nikon/CANopenNode
1
0
Fork 0
Code Activity Actions

Run on PIC32.

Browse source
This commit is contained in:
Janez 2015-10-20 19:55:14 +02:00
parent 702b25cf56
commit ac41b50a50
4 changed files with 30 additions and 12 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
example/main.c
View file

@ -95,7 +95,7 @@ int main (void){
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
reset = CO_process(CO, timer1msDiff, NULL);
/* Nonblocking application code may go here. */

2
stack/PIC32/CO_driver.c
View file

@ -3,7 +3,7 @@
*
* @file CO_driver.c
* @author Janez Paternoster
* @copyright 2004 - 2013 Janez Paternoster
* @copyright 2004 - 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <http://canopennode.sourceforge.net>.

3
stack/PIC32/CO_driver.h
View file

@ -3,7 +3,7 @@
*
* @file CO_driver.h
* @author Janez Paternoster
* @copyright 2004 - 2013 Janez Paternoster
* @copyright 2004 - 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <http://canopennode.sourceforge.net>.
@ -35,6 +35,7 @@
#include <plib.h>
#include <stddef.h> /* for 'NULL' */
#include <stdint.h> /* for 'int8_t' to 'uint64_t' */
#include <stdbool.h> /* for true and false */
/* CAN module base address */

35
stack/PIC32/main_PIC32.c
View file

@ -2,9 +2,8 @@
* CANopen main program file for PIC32 microcontroller.
*
* @file main_PIC32.c
* @version SVN: \$Id$
* @author Janez Paternoster
* @copyright 2010 - 2013 Janez Paternoster
* @copyright 2010 - 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <http://canopennode.sourceforge.net>.
@ -130,6 +129,8 @@ int main (void){
CO_ReturnError_t err;
uint16_t timer1msPrevious;
uint16_t TMR_TMR_PREV = 0;
uint8_t nodeId;
uint16_t CANBitRate;
/* disable timer and CAN interrupts */
CO_TMR_ISR_ENABLE = 0;
@ -138,7 +139,12 @@ int main (void){
/* initialize CANopen */
err = CO_init();
/* 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 */
err = CO_init(ADDR_CAN1, nodeId, CANBitRate);
if(err != CO_ERROR_NO){
while(1) ClearWDT();
/* CO_errorReport(CO->em, CO_EM_MEMORY_ALLOCATION_ERROR, CO_EMC_SOFTWARE_INTERNAL, err); */
@ -226,7 +232,7 @@ int main (void){
/* CANopen process */
reset = CO_process(CO, timer1msDiff);
reset = CO_process(CO, timer1msDiff, NULL);
ClearWDT();
@ -239,11 +245,11 @@ int main (void){
/* program exit ***************************************************************/
CO_DISABLE_INTERRUPTS();
// CO_DISABLE_INTERRUPTS();
/* delete objects from memory */
programEnd();
CO_delete();
CO_delete(ADDR_CAN1);
/* reset */
SoftReset();
@ -253,16 +259,27 @@ int main (void){
/* timer interrupt function executes every millisecond ************************/
#ifndef USE_EXTERNAL_TIMER_1MS_INTERRUPT
void __ISR(_TIMER_2_VECTOR, ipl3SOFT) CO_TimerInterruptHandler(void){
bool_t syncWas;
CO_TMR_ISR_FLAG = 0;
CO_timer1ms++;
CO_process_RPDO(CO);
// if(CO->CANmodule[0]->CANnormal) {
// bool_t syncWas;
program1ms();
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
CO_process_TPDO(CO);
/* Re-enable CANrx, if it was disabled by SYNC callback */
// TODO this and outer loop
/* Further I/O or nonblocking application code may go here. */
program1ms();
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
// }
/* verify timer overflow */
if(CO_TMR_ISR_FLAG == 1){