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2 Commits
7ccde7933f ... 1d8f6d6b4f

Author SHA1 Message Date
VineetaGupta
1d8f6d6b4f Removed unneccesary comments and variable. 2025-04-01 15:01:30 +02:00
VineetaGupta
0b4bbb85e2 Valve and pump running simultaneously 2025-04-01 10:41:31 +02:00
6 changed files with 1030 additions and 600 deletions
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99
EnduranceTestBench/nehemis/enduranceTestBench.c
View File

@ -65,9 +65,8 @@ typedef struct
* Global variable declarations * Global variable declarations
******************************************************************************/ ******************************************************************************/
static uint8 currentNode_gu8 = 0u; static uint8 currentNode_gu8 = 0u;
static uint8 batchCompleted_u8 = 1u;
static uint32 readPosition_gu32 = 0u; static uint32 readPosition_gu32 = 0u;
static uint8 targetPositionStoredFlag_u8 = 0u;
static TestBenchData_en testBenchData_en; static TestBenchData_en testBenchData_en;
static SdlTestBenchState_en testBenchState_en = TEST_BENCH_IDLE; static SdlTestBenchState_en testBenchState_en = TEST_BENCH_IDLE;
@ -76,7 +75,7 @@ static uint64 writeTime_u64;
/****************************************************************************** /******************************************************************************
* Public Function Definitions * Public Function Definitions
******************************************************************************/ ******************************************************************************/
void EnduranceTestBenchRun(void) void EnduranceTestBenchRun(bool *testBenchStarted_pb)
{ {
static uint64 startTime_u64 = 0uLL; static uint64 startTime_u64 = 0uLL;
static uint8 alternate_u8 = 0u; static uint8 alternate_u8 = 0u;
@ -117,7 +116,6 @@ void EnduranceTestBenchRun(void)
else else
{ {
/* After 10 seconds, move to endurance test */ /* After 10 seconds, move to endurance test */
batchCompleted_u8 = 1u;
testBenchState_en = TEST_BENCH_IDLE; testBenchState_en = TEST_BENCH_IDLE;
} }
@ -128,43 +126,45 @@ void EnduranceTestBenchRun(void)
case TEST_BENCH_IDLE: case TEST_BENCH_IDLE:
{ {
if (batchCompleted_u8) *testBenchStarted_pb = true;
{ uint8 max_u8 = NMS_UINT8_MAX; /* Fully open (255) */
batchCompleted_u8 = 0u; /* Lock batch update until all nodes confirm their positions */ uint8 min_u8 = 0u; /* Fully closed (0) */
uint8 currentGroup_u8 = alternate_u8 % 2; /* Alternates between two patterns */
uint8 max_u8 = NMS_UINT8_MAX; /* Fully open (255) */ /* Check if it's a random cycle */
uint8 min_u8 = 0u; /* Fully closed (0) */ if ((alternate_u8 % 2) == 1)
uint8 currentGroup_u8 = alternate_u8 % 2; /* Alternates between two patterns */ {
/* Randomized cycle */
/* Check if it's a random cycle */ for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++)
if ((alternate_u8 % 2) == 1) {
{ testBenchData_en.targetPositions_gau8[i_u8] = (uint8)(rand() % 256); /* Assign random value between 0-255 */
/* Randomized cycle */ }
for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++) }
{ else
testBenchData_en.targetPositions_gau8[i_u8] = (uint8)(rand() % 256); /* Assign random value between 0-255 */ {
} /* Normal alternating open-close cycle */
} for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++)
else {
{ if (((i_u8 / 5) % 2) == currentGroup_u8)
/* Normal alternating open-close cycle */ {
for (uint8 i_u8 = 0u; i_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; i_u8++) testBenchData_en.targetPositions_gau8[i_u8] = max_u8; /* Fully open */
{ }
if (((i_u8 / 5) % 2) == currentGroup_u8) else
{ {
testBenchData_en.targetPositions_gau8[i_u8] = max_u8; /* Fully open */ if (i_u8 % 5u == 4u) /* Last node of the group */
} {
else testBenchData_en.targetPositions_gau8[i_u8] = max_u8; /* 255 for the last node */
{ }
testBenchData_en.targetPositions_gau8[i_u8] = min_u8; /* Fully closed */ else
} {
} testBenchData_en.targetPositions_gau8[i_u8] = min_u8; /* 0 for the other nodes */
} }
}
alternate_u8++; /* Switch to the next cycle pattern */ }
currentNode_gu8 = 0u; }
testBenchState_en = TEST_BENCH_BATCH_WRITE; alternate_u8++; /* Switch to the next cycle pattern */
} currentNode_gu8 = 0u;
testBenchState_en = TEST_BENCH_BATCH_WRITE;
} }
break; break;
@ -173,24 +173,18 @@ void EnduranceTestBenchRun(void)
{ {
if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT) if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{ {
if (targetPositionStoredFlag_u8 == 0u)
{
uint8 value_u8 = (uint8)(rand() % 256);
RET_T retVal_en = coSdoWrite( RET_T retVal_en = coSdoWrite(
(currentNode_gu8 + 1), (currentNode_gu8 + 1),
ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX, ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX,
ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX, ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX,
&value_u8, &testBenchData_en.targetPositions_gau8[currentNode_gu8],
sizeof(value_u8), sizeof(uint8),
CO_FALSE, CO_FALSE,
ENDURANCE_TEST_BENCH_TIMEOUT ENDURANCE_TEST_BENCH_TIMEOUT
); );
if (retVal_en == RET_OK) if (retVal_en == RET_OK)
{ {
testBenchData_en.targetPositions_gau8[currentNode_gu8] = value_u8;
targetPositionStoredFlag_u8 = 1; /* Mark that target is written for this node */
HalSystemGetRunTimeMs(&writeTime_u64); HalSystemGetRunTimeMs(&writeTime_u64);
retries_u8 = 0u; retries_u8 = 0u;
testBenchState_en = TEST_BENCH_BATCH_WRITE_WAIT; testBenchState_en = TEST_BENCH_BATCH_WRITE_WAIT;
@ -205,12 +199,11 @@ void EnduranceTestBenchRun(void)
/* Mark node as skipped and move on */ /* Mark node as skipped and move on */
currentNode_gu8++; currentNode_gu8++;
retries_u8 = 0u; retries_u8 = 0u;
targetPositionStoredFlag_u8 = 0u;
testBenchState_en = TEST_BENCH_BATCH_WRITE; testBenchState_en = TEST_BENCH_BATCH_WRITE;
} }
} }
} }
}
else else
{ {
/* Finished writing to all nodes */ /* Finished writing to all nodes */
@ -227,7 +220,6 @@ void EnduranceTestBenchRun(void)
{ {
/* Move to next node write */ /* Move to next node write */
currentNode_gu8++; currentNode_gu8++;
targetPositionStoredFlag_u8 = 0u; /* Reset for next node */
testBenchState_en = TEST_BENCH_BATCH_WRITE; testBenchState_en = TEST_BENCH_BATCH_WRITE;
} }
break; break;
@ -300,7 +292,7 @@ void EnduranceTestBenchRun(void)
if (testBenchData_en.status_en[currentNode_gu8] != TEST_BENCH_DATA_NODE_SKIPPED) if (testBenchData_en.status_en[currentNode_gu8] != TEST_BENCH_DATA_NODE_SKIPPED)
{ {
if (abs(testBenchData_en.targetPositions_gau8[currentNode_gu8] - if (abs(testBenchData_en.targetPositions_gau8[currentNode_gu8] -
testBenchData_en.readPosition_gau8[currentNode_gu8]) <= 5) /* Accepted difference between read and write for successful operation */ testBenchData_en.readPosition_gau8[currentNode_gu8]) <= 5u) /* Accepted difference between read and write for successful operation */
{ {
testBenchData_en.status_en[currentNode_gu8] = TEST_BENCH_DATA_VERIF_SUCCESS; testBenchData_en.status_en[currentNode_gu8] = TEST_BENCH_DATA_VERIF_SUCCESS;
} }
@ -335,9 +327,8 @@ void EnduranceTestBenchRun(void)
/* Reset everything and Start next cycle */ /* Reset everything and Start next cycle */
currentNode_gu8 = 0u; currentNode_gu8 = 0u;
targetPositionStoredFlag_u8 = 0u;
retries_u8 = 0u; retries_u8 = 0u;
testBenchState_en = TEST_BENCH_BATCH_WRITE; testBenchState_en = TEST_BENCH_IDLE;
break; break;
} }

2
EnduranceTestBench/nehemis/enduranceTestBench.h
View File

@ -24,7 +24,7 @@
* @return void * @return void
* *
*/ */
void EnduranceTestBenchRun(void); void EnduranceTestBenchRun(bool *testBenchStarted_b);
void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 errorVal_u32); void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 errorVal_u32);

109
EnduranceTestBench/nehemis/processBoard.c
View File

@ -19,6 +19,7 @@
#include "od_entries.h" #include "od_entries.h"
#include "nms_can.h" #include "nms_can.h"
#include "analogMeasurement.h" #include "analogMeasurement.h"
#include "hal_system.h"
/****************************************************************************** /******************************************************************************
* Type declarations * Type declarations
******************************************************************************/ ******************************************************************************/
@ -34,6 +35,14 @@
#define PU_CANOPEN_SLAVE_LINE 0u #define PU_CANOPEN_SLAVE_LINE 0u
#define PU_CANOPEN_MASTER_LINE 1u #define PU_CANOPEN_MASTER_LINE 1u
#define PU_PUMP_SPEED_CHANGE_INTERVAL 900000uLL
#define PU_PUMP_MAX_SPEED 10u
#define PU_PUMP_MIN_SPEED 0u
#define PU_PMP_ENABLE 1u
#define PU_PMP_DISABLE 0u
/****************************************************************************** /******************************************************************************
* Global variables * Global variables
******************************************************************************/ ******************************************************************************/
@ -83,6 +92,8 @@ static void ProcessBoardGrundfosPumpHandler(void);
******************************************************************************/ ******************************************************************************/
void ProcessBoardInit(void) void ProcessBoardInit(void)
{ {
HalSystemInit();
AnalogMeasurementInit();
motorCmd_gu8 = 0u; motorCmd_gu8 = 0u;
/* Initializing the structures (Pressure sensor, Flow /* Initializing the structures (Pressure sensor, Flow
@ -160,86 +171,48 @@ void ProcessBoardRun(void)
/****************************************************************************** /******************************************************************************
* Private function definitions * Private function definitions
******************************************************************************/ ******************************************************************************/
//static void ProcessBoardGrundfosPumpHandler(void)
//{
// uint32 pmpSpeed_u32 = 0uL;
// uint8 mode_u8 = 0u;
// uint8 speed_u8 = 0u;
//
// NmsCanGetObj_u8(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_ENABLE_SUB_INDEX, &mode_u8);
// NmsCanGetObj_u8(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_SET_SPEED_SUB_INDEX, &speed_u8);
//
// GrundfosPmpEnable(mode_u8);
// if(mode_u8 == 1u)
// {
// GrundfosPmpSetSpeed(speed_u8);
// /* Grundfos Pump feedback speed OUT */
// pmpSpeed_u32 = GrundfosPmpFeedbackSpeed(PMP_ADC_CHANNEL);
// }
// else
// {
// pmpSpeed_u32 = 0uL;
// }
// ProcessBoardPumpSpeedDataOUT(pmpSpeed_u32);
//}
static void ProcessBoardGrundfosPumpHandler(void) static void ProcessBoardGrundfosPumpHandler(void)
{ {
uint32 pmpSpeed_u32 = 0uL; static uint32 pmpSpeed_u32 = 0uL;
uint8 mode_u8 = 0u; static uint8 speed_u8 = 0u;
static uint8 speed_u8 = 0u; static uint64 startTime_u64 = 0uLL;
static uint32 elapsedTime_s = 0u; uint64 currentTimeMs_u64;
static enum { INCREASING, DECREASING } speedState = INCREASING;
NmsCanGetObj_u8(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_ENABLE_SUB_INDEX, &mode_u8); HalSystemGetRunTimeMs(&currentTimeMs_u64);
// Only modify speed every 15 minutes (900 seconds) if (startTime_u64 == 0uLL)
if (elapsedTime_s >= 900)
{ {
elapsedTime_s = 0; // Reset time counter HalSystemGetRunTimeMs(&startTime_u64);
if (speedState == INCREASING)
{
if (speed_u8 < 10)
{
speed_u8 += 2;
}
if (speed_u8 >= 10)
{
speedState = DECREASING; // Switch to decreasing mode
}
}
else // DECREASING
{
if (speed_u8 > 0)
{
speed_u8 -= 2;
}
if (speed_u8 == 0)
{
speedState = INCREASING; // Switch back to increasing mode
}
}
}
else
{
elapsedTime_s++; // Increment elapsed time
} }
GrundfosPmpEnable(mode_u8); GrundfosPmpEnable(PU_PMP_ENABLE);
if (mode_u8 == 1u)
if ((currentTimeMs_u64 - startTime_u64) >= PU_PUMP_SPEED_CHANGE_INTERVAL)
{ {
// Update speed
if (speed_u8 < PU_PUMP_MAX_SPEED)
{
speed_u8 += 2u;
}
else
{
speed_u8 = PU_PUMP_MIN_SPEED;
}
GrundfosPmpSetSpeed(speed_u8); GrundfosPmpSetSpeed(speed_u8);
startTime_u64 = currentTimeMs_u64;
/* Grundfos Pump feedback speed OUT */ /* Grundfos Pump feedback speed OUT */
pmpSpeed_u32 = GrundfosPmpFeedbackSpeed(PMP_ADC_CHANNEL); pmpSpeed_u32 = GrundfosPmpFeedbackSpeed(PMP_ADC_CHANNEL);
}
else
{
pmpSpeed_u32 = 0uL;
}
ProcessBoardPumpSpeedDataOUT(pmpSpeed_u32);
}
/* To be verified */
if (pmpSpeed_u32 > PU_PUMP_MAX_SPEED)
{
GrundfosPmpEnable(PU_PMP_DISABLE);
}
}
}
static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8) static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8)

924
EnduranceTestBench/nms_can/nms_can.c
View File

@ -1,17 +1,17 @@
/** ///**
* @file nms_can.c // * @file nms_can.c
* // *
* @copyright Nehemis SARL reserves all rights even in the event of industrial // * @copyright Nehemis SARL reserves all rights even in the event of industrial
* property rights. We reserve all rights of disposal such as // * property rights. We reserve all rights of disposal such as
* copying and passing on to third parties. // * copying and passing on to third parties.
* // *
* @brief Source code for CANOpen files abstracted for furthur use in the project. // * @brief Source code for CANOpen files abstracted for furthur use in the project.
* // *
*/ // */
//
/****************************************************************************** ///******************************************************************************
* Include Header Files // * Include Header Files
******************************************************************************/ // ******************************************************************************/
#include "nms_can.h" #include "nms_can.h"
#include "enduranceTestBench.h" #include "enduranceTestBench.h"
@ -21,14 +21,14 @@
#include "co_sdo.h" #include "co_sdo.h"
#include "co_pdo.h" #include "co_pdo.h"
#include "co_odaccess.h" #include "co_odaccess.h"
//
/****************************************************************************** ///******************************************************************************
* Global Variable Declaration // * Global Variable Declaration
******************************************************************************/ // ******************************************************************************/
//
/****************************************************************************** ///******************************************************************************
* Macro constant declarations // * Macro constant declarations
******************************************************************************/ // ******************************************************************************/
#define NMS_CAN_CANOPEN_SLAVE_LINE 0u #define NMS_CAN_CANOPEN_SLAVE_LINE 0u
#define NMS_CAN_CANOPEN_MASTER_LINE 1u #define NMS_CAN_CANOPEN_MASTER_LINE 1u
@ -50,103 +50,103 @@
#define NMS_CAN_SDO_RECEIVE 0x600u #define NMS_CAN_SDO_RECEIVE 0x600u
#define NMS_CAN_SDO_PARAM_INDEX 0x1280u #define NMS_CAN_SDO_PARAM_INDEX 0x1280u
#define NMS_LSS_NODE_COUNT 20u #define NMS_LSS_NODE_COUNT 20u
/****************************************************************************** ///******************************************************************************
* Type Declarations // * Type Declarations
******************************************************************************/ // ******************************************************************************/
typedef struct //typedef struct
{ //{
uint32 vendorId_u32; // uint32 vendorId_u32;
uint32 productId_u32; // uint32 productId_u32;
uint32 versionNbr_u32; // uint32 versionNbr_u32;
uint32 serialNbr_u32; // uint32 serialNbr_u32;
uint8 nodeId_u8; // uint8 nodeId_u8;
} SdlLssNodeInfo_t; //} SdlLssNodeInfo_t;
/****************************************************************************** ///******************************************************************************
* Global Declarations // * Global Declarations
******************************************************************************/ // ******************************************************************************/
SdlLssNodeInfo_t var_gst; //SdlLssNodeInfo_t var_gst;
static CO_TIMER_T monitorTimer_gst; /**< application timer */ //static CO_TIMER_T monitorTimer_gst; /**< application timer */
static bool monitorSleep_gb = CO_FALSE; /**< sleep flag */ //static bool monitorSleep_gb = CO_FALSE; /**< sleep flag */
static bool masterStarted_gb; /**< master started flag */ //static bool masterStarted_gb; /**< master started flag */
static const SdlLssNodeInfo_t nodeLookupTable_gast[NMS_LSS_NODE_COUNT] = //static const SdlLssNodeInfo_t nodeLookupTable_gast[NMS_LSS_NODE_COUNT] =
{ //{
{0x319, 0x4d2, 0x1, 0x01, 0x5} , // {0x319, 0x4d2, 0x1, 0x01, 0x5} ,
{0x319, 0x4d2, 0x1, 0x02, 0x6} , // {0x319, 0x4d2, 0x1, 0x02, 0x6} ,
{0x319, 0x4d2, 0x1, 0x03, 0x7} , // {0x319, 0x4d2, 0x1, 0x03, 0x7} ,
{0x319, 0x4d2, 0x1, 0x04, 0x8} , // {0x319, 0x4d2, 0x1, 0x04, 0x8} ,
{0x319, 0x4d2, 0x1, 0x05, 0x9} , // {0x319, 0x4d2, 0x1, 0x05, 0x9} ,
{0x319, 0x4d2, 0x1, 0x06, 0xA} , // {0x319, 0x4d2, 0x1, 0x06, 0xA} ,
{0x319, 0x4d2, 0x1, 0x07, 0xB} , // {0x319, 0x4d2, 0x1, 0x07, 0xB} ,
{0x319, 0x4d2, 0x1, 0x08, 0xC} , // {0x319, 0x4d2, 0x1, 0x08, 0xC} ,
{0x319, 0x4d2, 0x1, 0x09, 0xD} , // {0x319, 0x4d2, 0x1, 0x09, 0xD} ,
{0x319, 0x4d2, 0x1, 0x0A, 0xE} , // {0x319, 0x4d2, 0x1, 0x0A, 0xE} ,
{0x319, 0x4d2, 0x1, 0x0B, 0xF} , // {0x319, 0x4d2, 0x1, 0x0B, 0xF} ,
{0x319, 0x4d2, 0x1, 0x0C, 0x10}, // {0x319, 0x4d2, 0x1, 0x0C, 0x10},
{0x319, 0x4d2, 0x1, 0x0D, 0x11}, // {0x319, 0x4d2, 0x1, 0x0D, 0x11},
{0x319, 0x4d2, 0x1, 0x0E, 0x12}, // {0x319, 0x4d2, 0x1, 0x0E, 0x12},
{0x319, 0x4d2, 0x1, 0x0F, 0x13}, // {0x319, 0x4d2, 0x1, 0x0F, 0x13},
{0x319, 0x4d2, 0x1, 0x10, 0x14}, // {0x319, 0x4d2, 0x1, 0x10, 0x14},
{0x319, 0x4d2, 0x1, 0x11, 0x15}, // {0x319, 0x4d2, 0x1, 0x11, 0x15},
{0x319, 0x4d2, 0x1, 0x12, 0x16}, // {0x319, 0x4d2, 0x1, 0x12, 0x16},
{0x319, 0x4d2, 0x1, 0x13, 0x17}, // {0x319, 0x4d2, 0x1, 0x13, 0x17},
{0x319, 0x4d2, 0x1, 0x14, 0x18} // {0x319, 0x4d2, 0x1, 0x14, 0x18}
}; //};
static CO_NMT_STATE_T nodeNMTState_gaen[NMS_LSS_NODE_COUNT]; //static CO_NMT_STATE_T nodeNMTState_gaen[NMS_LSS_NODE_COUNT];
/****************************************************************************** ///******************************************************************************
* Private Function Definition // * Private Function Definition
******************************************************************************/ // ******************************************************************************/
//
static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8); //static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8);
static void NmsCanLssIndCallback( CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32); //static void NmsCanLssIndCallback( CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32);
static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en); //static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en);
static void NmsCanLssResetNodesCallback(void *pData_pv); /**< callback of reset handler */ //static void NmsCanLssResetNodesCallback(void *pData_pv); /**< callback of reset handler */
static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8); //static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8);
static void NmsCanLssToggleMonitorFlag(void *pData_pv); //static void NmsCanLssToggleMonitorFlag(void *pData_pv);
static void NmsCanLssNodeHandlerRun(void); //static void NmsCanLssNodeHandlerRun(void);
static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8); //static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8);
static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8); //static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8);
/* Supress warnings for implicit declaration. ///* Supress warnings for implicit declaration.
* Need this function for overwriting the manual COB ids // * Need this function for overwriting the manual COB ids
* for the TPDO. */ // * for the TPDO. */
extern void userOverwriteCobIdSettings(void); //extern void userOverwriteCobIdSettings(void);
/****************************************************************************** ///******************************************************************************
* Extern Function Declarations // * Extern Function Declarations
******************************************************************************/ // ******************************************************************************/
void NmsCanInit() //void NmsCanInit()
{ //{
codrvHardwareInit(); // codrvHardwareInit();
codrvCanInit(NMS_CANOPEN_BITRATE); // codrvCanInit(NMS_CANOPEN_BITRATE);
codrvTimerSetup(CO_TIMER_INTERVAL); // codrvTimerSetup(CO_TIMER_INTERVAL);
//
/* CANopen Initialization */ // /* CANopen Initialization */
coCanOpenStackInit(NmsCanOverwriteLoadIndication); // coCanOpenStackInit(NmsCanOverwriteLoadIndication);
coEventRegister_LSS_MASTER(NmsCanLssIndCallback); // coEventRegister_LSS_MASTER(NmsCanLssIndCallback);
coEventRegister_ERRCTRL(NmsCanLssHbMonitorCallback); // coEventRegister_ERRCTRL(NmsCanLssHbMonitorCallback);
//
/* Register SDO event handlers */ // /* Register SDO event handlers */
coEventRegister_SDO_CLIENT_READ(EnduranceTestBenchReadInd); // coEventRegister_SDO_CLIENT_READ(EnduranceTestBenchReadInd);
coEventRegister_SDO_CLIENT_WRITE(EnduranceTestBenchWriteInd); // coEventRegister_SDO_CLIENT_WRITE(EnduranceTestBenchWriteInd);
//
/* enable CAN communication */ // /* enable CAN communication */
codrvCanEnable(); // codrvCanEnable();
//
coTimerStart(&monitorTimer_gst, NMS_CAN_APPL_TIMER_TIME, NmsCanLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC); // coTimerStart(&monitorTimer_gst, NMS_CAN_APPL_TIMER_TIME, NmsCanLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
coLssIdentifyNonConfiguredSlaves(NMS_CAN_LSS_CONFIG_TIMEOUT, NMS_CAN_LSS_CONFIG_INTERVAL); // coLssIdentifyNonConfiguredSlaves(NMS_CAN_LSS_CONFIG_TIMEOUT, NMS_CAN_LSS_CONFIG_INTERVAL);
//
/* node == 0, the NMT request is sent to all nodes. */ // /* node == 0, the NMT request is sent to all nodes. */
coNmtStateReq(NMS_CAN_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE); // coNmtStateReq(NMS_CAN_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
} //}
//
//
void NmsCanRun(void) //void NmsCanRun(void)
{ //{
coCommTask(); // coCommTask();
//
/* LSS main runner */ // /* LSS main runner */
NmsCanLssNodeHandlerRun(); // NmsCanLssNodeHandlerRun();
} //}
//
//
uint32 NmsCanGetObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 *pObj_pu8) uint32 NmsCanGetObj_u8(uint16 index_u16, uint8 subIndex_u8, uint8 *pObj_pu8)
{ {
uint32 error_u32 = NMS_ERR_DEFAULT; uint32 error_u32 = NMS_ERR_DEFAULT;
@ -229,346 +229,346 @@ uint32 NmsCanPutObj_f32(uint16 index_u16, uint8 subIndex_u8, uint32 newVal_u32)
return error_u32; return error_u32;
} }
/****************************************************************************** ///******************************************************************************
* Private Function Definitions // * Private Function Definitions
******************************************************************************/ // ******************************************************************************/
/** ///**
* @brief Handler for the defined nodes in the network. // * @brief Handler for the defined nodes in the network.
* This function starts the configuration of a node if needed // * This function starts the configuration of a node if needed
* // *
* @return void // * @return void
* // *
*/ // */
static void NmsCanLssNodeHandlerRun(void) //static void NmsCanLssNodeHandlerRun(void)
{ //{
if (monitorSleep_gb != CO_TRUE) // if (monitorSleep_gb != CO_TRUE)
{ // {
for (uint8 i_u8 = 0u; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++) // for (uint8 i_u8 = 0u; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++)
{ // {
if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_PREOP) // if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_PREOP)
{ // {
NmsCanLssConfigureNode(i_u8); // NmsCanLssConfigureNode(i_u8);
} // }
if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL) // if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
{ // {
/* Do nothing */ // /* Do nothing */
} // }
} // }
} // }
monitorSleep_gb = CO_TRUE; // monitorSleep_gb = CO_TRUE;
} //}
//
//
/** ///**
* @brief Load function for overwriting the TPDO COB id values. // * @brief Load function for overwriting the TPDO COB id values.
* // *
* @param index_u8 Subindex parameter to point parameter area(unused) // * @param index_u8 Subindex parameter to point parameter area(unused)
* canLine_u8 The canline MASTER or SLAVE // * canLine_u8 The canline MASTER or SLAVE
* // *
* @return Error Code // * @return Error Code
*/ // */
static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8) //static RET_T NmsCanOverwriteLoadIndication(uint8 index_u8)
{ //{
userOverwriteCobIdSettings(); // userOverwriteCobIdSettings();
//
return RET_OK; // return RET_OK;
} //}
//
//
/** ///**
* @brief This function is called if a new NMT state of a node, // * @brief This function is called if a new NMT state of a node,
* is recordnized by the CANopen stack. // * is recordnized by the CANopen stack.
* // *
* @param nodeID_u8 Node id of the node that has registered a change. // * @param nodeID_u8 Node id of the node that has registered a change.
* state_en Error control state // * state_en Error control state
* nmtState_en NMT state of the particular node. // * nmtState_en NMT state of the particular node.
* // *
* @return Array index of the node in the network. // * @return Array index of the node in the network.
* // *
*/ // */
static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8) //static uint8 NmsCanLssGetNodeIndex(uint8 nodeId_u8)
{ //{
uint8 arrIndex_u8; // uint8 arrIndex_u8;
//
/* find node ID array arrIndex_u8 */ // /* find node ID array arrIndex_u8 */
for (arrIndex_u8 = 0u; arrIndex_u8 < NMS_CAN_LSS_NODE_COUNT; arrIndex_u8++) // for (arrIndex_u8 = 0u; arrIndex_u8 < NMS_CAN_LSS_NODE_COUNT; arrIndex_u8++)
{ // {
if (nodeId_u8 == nodeLookupTable_gast[arrIndex_u8].nodeId_u8) // if (nodeId_u8 == nodeLookupTable_gast[arrIndex_u8].nodeId_u8)
{ // {
return arrIndex_u8; // return arrIndex_u8;
} // }
} // }
//
return NMS_UINT8_MAX; // return NMS_UINT8_MAX;
} //}
//
//
/** ///**
* @brief This function is called when a new NMT state of a node // * @brief This function is called when a new NMT state of a node
* is recognized by the CANopen stack. // * is recognized by the CANopen stack.
* // *
* @param canLine_u8 Indicates whether the node is on the MASTER or SLAVE CAN line. // * @param canLine_u8 Indicates whether the node is on the MASTER or SLAVE CAN line.
* pData Pointer to additional data (unused). // * pData Pointer to additional data (unused).
*/ // */
static void NmsCanLssToggleMonitorFlag(void *pData_pv) //static void NmsCanLssToggleMonitorFlag(void *pData_pv)
{ //{
(void)pData_pv; // (void)pData_pv;
//
/* deactivate application sleep flag */ // /* deactivate application sleep flag */
monitorSleep_gb = CO_FALSE; // monitorSleep_gb = CO_FALSE;
} //}
//
//
/** ///**
* @brief Configure a specific node. //* @brief Configure a specific node.
* This function adds the defined node to heartbeat consumers, //* This function adds the defined node to heartbeat consumers,
* and sets its heartbeat interval. //* and sets its heartbeat interval.
* //*
* @param arrIndex_u8 Index of the node in the array which is to be configured. //* @param arrIndex_u8 Index of the node in the array which is to be configured.
* //*
* @return Status of the operation. //* @return Status of the operation.
* //*
*/ //*/
static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8) //static uint32 NmsCanLssConfigureNode(uint8 arrIndex_u8)
{ //{
uint32 error_u32 = NMS_ERR_DEFAULT; // uint32 error_u32 = NMS_ERR_DEFAULT;
RET_T retVal_en = RET_INTERNAL_ERROR; // RET_T retVal_en = RET_INTERNAL_ERROR;
//
/* Get the node ID from the lookup table using arrIndex_u8 */ // /* Get the node ID from the lookup table using arrIndex_u8 */
uint8 nodeId_u8 = nodeLookupTable_gast[arrIndex_u8].nodeId_u8; // uint8 nodeId_u8 = nodeLookupTable_gast[arrIndex_u8].nodeId_u8;
//
/* Add node to hb consumers with +25% tolerance // /* Add node to hb consumers with +25% tolerance
* Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts, // * Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts,
* bus delays, or transmission issues.*/ // * bus delays, or transmission issues.*/
retVal_en = coHbConsumerSet(nodeId_u8, // retVal_en = coHbConsumerSet(nodeId_u8,
((NMS_CAN_LSS_NODE_HB_MS / 100 * 25) + NMS_CAN_LSS_NODE_HB_MS)); // ((NMS_CAN_LSS_NODE_HB_MS / 100 * 25) + NMS_CAN_LSS_NODE_HB_MS));
retVal_en = coHbConsumerStart(nodeId_u8); // retVal_en = coHbConsumerStart(nodeId_u8);
//
/* setup SDO channel */ // /* setup SDO channel */
retVal_en = NmsCanLssSetSdoCobID((arrIndex_u8 + 1), nodeLookupTable_gast[arrIndex_u8].nodeId_u8); // retVal_en = NmsCanLssSetSdoCobID((arrIndex_u8 + 1), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
//
//retVal_en = coSdoWrite(NmsCan_CANOPEN_MASTER_LINE, (arrIndex_u8 + 1), 0x1017u, 0u, (uint8*)(&nodeHBs[0]), 2u, CO_FALSE, 1000u); // //retVal_en = coSdoWrite(NmsCan_CANOPEN_MASTER_LINE, (arrIndex_u8 + 1), 0x1017u, 0u, (uint8*)(&nodeHBs[0]), 2u, CO_FALSE, 1000u);
//
/* start node */ // /* start node */
retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE); // retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE);
if (retVal_en != RET_OK) // if (retVal_en != RET_OK)
{ // {
error_u32 = NMS_LSS_NODE_CONFIG_ERROR; // error_u32 = NMS_LSS_NODE_CONFIG_ERROR;
} // }
/* set local state to operational, if not operational yet */ // /* set local state to operational, if not operational yet */
if (masterStarted_gb == CO_FALSE) // if (masterStarted_gb == CO_FALSE)
{ // {
/* set local state */ // /* set local state */
coNmtLocalStateReq(CO_NMT_STATE_OPERATIONAL); // coNmtLocalStateReq(CO_NMT_STATE_OPERATIONAL);
//
/* save started flag */ // /* save started flag */
masterStarted_gb = CO_TRUE; // masterStarted_gb = CO_TRUE;
} // }
//
return error_u32; // return error_u32;
} //}
//
//
/****************************************************************************** ///******************************************************************************
* Callback Function Definitions // * Callback Function Definitions
******************************************************************************/ // ******************************************************************************/
/** ///**
* @brief LSS indication function for handling the LSS api calls for dynamic // * @brief LSS indication function for handling the LSS api calls for dynamic
* setup of node ids. // * setup of node ids.
* // *
* @param canLine_u8 The canline MASTER or SLAVE // * @param canLine_u8 The canline MASTER or SLAVE
* service_en LSS master services for indication functions // * service_en LSS master services for indication functions
* errorCode_u16 Error code in the module // * errorCode_u16 Error code in the module
* errorSpec_u8 Specific error case that has occured // * errorSpec_u8 Specific error case that has occured
* pIdentity_pu32 LSS slave identity. // * pIdentity_pu32 LSS slave identity.
* // *
*/ // */
static void NmsCanLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32) //static void NmsCanLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32)
{ //{
static uint8 matchedIndex_u8 = NMS_UINT8_MAX; // static uint8 matchedIndex_u8 = NMS_UINT8_MAX;
//
if (errorCode_u16 != 0u) // if (errorCode_u16 != 0u)
{ // {
if (errorCode_u16 == NMS_UINT16_MAX) // if (errorCode_u16 == NMS_UINT16_MAX)
{ // {
/* ERROR */ // /* ERROR */
} // }
else // else
{ // {
/* ERROR */ // /* ERROR */
} // }
//
if (service_en == CO_LSS_MASTER_SERVICE_STORE) // if (service_en == CO_LSS_MASTER_SERVICE_STORE)
{ // {
/* DEBUG INFO */ // /* DEBUG INFO */
coLssSwitchGlobal(CO_LSS_STATE_WAITING); // coLssSwitchGlobal(CO_LSS_STATE_WAITING);
} // }
return; // return;
} // }
//
switch (service_en) // switch (service_en)
{ // {
case CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE: // case CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE:
/* DEBUG INFO */ // /* DEBUG INFO */
coLssFastScan(NMS_CAN_LSS_TIMEOUT); // coLssFastScan(NMS_CAN_LSS_TIMEOUT);
break; // break;
//
case CO_LSS_MASTER_SERVICE_FASTSCAN: // case CO_LSS_MASTER_SERVICE_FASTSCAN:
/* Match detected node with lookup table */ // /* Match detected node with lookup table */
for (uint8 i_u8 = 0; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++) // for (uint8 i_u8 = 0; i_u8 < NMS_CAN_LSS_NODE_COUNT; i_u8++)
{ // {
if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32 && // if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32 &&
pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32 && // pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32 &&
pIdentity_pu32[2] == nodeLookupTable_gast[i_u8].versionNbr_u32 && // pIdentity_pu32[2] == nodeLookupTable_gast[i_u8].versionNbr_u32 &&
pIdentity_pu32[3] == nodeLookupTable_gast[i_u8].serialNbr_u32) // pIdentity_pu32[3] == nodeLookupTable_gast[i_u8].serialNbr_u32)
{ // {
coLssSwitchSelective(pIdentity_pu32[0], pIdentity_pu32[1], // coLssSwitchSelective(pIdentity_pu32[0], pIdentity_pu32[1],
pIdentity_pu32[2], pIdentity_pu32[3], 20); // pIdentity_pu32[2], pIdentity_pu32[3], 20);
matchedIndex_u8 = i_u8; // matchedIndex_u8 = i_u8;
break; // break;
} // }
} // }
break; // break;
//
case CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE: // case CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE:
if (matchedIndex_u8 < NMS_CAN_LSS_NODE_COUNT) // if (matchedIndex_u8 < NMS_CAN_LSS_NODE_COUNT)
{ // {
coLssSetNodeId(nodeLookupTable_gast[matchedIndex_u8].nodeId_u8, NMS_CAN_LSS_TIMEOUT); // coLssSetNodeId(nodeLookupTable_gast[matchedIndex_u8].nodeId_u8, NMS_CAN_LSS_TIMEOUT);
matchedIndex_u8 = NMS_UINT8_MAX; // matchedIndex_u8 = NMS_UINT8_MAX;
} // }
else // else
{ // {
/* ERROR */ // /* ERROR */
} // }
break; // break;
//
case CO_LSS_MASTER_SERVICE_SET_NODEID: // case CO_LSS_MASTER_SERVICE_SET_NODEID:
/* DEBUG INFO */ // /* DEBUG INFO */
coLssInquireNodeId(NMS_CAN_LSS_TIMEOUT); // coLssInquireNodeId(NMS_CAN_LSS_TIMEOUT);
break; // break;
//
case CO_LSS_MASTER_SERVICE_INQUIRE_NODEID: // case CO_LSS_MASTER_SERVICE_INQUIRE_NODEID:
/* DEBUG INFO */ // /* DEBUG INFO */
coLssStoreConfig( 200); // coLssStoreConfig( 200);
break; // break;
//
case CO_LSS_MASTER_SERVICE_STORE: // case CO_LSS_MASTER_SERVICE_STORE:
/* DEBUG INFO */ // /* DEBUG INFO */
coLssSwitchGlobal(CO_LSS_STATE_WAITING); // coLssSwitchGlobal(CO_LSS_STATE_WAITING);
break; // break;
//
default: // default:
/* ERROR */ // /* ERROR */
break; // break;
} // }
} //}
//
//
/** ///**
* @brief This function is called if a new NMT state of a node, // * @brief This function is called if a new NMT state of a node,
* is recordnized by the CANopen stack. // * is recordnized by the CANopen stack.
* // *
* @param nodeID_u8 Node id of the node that has registered a change. // * @param nodeID_u8 Node id of the node that has registered a change.
* state_en Error control state // * state_en Error control state
* nmtState_en NMT state of the particular node. // * nmtState_en NMT state of the particular node.
* // *
* @return void // * @return void
* // *
*/ // */
static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en) //static void NmsCanLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en)
{ //{
uint8 arrIndex_u8; // uint8 arrIndex_u8;
//
/* look if node is monitored */ // /* look if node is monitored */
arrIndex_u8 = NmsCanLssGetNodeIndex(nodeID_u8); // arrIndex_u8 = NmsCanLssGetNodeIndex(nodeID_u8);
//
/* handle monitored node */ // /* handle monitored node */
if (arrIndex_u8 != NMS_UINT16_MAX) // if (arrIndex_u8 != NMS_UINT16_MAX)
{ // {
/* save states */ // /* save states */
nodeNMTState_gaen[arrIndex_u8] = nmtState_en; // nodeNMTState_gaen[arrIndex_u8] = nmtState_en;
//
/* indicate if monitored node lost heartbeat */ // /* indicate if monitored node lost heartbeat */
if (nmtState_en == CO_NMT_STATE_UNKNOWN) // if (nmtState_en == CO_NMT_STATE_UNKNOWN)
{ // {
/* To be transmitted via CAN */ // /* To be transmitted via CAN */
/* ERROR */ // /* ERROR */
} // }
//
/* indicate if monitored node sent a bootup message */ // /* indicate if monitored node sent a bootup message */
if (state_en == CO_ERRCTRL_BOOTUP) // if (state_en == CO_ERRCTRL_BOOTUP)
{ // {
/* INFO */ // /* INFO */
} // }
//
/* handle unmonitored node */ // /* handle unmonitored node */
} // }
else // else
{ // {
/* ERROR */ // /* ERROR */
} // }
} //}
//
//
/** ///**
* @brief This function tries to reset nodes with unknown NMT state. //* @brief This function tries to reset nodes with unknown NMT state.
* //*
* @param pData_pv Data. //* @param pData_pv Data.
*/ //*/
static void NmsCanLssResetNodesCallback(void *pData_pv) //static void NmsCanLssResetNodesCallback(void *pData_pv)
{ //{
uint8 arrIndex_u8; // uint8 arrIndex_u8;
//
(void)pData_pv; // (void)pData_pv;
//
/* reset defined nodes without known state */ // /* reset defined nodes without known state */
for (arrIndex_u8 = 0u; arrIndex_u8 < 3; arrIndex_u8++) // for (arrIndex_u8 = 0u; arrIndex_u8 < 3; arrIndex_u8++)
{ // {
if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) && // if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) &&
(nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL)) // (nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL))
{ // {
/* reset node */ // /* reset node */
coNmtStateReq(nodeLookupTable_gast[arrIndex_u8].nodeId_u8, CO_NMT_STATE_RESET_NODE, CO_FALSE); // coNmtStateReq(nodeLookupTable_gast[arrIndex_u8].nodeId_u8, CO_NMT_STATE_RESET_NODE, CO_FALSE);
} // }
} // }
} //}
//
//
/** ///**
* @brief This function configures a SDO client for the //* @brief This function configures a SDO client for the
* given node ID and SDO number. //* given node ID and SDO number.
* //*
* @param sdoNr_u8 Sdo number //* @param sdoNr_u8 Sdo number
* nodeId_u8 Node id of the node. //* nodeId_u8 Node id of the node.
* //*
* @return Error state. //* @return Error state.
* //*
*/ //*/
static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8) //static RET_T NmsCanLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8)
{ //{
uint16 cobIndex_u16; // uint16 cobIndex_u16;
uint32 newCobId_u32; // uint32 newCobId_u32;
RET_T retVal = RET_INTERNAL_ERROR; // RET_T retVal = RET_INTERNAL_ERROR;
//
/* get od index of sdoNr */ // /* get od index of sdoNr */
cobIndex_u16 = NMS_CAN_SDO_PARAM_INDEX + sdoNr_u8 - 1u; // cobIndex_u16 = NMS_CAN_SDO_PARAM_INDEX + sdoNr_u8 - 1u;
//
/* set cobID for client to server direction (request) */ // /* set cobID for client to server direction (request) */
newCobId_u32 = NMS_CAN_SDO_RECEIVE + nodeId_u8; // newCobId_u32 = NMS_CAN_SDO_RECEIVE + nodeId_u8;
retVal = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32); // retVal = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
//
if (retVal == RET_OK) // if (retVal == RET_OK)
{ // {
/* set cobID for server to client direction (response) */ // /* set cobID for server to client direction (response) */
newCobId_u32 = NMS_CAN_SDO_TRANSMIT + nodeId_u8; // newCobId_u32 = NMS_CAN_SDO_TRANSMIT + nodeId_u8;
retVal = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32); // retVal = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
} // }
//
/* print failed setup details */ // /* print failed setup details */
if (retVal != RET_OK) // if (retVal != RET_OK)
{ // {
/* ERROR */ // /* ERROR */
} // }
//
return retVal; // return retVal;
} //}

14
EnduranceTestBench/nms_can/nms_can.h
View File

@ -18,13 +18,13 @@
#include "nms_types.h" #include "nms_types.h"
#include "co_datatype.h" #include "co_datatype.h"
#include "co_nmt.h" #include "co_nmt.h"
/****************************************************************************** ///******************************************************************************
* Macro constant declarations // * Macro constant declarations
******************************************************************************/ // ******************************************************************************/
#define NMS_CANOPEN_BITRATE 250u //#define NMS_CANOPEN_BITRATE 250u
/****************************************************************************** ///******************************************************************************
* Extern Function Declarations // * Extern Function Declarations
******************************************************************************/ // ******************************************************************************/
/** /**
* @brief Initializes the CAN controller and CANopen stack. * @brief Initializes the CAN controller and CANopen stack.
*/ */

482
EnduranceTestBench/scheduler/sdl.c
View File

@ -17,29 +17,105 @@
/****************************************************************************** /******************************************************************************
* Include Header Files * Include Header Files
******************************************************************************/ ******************************************************************************/
/* CANopen includes */
#include <co_canopen.h>
#include <gen_define.h>
#include <co_canopen.h>
#include "co_sdo.h"
#include "co_odaccess.h"
/* User includes */ /* User includes */
#include "sdl.h" #include "sdl.h"
#include "nms_can.h"
#include "processBoard.h" #include "processBoard.h"
#include "enduranceTestBench.h" #include "enduranceTestBench.h"
#include "stdlib.h"
#include "hal_system.h" #include "hal_system.h"
#include "stdlib.h"
/****************************************************************************** /******************************************************************************
* Macro constant declarations * Macro constant declarations
******************************************************************************/ ******************************************************************************/
#define SDL_MIN_OPERATIONAL_NODES 18u /* To be 20, one node not in working state currently */ #define SDL_CANOPEN_BITRATE 250u
#define SDL_PU_MASTER_NODE_ID 1u
#define SDL_LSS_TIMEOUT 20u /* Defined in stack examples */
#define SDL_LSS_CONFIG_TIMEOUT 1000u
#define SDL_LSS_CONFIG_INTERVAL 4u
#define SDL_APPL_TIMER_TIME 250000uL
#define SDL_LSS_NODE_COUNT 20u #define SDL_LSS_NODE_COUNT 20u
#define SDL_LSS_NODE_HB_MS 1000uL
#define SDL_LSS_NODE_STATE_RESET_INTERVAL 3u
#define SDL_TEST_BENCH_SDO_TIMEOUT 1000u
#define SDL_TEST_BENCH_STARTUP_TIMEOUT 10000uLL
#define SDL_POSITION_SETPOINT_INDEX 0x6002
#define SDL_POSITION_SETPOINT_SUB_INDEX 0x0
#define SDL_POSITION_FEEDBACK_INDEX 0x6004
#define SDL_POSITION_FEEDBACK_SUB_INDEX 0x0
#define SDL_SDO_CLIENT_COB 0x1280
#define SDL_SDO_CLIENT_TO_SERVER_COB 0x600
#define SDL_SDO_SERVER_TO_CLIENT_COB 0x580
#define SDL_MIN_OPERATIONAL_NODES 18u /* To be 20, one node not in working state currently */
/****************************************************************************** /******************************************************************************
* Type Declarations * Type Declarations
******************************************************************************/ ******************************************************************************/
typedef struct
{
uint32 vendorId_u32;
uint32 productId_u32;
uint32 versionNbr_u32;
uint32 serialNbr_u32;
uint8 nodeId_u8;
} SdlLssNodeInfo_t;
/****************************************************************************** /******************************************************************************
* Global Declarations * Global Declarations
******************************************************************************/ ******************************************************************************/
static bool testBenchStarted_b;
SdlLssNodeInfo_t var_gst;
static CO_TIMER_T monitorTimer_gst; /**< application timer */
static bool monitorSleep_gb = CO_FALSE; /**< sleep flag */
static bool masterStarted_gb; /**< master started flag */
static const SdlLssNodeInfo_t nodeLookupTable_gast[SDL_LSS_NODE_COUNT] =
{
{0x319, 0x4d2, 0x1, 0x01, 0x5} ,
{0x319, 0x4d2, 0x1, 0x02, 0x6} ,
{0x319, 0x4d2, 0x1, 0x03, 0x7} ,
{0x319, 0x4d2, 0x1, 0x04, 0x8} ,
{0x319, 0x4d2, 0x1, 0x05, 0x9} ,
{0x319, 0x4d2, 0x1, 0x06, 0xA} ,
{0x319, 0x4d2, 0x1, 0x07, 0xB} ,
{0x319, 0x4d2, 0x1, 0x08, 0xC} ,
{0x319, 0x4d2, 0x1, 0x09, 0xD} ,
{0x319, 0x4d2, 0x1, 0x0A, 0xE} ,
{0x319, 0x4d2, 0x1, 0x0B, 0xF} ,
{0x319, 0x4d2, 0x1, 0x0C, 0x10},
{0x319, 0x4d2, 0x1, 0x0D, 0x11},
{0x319, 0x4d2, 0x1, 0x0E, 0x12},
{0x319, 0x4d2, 0x1, 0x0F, 0x13},
{0x319, 0x4d2, 0x1, 0x10, 0x14},
{0x319, 0x4d2, 0x1, 0x11, 0x15},
{0x319, 0x4d2, 0x1, 0x12, 0x16},
{0x319, 0x4d2, 0x1, 0x13, 0x17},
{0x319, 0x4d2, 0x1, 0x14, 0x18}
};
static CO_NMT_STATE_T nodeNMTState_gaen[SDL_LSS_NODE_COUNT]; static CO_NMT_STATE_T nodeNMTState_gaen[SDL_LSS_NODE_COUNT];
/****************************************************************************** /******************************************************************************
* Static function Declarations * Static function Declarations
******************************************************************************/ ******************************************************************************/
static void SdlInitCanopen(void);
static void SdlRunCanopen(void);
static RET_T SdlOverwriteLoadIndication(uint8 index_u8);
static void SdlLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32);
static void SdlLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en);
static void SdlLssResetNodesCallback(void *pData_pv); /**< callback of reset handler */
static uint8 SdlLssGetNodeIndex(uint8 nodeId_u8);
static void SdlLssToggleMonitorFlag(void *pData);
static void SdlLssNodeHandlerRun(void);
static uint32 SdlLssConfigureNode(uint8 arrIndex_u8);
static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8);
/* Supress warnings for implicit declaration. /* Supress warnings for implicit declaration.
* Need this function for overwriting the manual COB ids * Need this function for overwriting the manual COB ids
* for the TPDO. */ * for the TPDO. */
@ -51,24 +127,251 @@ static bool SdlAreAllNodesOperational(void);
******************************************************************************/ ******************************************************************************/
void SdlInit(void) void SdlInit(void)
{ {
HalSystemInit(); testBenchStarted_b = false;
NmsCanInit(); SdlInitCanopen();
} }
void SdlRun(void) void SdlRun(void)
{ {
NmsCanRun(); SdlRunCanopen();
SdlLssNodeHandlerRun();
if (SdlAreAllNodesOperational()) if (SdlAreAllNodesOperational())
{ {
EnduranceTestBenchRun(); EnduranceTestBenchRun(&testBenchStarted_b);
ProcessBoardRun(); if (testBenchStarted_b == true)
{
ProcessBoardRun();
}
} }
} }
/******************************************************************************
* Private Function Declarations
******************************************************************************/
/**
* @brief Init the CANopen stack.
*
*/
static void SdlInitCanopen(void)
{
RET_T retval;
HalSystemInit();
codrvHardwareInit();
retval = codrvCanInit(SDL_CANOPEN_BITRATE);
retval = codrvTimerSetup(CO_TIMER_INTERVAL);
/* CANopen Initialization */
retval = coCanOpenStackInit(SdlOverwriteLoadIndication);
retval = coEventRegister_LSS_MASTER(SdlLssIndCallback);
retval = coEventRegister_ERRCTRL(SdlLssHbMonitorCallback);
/* Register SDO event handlers */
coEventRegister_SDO_CLIENT_READ(EnduranceTestBenchReadInd);
coEventRegister_SDO_CLIENT_WRITE(EnduranceTestBenchWriteInd);
/* enable CAN communication */
retval = codrvCanEnable();
retval = coTimerStart(&monitorTimer_gst, SDL_APPL_TIMER_TIME, SdlLssToggleMonitorFlag, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
//retval = coTimerStart(&nodeResetTimer_gst, (SDL_LSS_NODE_STATE_RESET_INTERVAL * 1000000uLL), SdlLssResetNodesCallback, NULL, CO_TIMER_ATTR_ROUNDUP_CYCLIC);
coLssIdentifyNonConfiguredSlaves(SDL_LSS_CONFIG_TIMEOUT, SDL_LSS_CONFIG_INTERVAL);
retval = coNmtStateReq(SDL_PU_MASTER_NODE_ID, CO_NMT_STATE_OPERATIONAL, CO_TRUE);
}
/**
* @brief Runs the CANopen stack.
*
*/
static void SdlRunCanopen(void)
{
coCommTask();
SdlLssNodeHandlerRun();
}
/****************************************************************************** /******************************************************************************
* Private Function Definitions * Private Function Definitions
******************************************************************************/ ******************************************************************************/
/**
* @brief Handler for the defined nodes in the network.
* This function starts the configuration of a node if needed
*
* @return void
*
*/
static void SdlLssNodeHandlerRun(void)
{
if (monitorSleep_gb != CO_TRUE)
{
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
{
if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_PREOP)
{
SdlLssConfigureNode(i_u8);
}
if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
{
/* Do nothing */
}
}
}
monitorSleep_gb = CO_TRUE;
}
/**
* @brief Load function for overwriing the TPDO COB id values.
*
* @param index_u8 Subindex parameter to point parameter area(unused)
*
* @return Error Code
*/
static RET_T SdlOverwriteLoadIndication(uint8 index_u8)
{
userOverwriteCobIdSettings();
return RET_OK;
}
/**
* @brief This function is called if a new NMT state of a node,
* is recordnized by the CANopen stack.
*
* @param nodeID_u8 Node id of the node that has registered a change.
* state_en Error control state
* nmtState_en NMT state of the particular node.
*
* @return Array index of the node in the network.
*
*/
static uint8 SdlLssGetNodeIndex(uint8 nodeId_u8)
{
uint8 arrIndex_u8;
/* find node ID array arrIndex_u8 */
for (arrIndex_u8 = 0u; arrIndex_u8 < SDL_LSS_NODE_COUNT; arrIndex_u8++)
{
if (nodeId_u8 == nodeLookupTable_gast[arrIndex_u8].nodeId_u8)
{
return arrIndex_u8;
}
}
return NMS_UINT8_MAX;
}
/**
* @brief This function is called if a new NMT state of a node,
* is recordnized by the CANopen stack.
*
* @param nodeID_u8 Node id of the node that has registered a change.
* state_en Error control state
* nmtState_en NMT state of the particular node.
*
* @return Array index of the node in the network.
*
*/
static void SdlLssToggleMonitorFlag(void *pData)
{
(void)pData;
/* deactivate application sleep flag */
monitorSleep_gb = CO_FALSE;
}
/**
* @brief Configure a specific node.
* This function adds the defined node to heartbeat consumers,
* and sets its heartbeat interval.
*
* @param arrIndex_u8 Index of the node in the array which is to be configured.
*
* @return Status of the operation.
*
*/
static uint32 SdlLssConfigureNode(uint8 arrIndex_u8)
{
uint32 error_u32 = SDL_DEFAULT_ERROR;
RET_T retVal_en = RET_INTERNAL_ERROR;
/* Get the node ID from the lookup table using the index passed */
uint8 nodeId_u8 = nodeLookupTable_gast[arrIndex_u8].nodeId_u8;
/* Add node to heartbeat consumers with +25% tolerance
* Rationale - Allows some flexibility in detecting timeouts due to minor clock drifts,
* bus delays, or transmission issues.*/
retVal_en = coHbConsumerSet(nodeId_u8,
((SDL_LSS_NODE_HB_MS / 100u * 25u) + SDL_LSS_NODE_HB_MS));
retVal_en = coHbConsumerStart(nodeId_u8);
/* setup SDO channel */
retVal_en = SdlLssSetSdoCobID((arrIndex_u8 + 1u), nodeLookupTable_gast[arrIndex_u8].nodeId_u8);
/* start node */
retVal_en = coNmtStateReq(nodeId_u8, CO_NMT_STATE_OPERATIONAL, CO_FALSE);
if (retVal_en != RET_OK)
{
error_u32 = SDL_LSS_NODE_CONFIG_ERROR;
}
/* set local state to operational, if not operational yet */
if (masterStarted_gb == CO_FALSE)
{
/* set local state */
coNmtLocalStateReq(CO_NMT_STATE_OPERATIONAL);
/* save started flag */
masterStarted_gb = CO_TRUE;
}
return error_u32;
}
/**
* @brief This function configures a SDO client for the
* given node ID and SDO number.
*
* @param sdoNr_u8 Sdo number
* nodeId_u8 Node id of the node.
*
* @return Error state.
*
*/
static RET_T SdlLssSetSdoCobID(uint8 sdoNr_u8, uint8 nodeId_u8)
{
uint16 cobIndex_u16;
uint32 newCobId_u32;
RET_T retVal_en = RET_INTERNAL_ERROR;
/* get od index of sdoNr */
cobIndex_u16 = SDL_SDO_CLIENT_COB + sdoNr_u8 - 1u; /* SDO starts from 1280 index */
/* set cobID for client to server direction (request) */
newCobId_u32 = SDL_SDO_CLIENT_TO_SERVER_COB + nodeId_u8;
retVal_en = coOdSetCobid(cobIndex_u16, 1u, newCobId_u32);
if (retVal_en == RET_OK)
{
/* set cobID for server to client direction (response) */
newCobId_u32 = SDL_SDO_SERVER_TO_CLIENT_COB + nodeId_u8;
retVal_en = coOdSetCobid(cobIndex_u16, 2u, newCobId_u32);
}
/* print failed setup details */
if (retVal_en != RET_OK)
{
/* ERROR */
}
return retVal_en;
}
/** /**
* @brief Checks if all nodes are in OPERATIONAL state. * @brief Checks if all nodes are in OPERATIONAL state.
@ -89,3 +392,166 @@ static bool SdlAreAllNodesOperational(void)
return (operationalNodeNb_u8 >= SDL_MIN_OPERATIONAL_NODES) ? CO_TRUE : CO_FALSE; return (operationalNodeNb_u8 >= SDL_MIN_OPERATIONAL_NODES) ? CO_TRUE : CO_FALSE;
} }
/******************************************************************************
* Callback Function Definitions
******************************************************************************/
/**
* @brief LSS indication function for handling the LSS api calls for dynamic
* setup of node ids.
*
* @param service_en LSS master services for indication functions
* errorCode_u16 Error code in the module
* errorSpec_u8 Specific error case that has occured
* pIdentity_pu32 LSS slave identity.
*
*/
static void SdlLssIndCallback(CO_LSS_MASTER_SERVICE_T service_en, uint16 errorCode_u16, uint8 errorSpec_u8, uint32 *pIdentity_pu32)
{
static uint8 matchedIndex_u8 = NMS_UINT8_MAX;
if (errorCode_u16 != 0u)
{
if (errorCode_u16 == NMS_UINT16_MAX)
{
/* ERROR */
}
else
{
/* ERROR */
}
if (service_en == CO_LSS_MASTER_SERVICE_STORE)
{
/* DEBUG INFO */
coLssSwitchGlobal(CO_LSS_STATE_WAITING);
}
return;
}
switch (service_en)
{
case CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE:
/* DEBUG INFO */
coLssFastScan(SDL_LSS_TIMEOUT);
break;
case CO_LSS_MASTER_SERVICE_FASTSCAN:
/* Match detected node with lookup table */
for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT; i_u8++)
{
if (pIdentity_pu32[0] == nodeLookupTable_gast[i_u8].vendorId_u32 &&
pIdentity_pu32[1] == nodeLookupTable_gast[i_u8].productId_u32 &&
pIdentity_pu32[2] == nodeLookupTable_gast[i_u8].versionNbr_u32 &&
pIdentity_pu32[3] == nodeLookupTable_gast[i_u8].serialNbr_u32)
{
coLssSwitchSelective(pIdentity_pu32[0], pIdentity_pu32[1],
pIdentity_pu32[2], pIdentity_pu32[3], 20);
matchedIndex_u8 = i_u8;
break;
}
}
break;
case CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE:
if (matchedIndex_u8 < SDL_LSS_NODE_COUNT)
{
coLssSetNodeId(nodeLookupTable_gast[matchedIndex_u8].nodeId_u8, SDL_LSS_TIMEOUT);
matchedIndex_u8 = NMS_UINT8_MAX;
}
else
{
/* ERROR */
}
break;
case CO_LSS_MASTER_SERVICE_SET_NODEID:
/* DEBUG INFO */
coLssInquireNodeId(SDL_LSS_TIMEOUT);
break;
case CO_LSS_MASTER_SERVICE_INQUIRE_NODEID:
/* DEBUG INFO */
coLssStoreConfig(200);
break;
case CO_LSS_MASTER_SERVICE_STORE:
/* DEBUG INFO */
coLssSwitchGlobal(CO_LSS_STATE_WAITING);
break;
default:
/* ERROR */
break;
}
}
/**
* @brief This function is called if a new NMT state of a node,
* is recordnized by the CANopen stack.
*
* @param nodeID_u8 Node id of the node that has registered a change.
* state_en Error control state
* nmtState_en NMT state of the particular node.
*
* @return void
*
*/
static void SdlLssHbMonitorCallback(uint8 nodeID_u8, CO_ERRCTRL_T state_en, CO_NMT_STATE_T nmtState_en)
{
uint8 arrIndex_u8;
/* look if node is monitored */
arrIndex_u8 = SdlLssGetNodeIndex(nodeID_u8);
/* handle monitored node */
if (arrIndex_u8 != NMS_UINT16_MAX)
{
/* save states */
nodeNMTState_gaen[arrIndex_u8] = nmtState_en;
/* indicate if monitored node lost heartbeat */
if (nmtState_en == CO_NMT_STATE_UNKNOWN)
{
/* To be transmitted via CAN */
/* ERROR */
}
/* indicate if monitored node sent a bootup message */
if (state_en == CO_ERRCTRL_BOOTUP)
{
/* INFO */
}
/* handle unmonitored node */
}
else
{
/* ERROR */
}
}
/**
* @brief This function tries to reset nodes with unknown NMT state.
*
* @param pData_pv Data.
*/
static void SdlLssResetNodesCallback(void *pData_pv)
{
uint8 arrIndex_u8;
(void)pData_pv;
/* reset defined nodes without known state */
for (arrIndex_u8 = 0u; arrIndex_u8 < SDL_LSS_NODE_COUNT; arrIndex_u8++)
{
if ((nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_PREOP) &&
(nodeNMTState_gaen[arrIndex_u8] != CO_NMT_STATE_OPERATIONAL))
{
/* reset node */
coNmtStateReq(nodeLookupTable_gast[arrIndex_u8].nodeId_u8, CO_NMT_STATE_RESET_NODE, CO_FALSE);
}
}
}