From 816a36537ea0ec4f5b2afe79587309dcd0448528 Mon Sep 17 00:00:00 2001 From: yul Date: Wed, 22 Jun 2022 01:36:06 +0200 Subject: [PATCH] for the moment a not moving pixel on master --- CANOpen_attempt LinkServer Debug.launch | 6 +- Debug/CANOpen_attempt.axf | Bin 242396 -> 242344 bytes Debug/CANOpen_attempt.map | 526 ++++++++++++------------ Debug/src/main.o | Bin 90652 -> 90872 bytes Debug/src/main.su | 16 +- Debug/src/od.o | Bin 35076 -> 35496 bytes Debug/src/od.su | 5 +- Debug/uart2can-bin_bla_Debug.ld | 2 +- Debug/uart2can-bin_bla_Debug_library.ld | 2 +- Debug/uart2can-bin_bla_Debug_memory.ld | 2 +- src/main.c | 35 +- src/od.c | 3 + 12 files changed, 297 insertions(+), 300 deletions(-) diff --git a/CANOpen_attempt LinkServer Debug.launch b/CANOpen_attempt LinkServer Debug.launch index 6cd9ecc..8ca5bcc 100644 --- a/CANOpen_attempt LinkServer Debug.launch +++ b/CANOpen_attempt LinkServer Debug.launch @@ -8,7 +8,7 @@ - + @@ -18,8 +18,8 @@ - - + + diff --git a/Debug/CANOpen_attempt.axf 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-../src/main.c:311:6:CANOpen_heartbeat_send 16 static -../src/main.c:320:5:slave_main 32 static -../src/main.c:370:6:master_main 40 static -../src/main.c:418:5:main 16 static +../src/main.c:202:6:CAN_IRQHandler 16 static +../src/main.c:289:7:print_received_can_data 16 static +../src/main.c:296:6:callback_init 8 static +../src/main.c:305:6:CANOpen_NMT_send 16 static +../src/main.c:315:6:CANOpen_heartbeat_send 16 static +../src/main.c:324:5:slave_main 32 static +../src/main.c:373:6:master_main 32 static +../src/main.c:421:5:main 8 static diff --git a/Debug/src/od.o b/Debug/src/od.o index 729508e27c1852abf47636d279bd4a4cca7d9fa1..b99609c82392f8d7c4382655fe5b76b657f5f1e2 100644 GIT binary patch literal 35496 zcmeHwd7NBDx%N5T>B%0l0f_IOq-r1vyefQ&MckGkeN)Fg-lp9 zh{&dwU0DT0j3@|-$|jr3C(2bo1uiNAq5^J+>s3(h^St%e>FUnJd;j{r-~Ii*13Aw* zb?VgeZuQn%)n`7CNHzJs@7crm3cc)|=WYF@8`$&YRn~;)3hGc*X_S 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znGfi3{mMQ=8l1;vo$X;yxt?XudG9bVsMKZx+Iw4Y;_{^l3eECZF8i!)2Y+gI~;%e z&{N*t1bY0vLwoE)PxE~P^tf$`^j6|;fAmUWTo+kl!2Qxghhsj{I|6_Eqt^g>6_&`G z(0c^*$OF_Vfar zxbm2Hey+V`4n3}W@)?%H<1Z^bZ%fjg^ON`Z_lbghCuBVDL}t*#=41TBb9;OM`OdHx zK(>R&&B)}|?-0~4igeb)`lH!6=l%xR@EtgnyR_hUKAF?6@4tr kU4%cDX?+4ty|n|Lcb+AJYkNu`?dCfc_2ZhZJ?!cK0a4LZGynhq diff --git a/Debug/src/od.su b/Debug/src/od.su index 0405287..24535cd 100644 --- a/Debug/src/od.su +++ b/Debug/src/od.su @@ -1,2 +1,3 @@ -../src/od.c:135:12:get_OD_data 24 static -../src/od.c:146:6:set_OD_data 24 static +../src/od.c:16:9:get_od_accelo_interval 4 static +../src/od.c:138:12:get_OD_data 24 static +../src/od.c:149:6:set_OD_data 24 static diff --git a/Debug/uart2can-bin_bla_Debug.ld b/Debug/uart2can-bin_bla_Debug.ld index ef7a162..f8231b8 100644 --- a/Debug/uart2can-bin_bla_Debug.ld +++ b/Debug/uart2can-bin_bla_Debug.ld @@ -6,7 +6,7 @@ * Generated linker script file for LPC1769 * Created from linkscript.ldt by FMCreateLinkLibraries * Using Freemarker v2.3.30 - * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 21, 2022, 4:03:31 PM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 1:31:44 AM */ INCLUDE "uart2can-bin_bla_Debug_library.ld" diff --git a/Debug/uart2can-bin_bla_Debug_library.ld b/Debug/uart2can-bin_bla_Debug_library.ld index ac193c2..82ef6cc 100644 --- a/Debug/uart2can-bin_bla_Debug_library.ld +++ b/Debug/uart2can-bin_bla_Debug_library.ld @@ -6,7 +6,7 @@ * Generated linker script file for LPC1769 * Created from library.ldt by FMCreateLinkLibraries * Using Freemarker v2.3.30 - * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 21, 2022, 4:03:31 PM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 1:31:44 AM */ GROUP ( diff --git a/Debug/uart2can-bin_bla_Debug_memory.ld b/Debug/uart2can-bin_bla_Debug_memory.ld index 295fa3a..40f542b 100644 --- a/Debug/uart2can-bin_bla_Debug_memory.ld +++ b/Debug/uart2can-bin_bla_Debug_memory.ld @@ -6,7 +6,7 @@ * Generated linker script file for LPC1769 * Created from memory.ldt by FMCreateLinkMemory * Using Freemarker v2.3.30 - * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 21, 2022, 4:03:31 PM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 1:31:44 AM */ MEMORY diff --git a/src/main.c b/src/main.c index 1cb2930..46d2920 100644 --- a/src/main.c +++ b/src/main.c @@ -188,11 +188,14 @@ void get_data_from_i2c_and_ready_to_be_sent_to_master_then_send(){ get_one_set_data(data_g_1); CANOpen_pdo1_send(data_g_1); get_one_set_data(data_g_2); - CANOpen_pdo2_send(data_g_2); + //CANOpen_pdo2_send(data_g_2); + CANOpen_pdo1_send(data_g_2); get_one_set_data(data_g_3); - CANOpen_pdo3_send(data_g_3); + //CANOpen_pdo3_send(data_g_3); + CANOpen_pdo1_send(data_g_3); get_one_set_data(data_g_4); - CANOpen_pdo4_send(data_g_4); + //CANOpen_pdo4_send(data_g_4); + CANOpen_pdo1_send(data_g_4); } @@ -270,6 +273,7 @@ void CAN_IRQHandler(){ CANOpen_NMT_send(0, CAN_NMT_STATE_OPERATIONAL); case CAN_RPDO1: CANOpen_pdo1_receive(data_g_1); + affichage(); break; case CAN_TSDO: break; @@ -338,8 +342,8 @@ int slave_main(){ switch(state){ case CAN_NMT_STATE_BOOT_UP: case CAN_NMT_STATE_OPERATIONAL: - accelo_interval_res = (get_OD_data(0x5000, 0).odObject); - if(get_systick_counter() - last_timestamp > *accelo_interval_res){ + accelo_interval_res = get_od_accelo_interval(); + if(get_systick_counter() - last_timestamp > 1000){ get_data_from_i2c_and_ready_to_be_sent_to_master_then_send(); last_timestamp = get_systick_counter(); } @@ -351,8 +355,8 @@ int slave_main(){ last_timestamp_nmt = get_systick_counter(); } } -/* if(state == CAN_NMT_CMD_OPERATIONAL){ - if(get_systick_counter() - last_timestamp > od_accelo_interval){ + if(state == CAN_NMT_CMD_OPERATIONAL){ + if(get_systick_counter() - last_timestamp > get_od_accelo_interval()){ get_data_from_i2c_and_ready_to_be_sent_to_master_then_send(); last_timestamp = get_systick_counter(); } @@ -362,7 +366,6 @@ int slave_main(){ CANOpen_heartbeat_send(state); last_timestamp_nmt = get_systick_counter(); } - //callback_do(); */ } return 0; } @@ -394,20 +397,20 @@ void master_main(){ int last_timestamp = 0; int last_timestamp_nmt = 0; - uint8_t* accelo_interval_res; + uint8_t* accelo_interval_res; state = CAN_NMT_STATE_OPERATIONAL; while(1){ switch(state){ case CAN_NMT_STATE_BOOT_UP: case CAN_NMT_STATE_PREOPERATIONAL: case CAN_NMT_STATE_OPERATIONAL: - accelo_interval_res = (get_OD_data(0x5000, 0).odObject); + accelo_interval_res = get_od_accelo_interval(); affichage(); last_timestamp = get_systick_counter(); break; case CAN_NMT_STATE_STOPPED: - //Hearbeat - if(get_systick_counter() - last_timestamp_nmt > 1000){ + //Hearbeat master send to slave heartbeat + if(get_systick_counter() - last_timestamp_nmt > get_od_accelo_interval()){ CANOpen_heartbeat_send(state); last_timestamp_nmt = get_systick_counter(); } @@ -423,12 +426,4 @@ int main(){ }else if(((LPC_GPIO2->FIOPIN) & (1)) == 0){ //if LED_SW7 On, 0 volt, Master master_main(); } - - - - while(1){ - for(int i = 0; i < 1; i++){ - callback_do(); - } - } } diff --git a/src/od.c b/src/od.c index e995156..b3382d5 100644 --- a/src/od.c +++ b/src/od.c @@ -13,6 +13,9 @@ uint8_t baudrate = 0x03; uint8_t od_accelo_interval = 1000; uint16_t od_measurements[3]; +uint8_t get_od_accelo_interval(){ + return od_accelo_interval; +} volatile OD_entry_t ODList[SIZE_OF_OD] = { {0x1000, 0x00, uint32_type, constant, &type_device},