************/ /*************************************************************************** * * * This library is Copyright (c) Raphael Zulliger . * * It is licensed under the GNU Library General Public License (LGPL). * * * ***************************************************************************/ #include #include #include #include /* initialized the timer module. the timer-interrupt should occure after every * one millisecond (1ms). */ static BYTE timerLowRegister; static BYTE timerHighRegister; void initTimer( void ) { every fourth (FOsc/4) (external)clock cycle // Enables the Timer0 overflow interrupt // Setze Timer0 interrupt auf hohe Priorität // Enable priority levels on interrupts // Disables all peripheral interrupts // Enable all high priority interrupts // sets the timer clock, so it increments DWORD wCountOfOverflows; //Timer1 Settings: PIE1bits.TMR1IE = (BYTE)0x01; IPR1bits.TMR1IP = (BYTE)0x01; RCONbits.IPEN = (BYTE)0x01; INTCONbits.GIEL = (BYTE)0x00; INTCONbits.GIEH = (BYTE)0x01; T1CONbits.TMR1CS = (BYTE)0x00; T1CONbits.TMR1ON = (BYTE)0x01; // Setting the timer1, so every 1ms an interrupt (overflow) occures // therefore we have to calculate the correct start-value of the counter (timer) // register // theorie: timer increments every FOSC/4. -> count of increments until first // overflow: (1ms/4)*FOSC (e.g. with 4MHz: 1000) wCountOfOverflows = ((WORD)FOSC)/((BYTE)0x04); timerHighRegister = (BYTE)0xFF - (BYTE)( (wCountOfOverflows&(WORD)0xFF00 ) >> (BYTE)0x08 ); timerLowRegister = (BYTE)0xFF - (BYTE)( (wCountOfOverflows&(WORD)0x00FF ) ); // remeber: FOSC is in khz // sets the prescaler to 1:1 (wouldn't be neccessary because the value is 1:1 after reset T1CONbits.T1CKPS0 = (BYTE)0x00; T1CONbits.T1CKPS1 = (BYTE)0x00; // shut off timer1 oscillator T1CONbits.T1OSCEN = (BYTE)0x00; // acces of high- and low-byte by 8bit... (instead of 16bit) T1CONbits.RD16 = (BYTE)0x00; resetTimer( ); } void resetTimer( void ) { TMR1H = timerHighRegister; TMR1L = timerLowRegister; PIR1bits.TMR1IF = (BYTE)0x00; } WORD getTime( WORD* time ) { WORD wReturnValue; WORD wTestTime; wReturnValue = *time; 1 // clear interrupt flag for timer 1

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\timer.c wTestTime = *time; if( wTestTime != wReturnValue ) { // maybe an overflow occured. call this function again (recursive) wReturnValue = getTime( time ); } } return wReturnValue; void setTime( WORD* time, WORD value ) { *time = value; if( *time != value ) { // it seams that the irq-serviceroutine was called during setting the value, so try again } } setTime( time, value ); 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 2

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\sync.h 1 /*************************************************************************** 2 sync.h - description 3 ------------------- 4 begin : Fri May 17 2002 5 copyright : (C) 2002 by Raphael Zulliger 6 email : zulli@hsr.ch 7 ***************************************************************************/ 8 9 /*************************************************************************** 10 * * 11 * This library is Copyright (c) Raphael Zulliger . * 12 * It is licensed under the GNU Library General Public License (LGPL). * 13 * * 14 ***************************************************************************/ 15 16 /** \file 17 * \brief Functions for sending/receiving sync-messages 18 * 19 * the functions in this file are responsible for sync-related stuff 20 * \warning Not implemented yet. 21 */ 22 23 #ifndef __sync_h__ 24 #define __sync_h__ 25 26 #include 27 28 /** Sends a CANopen sync message. Not supported yet. 29 */ 30 BYTE sendSync(void); 31 32 #endif // __sync_h__ 33 1

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\sync.c 1 /*************************************************************************** 2 sync.c - description 3 ------------------- 4 begin : Fri May 17 2002 5 copyright : (C) 2002 by Raphael Zulliger 6 email : zulli@hsr.ch 7 ***************************************************************************/ 8 9 /*************************************************************************** 10 * * 11 * This library is Copyright (c) Raphael Zulliger . * 12 * It is licensed under the GNU Library General Public License (LGPL). * 13 * * 14 ***************************************************************************/ 15 16 17 #include 18 19 BYTE sendSync( void ) 20 { 21 return 0; 22 } 23 1

F:\Datasheets\Microchip\Applications\CAN_BUS\CAN_OPEN\sdos.h 1 /*************************************************************************** 2 sdos.h - description 3 ------------------- 4 begin : Fri May 17 2002 5 copyright : (C) 2002 by Raphael Zulliger 6 email : zulli@hsr.ch 7 ***************************************************************************/ 8 9 /*************************************************************************** 10 * * 11 * This library is Copyright (c) Raphael Zulliger . * 12 * It is licensed under the GNU Library General Public License (LGPL). * 13 * * 14 ***************************************************************************/ 15 16 17 /** \file 18 * \brief Functions for accessing object dictionaries on other nodes 19 * 20 * This functions enables you to access the object dictionary of an 21 * other module. (sdo server). 22 * No such functinality is implemented yet. If you use it, programm it! 23 * \warning Not implemented yet. 24 */ 25 26 27 #ifndef __sdos_h__ 28 #define __sdos_h__ 29 30 31 #endif // __sdos_h__ 32 1

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