www.pudn.com > lpc2_can_examples.zip > user_LPC2.c

/************************************************************************** 
MODULE:    USER 
CONTAINS:  MicroCANopen Object Dictionary and Process Image implementation 
COPYRIGHT: Embedded Systems Academy, Inc. 2002-2004. 
           All rights reserved. www.microcanopen.com 
           This software was written in accordance to the guidelines at 
           www.esacademy.com/software/softwarestyleguide.pdf 
DISCLAIM:  Read and understand our disclaimer before using this code! 
           www.esacademy.com/disclaim.htm 
LICENSE:   THIS VERSION CREATED FOR FREE DISTRIBUTION 
           FOR KEIL SOFTWARE www.keil.com 
		       FOR PHILIPS SEMICONDUCTORS www.philipsmcu.com 
VERSION:   1.21, Pf 02-FEB-04 
--------------------------------------------------------------------------- 
HISTORY:   1.21, Pf 02-FEB-04, Release for Philips LPC2129 
           1.20, Pf 19-AUG-03, First Published Version 
           Functionality in this module was located in module MCO in 
		     previous releases. 
***************************************************************************/  
 
#include "mco.h" 
#include "mcohw.h" 
#include "string.h" 
 
#if (NR_OF_RPDOS != 2) 
  #if (NR_OF_TPDOS != 2) 
ERROR: This example is for 2 TPDOs and 2 RPDOs only 
  #endif 
#endif 
 
// Global timer/conter variable, incremented every millisecond 
extern WORD volatile gTimCnt; 
 
/************************************************************************** 
MACROS FOR OBJECT DICTIONARY ENTRIES 
***************************************************************************/  
 
#define GETBYTE(val,pos) ((val >> pos) & 0xFF) 
#define GETBYTES16(val) GETBYTE(val, 0), GETBYTE(val, 8) 
#define GETBYTES32(val) GETBYTE(val, 0), GETBYTE(val, 8), GETBYTE(val,16), GETBYTE(val,24) 
#define SDOREPLY(index,sub,len,val) 0x43 | ((4-len)<<2), GETBYTES16(index), sub, GETBYTES32(val) 
#define SDOREPLY4(index,sub,len,d1,d2,d3,d4) 0x43 | ((4-len)<<2), GETBYTES16(index), sub, d1, d2, d3, d4 
 
#define ODENTRY(index,sub,len,offset) {index, sub, len, offset} 
 
/************************************************************************** 
GLOBAL VARIABLES 
***************************************************************************/  
 
// This structure holds all node specific configuration 
BYTE volatile gProcImg[PROCIMG_SIZE]; 
 
// Table with SDO Responses for read requests to OD 
BYTE MEM_CONST SDOResponseTable[] = { 
// Each Row has 8 Bytes: 
// Command Specifier for SDO Response (1 byte) 
//   bits 2+3 contain: '4' – {number of data bytes} 
// Object Dictionary Index (2 bytes, low first) 
// Object Dictionary Subindex (1 byte) 
// Data (4 bytes, lowest bytes first) 
 
// [1000h,00]: Device Type 
SDOREPLY(0x1000, 0x00, 4, OD_DEVICE_TYPE), 
 
#ifdef OD_SERIAL 
// [1018h,00]: Identity Object, Number of Entries = 4 
SDOREPLY(0x1018, 0x00, 1, 0x00000004L), 
#else 
// [1018h,00]: Identity Object, Number of Entries = 3 
SDOREPLY(0x1018, 0x00, 1, 0x00000003L), 
#endif 
 
// [1018h,01]: Identity Object, Vendor ID 
SDOREPLY(0x1018, 0x01, 4, OD_VENDOR_ID), 
 
// [1018h,02]: Identity Object, Product Code 
SDOREPLY(0x1018, 0x02, 4, OD_PRODUCT_CODE), 
 
// [1018h,03]: Identity Object, Revision 
SDOREPLY(0x1018, 0x03, 4, OD_REVISION), 
 
#ifdef OD_SERIAL 
// [1018h,04]: Identity Object, Serial 
SDOREPLY(0x1018, 0x04, 4, OD_SERIAL), 
#endif 
 
// [2018h,00]: MicroCANopen Identity Object, Number of Entries = 3 
SDOREPLY(0x2018, 0x00, 1, 0x00000003L), 
 
// [2018h,01]: MicroCANopen Identity Object, Vendor ID = 01455341, ESA Inc. 
SDOREPLY(0x2018, 0x01, 4, 0x01455341L), 
 
// [2018h,02]: MicroCANopen Identity Object, Product Code = "MCOP" 
SDOREPLY4(0x2018, 0x02, 4, 'P', 'O', 'C', 'M'), 
 
// [2018h,03]: MicroCANopen Identity Object, Revision = 1.20 
SDOREPLY(0x2018, 0x03, 4, 0x00010020L), 
 
// End-of-table marker 
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF 
}; 
 
 
/************************************************************************** 
GLOBAL FUNCTIONS 
***************************************************************************/  
 
/************************************************************************** 
DOES:    Call-back function for occurance of a fatal error.  
         Stops operation and displays blnking error pattern on LED 
**************************************************************************/ 
void MCOUSER_FatalError (WORD ErrCode) 
{ 
  while(1) 
  { 
  } 
} 
 
 
/************************************************************************** 
DOES:    Call-back function for reset application. 
         Starts the watchdog and waits until watchdog causes a reset. 
**************************************************************************/ 
void MCOUSER_ResetApplication (void) 
{ 
} 
 
 
/************************************************************************** 
DOES:    Call-back function for reset communication. 
         Re-initializes the process image and the entire MicroCANopen 
         communication. 
**************************************************************************/ 
void MCOUSER_ResetCommunication (void) 
{ 
BYTE i; 
WORD delay; 
 
  // Initialize Process Variables 
  for (i = 0; i < PROCIMG_SIZE; i++) 
  { 
    gProcImg[i] = 0; 
  } 
 
  // 125kbit, Node 7, 2s heartbeat 
  MCO_Init(125,0x07,2000);  
   
 
  // DEBUG: Delay 10ms for all external HW to catch up 
  delay = gTimCnt + 10; 
  while (!MCOHW_IsTimeExpired(delay)) 
  { 
  } 
 
  MCO_InitRPDO(1,0,4,OUT_digi_1);  
  // RPDO1, default ID(0x200+nodeID), 4 bytes 
 
#ifdef LPCDemoMode 
  MCO_InitRPDO(2,0x287,4,OUT_ana_1);  
  // RPDO2, default ID, 4 bytes 
#else 
  MCO_InitRPDO(2,0,4,OUT_ana_1);  
  // RPDO2, default ID, 4 bytes 
#endif 
 
  MCO_InitTPDO(1,0,300,0,4,IN_digi_1);     
  // TPDO1, default ID (0x180+nodeID), 300ms event, 0ms inhibit, 4 bytes 
   
  MCO_InitTPDO(2,0,200,0,4,IN_ana_1);  
  // TPDO2, default ID (0x280+nodeID), 200ms event, 0ms inhibit, 4 bytes 
} 
 
/************************************************************************** 
END-OF-FILE  
***************************************************************************/