diff --git a/Debug/CANOpen_attempt.axf b/Debug/CANOpen_attempt.axf index 35aaf6e..351da87 100755 Binary files a/Debug/CANOpen_attempt.axf and b/Debug/CANOpen_attempt.axf differ diff --git a/Debug/CANOpen_attempt.map b/Debug/CANOpen_attempt.map index 576060b..ac9f29a 100644 --- a/Debug/CANOpen_attempt.map +++ b/Debug/CANOpen_attempt.map @@ -139,8 +139,6 @@ Discarded input sections .text 0x0000000000000000 0x0 ./src/can.o .data 0x0000000000000000 0x0 ./src/can.o .bss 0x0000000000000000 0x0 ./src/can.o - .text.can_sdo_send - 0x0000000000000000 0xb4 ./src/can.o .debug_macro 0x0000000000000000 0xa84 ./src/can.o .debug_macro 0x0000000000000000 0x1c ./src/can.o .debug_macro 0x0000000000000000 0x3a ./src/can.o @@ -250,6 +248,8 @@ Discarded input sections .bss.callback_count 0x0000000000000000 0x4 ./src/main.o .bss.cmd 0x0000000000000000 0x4 ./src/main.o + .bss.entry_tmp + 0x0000000000000000 0xc ./src/main.o .bss.msg_receive 0x0000000000000000 0x10 ./src/main.o .text.CANOpen_pdo2_send @@ -279,8 +279,6 @@ Discarded input sections .text 0x0000000000000000 0x0 ./src/od.o .data 0x0000000000000000 0x0 ./src/od.o .bss 0x0000000000000000 0x0 ./src/od.o - .text.get_OD_data - 0x0000000000000000 0x80 ./src/od.o .debug_macro 0x0000000000000000 0xa84 ./src/od.o .debug_macro 0x0000000000000000 0x10 ./src/od.o .debug_macro 0x0000000000000000 0x12e ./src/od.o @@ -673,7 +671,7 @@ END GROUP 0x0000000020084000 __top_RamAHB32 = 0x20084000 0x0000000020084000 __top_RAM2 = 0x20084000 -.text 0x0000000000000000 0x4258 +.text 0x0000000000000000 0x43b8 FILL mask 0xff 0x0000000000000000 __vectors_start__ = ABSOLUTE (.) *(.isr_vector) @@ -682,10 +680,10 @@ END GROUP 0x00000000000000cc . = ALIGN (0x4) 0x00000000000000cc __section_table_start = . 0x00000000000000cc __data_section_table = . - 0x00000000000000cc 0x4 LONG 0x4258 LOADADDR (.data) + 0x00000000000000cc 0x4 LONG 0x43b8 LOADADDR (.data) 0x00000000000000d0 0x4 LONG 0x10000000 ADDR (.data) 0x00000000000000d4 0x4 LONG 0xb8 SIZEOF (.data) - 0x00000000000000d8 0x4 LONG 0x4258 LOADADDR (.data_RAM2) + 0x00000000000000d8 0x4 LONG 0x43b8 LOADADDR (.data_RAM2) 0x00000000000000dc 0x4 LONG 0x2007c000 ADDR (.data_RAM2) 0x00000000000000e0 0x4 LONG 0x0 SIZEOF (.data_RAM2) 0x00000000000000e4 __data_section_table_end = . @@ -782,293 +780,299 @@ END GROUP .text.can_receive 0x0000000000000794 0xac ./src/can.o 0x0000000000000794 can_receive + .text.can_sdo_send + 0x0000000000000840 0xb4 ./src/can.o + 0x0000000000000840 can_sdo_send .text.can_sdo_receive - 0x0000000000000840 0xb6 ./src/can.o - 0x0000000000000840 can_sdo_receive - *fill* 0x00000000000008f6 0x2 ff + 0x00000000000008f4 0xb6 ./src/can.o + 0x00000000000008f4 can_sdo_receive + *fill* 0x00000000000009aa 0x2 ff .text.NVIC_EnableIRQ - 0x00000000000008f8 0x30 ./src/i2c.o + 0x00000000000009ac 0x30 ./src/i2c.o .text.i2c_start_transaction - 0x0000000000000928 0x18 ./src/i2c.o - 0x0000000000000928 i2c_start_transaction + 0x00000000000009dc 0x18 ./src/i2c.o + 0x00000000000009dc i2c_start_transaction .text.I2C0_IRQHandler - 0x0000000000000940 0x314 ./src/i2c.o - 0x0000000000000940 I2C0_IRQHandler + 0x00000000000009f4 0x314 ./src/i2c.o + 0x00000000000009f4 I2C0_IRQHandler .text.i2c_write_register - 0x0000000000000c54 0x58 ./src/i2c.o - 0x0000000000000c54 i2c_write_register + 0x0000000000000d08 0x58 ./src/i2c.o + 0x0000000000000d08 i2c_write_register .text.i2c_read_registers - 0x0000000000000cac 0x7c ./src/i2c.o - 0x0000000000000cac i2c_read_registers + 0x0000000000000d60 0x7c ./src/i2c.o + 0x0000000000000d60 i2c_read_registers .text.i2c_init - 0x0000000000000d28 0x64 ./src/i2c.o - 0x0000000000000d28 i2c_init - .text.Delay 0x0000000000000d8c 0x3e ./src/lcd.o - 0x0000000000000d8c Delay - *fill* 0x0000000000000dca 0x2 ff + 0x0000000000000ddc 0x64 ./src/i2c.o + 0x0000000000000ddc i2c_init + .text.Delay 0x0000000000000e40 0x3e ./src/lcd.o + 0x0000000000000e40 Delay + *fill* 0x0000000000000e7e 0x2 ff .text.Write_Cmd - 0x0000000000000dcc 0x34 ./src/lcd.o - 0x0000000000000dcc Write_Cmd + 0x0000000000000e80 0x34 ./src/lcd.o + 0x0000000000000e80 Write_Cmd .text.Write_Cmd_Data - 0x0000000000000e00 0x2c ./src/lcd.o - 0x0000000000000e00 Write_Cmd_Data + 0x0000000000000eb4 0x2c ./src/lcd.o + 0x0000000000000eb4 Write_Cmd_Data .text.disp_setwindow - 0x0000000000000e2c 0x9a ./src/lcd.o - 0x0000000000000e2c disp_setwindow + 0x0000000000000ee0 0x9a ./src/lcd.o + 0x0000000000000ee0 disp_setwindow .text.disp_clear - 0x0000000000000ec6 0x7a ./src/lcd.o - 0x0000000000000ec6 disp_clear + 0x0000000000000f7a 0x7a ./src/lcd.o + 0x0000000000000f7a disp_clear .text.disp_setpix - 0x0000000000000f40 0x5c ./src/lcd.o - 0x0000000000000f40 disp_setpix + 0x0000000000000ff4 0x5c ./src/lcd.o + 0x0000000000000ff4 disp_setpix .text.lcd_activate - 0x0000000000000f9c 0x2c ./src/lcd.o - 0x0000000000000f9c lcd_activate + 0x0000000000001050 0x2c ./src/lcd.o + 0x0000000000001050 lcd_activate .text.ILI9341_Initial - 0x0000000000000fc8 0x21e ./src/lcd.o - 0x0000000000000fc8 ILI9341_Initial - *fill* 0x00000000000011e6 0x2 ff + 0x000000000000107c 0x21e ./src/lcd.o + 0x000000000000107c ILI9341_Initial + *fill* 0x000000000000129a 0x2 ff .text.NVIC_SetPriority - 0x00000000000011e8 0x54 ./src/main.o + 0x000000000000129c 0x54 ./src/main.o .text.SysTick_Config - 0x000000000000123c 0x44 ./src/main.o + 0x00000000000012f0 0x44 ./src/main.o .text.SysTick_Handler - 0x0000000000001280 0x1c ./src/main.o - 0x0000000000001280 SysTick_Handler + 0x0000000000001334 0x1c ./src/main.o + 0x0000000000001334 SysTick_Handler .text.get_systick_counter - 0x000000000000129c 0x14 ./src/main.o - 0x000000000000129c get_systick_counter + 0x0000000000001350 0x14 ./src/main.o + 0x0000000000001350 get_systick_counter .text.affichage - 0x00000000000012b0 0xa8 ./src/main.o - 0x00000000000012b0 affichage + 0x0000000000001364 0xa8 ./src/main.o + 0x0000000000001364 affichage .text.CANOpen_pdo1_send - 0x0000000000001358 0x94 ./src/main.o - 0x0000000000001358 CANOpen_pdo1_send + 0x000000000000140c 0x94 ./src/main.o + 0x000000000000140c CANOpen_pdo1_send .text.CANOpen_pdo1_receive - 0x00000000000013ec 0x84 ./src/main.o - 0x00000000000013ec CANOpen_pdo1_receive + 0x00000000000014a0 0x84 ./src/main.o + 0x00000000000014a0 CANOpen_pdo1_receive .text.get_data_from_i2c_and_ready_to_be_sent_to_master_then_send - 0x0000000000001470 0x48 ./src/main.o - 0x0000000000001470 get_data_from_i2c_and_ready_to_be_sent_to_master_then_send + 0x0000000000001524 0x48 ./src/main.o + 0x0000000000001524 get_data_from_i2c_and_ready_to_be_sent_to_master_then_send .text.CAN_IRQHandler - 0x00000000000014b8 0x1b8 ./src/main.o - 0x00000000000014b8 CAN_IRQHandler + 0x000000000000156c 0x238 ./src/main.o + 0x000000000000156c CAN_IRQHandler .text.print_received_can_data - 0x0000000000001670 0x4c ./src/main.o - 0x0000000000001670 print_received_can_data + 0x00000000000017a4 0x4c ./src/main.o + 0x00000000000017a4 print_received_can_data .text.callback_init - 0x00000000000016bc 0x20 ./src/main.o - 0x00000000000016bc callback_init + 0x00000000000017f0 0x20 ./src/main.o + 0x00000000000017f0 callback_init .text.CANOpen_NMT_send - 0x00000000000016dc 0x44 ./src/main.o - 0x00000000000016dc CANOpen_NMT_send + 0x0000000000001810 0x44 ./src/main.o + 0x0000000000001810 CANOpen_NMT_send .text.CANOpen_heartbeat_send - 0x0000000000001720 0x40 ./src/main.o - 0x0000000000001720 CANOpen_heartbeat_send + 0x0000000000001854 0x40 ./src/main.o + 0x0000000000001854 CANOpen_heartbeat_send .text.slave_main - 0x0000000000001760 0xe0 ./src/main.o - 0x0000000000001760 slave_main + 0x0000000000001894 0xe0 ./src/main.o + 0x0000000000001894 slave_main .text.master_main - 0x0000000000001840 0xd8 ./src/main.o - 0x0000000000001840 master_main - .text.main 0x0000000000001918 0x3c ./src/main.o - 0x0000000000001918 main + 0x0000000000001974 0xd8 ./src/main.o + 0x0000000000001974 master_main + .text.main 0x0000000000001a4c 0x3c ./src/main.o + 0x0000000000001a4c main .text.get_od_accelo_interval - 0x0000000000001954 0x14 ./src/od.o - 0x0000000000001954 get_od_accelo_interval + 0x0000000000001a88 0x18 ./src/od.o + 0x0000000000001a88 get_od_accelo_interval + .text.get_OD_data + 0x0000000000001aa0 0x50 ./src/od.o + 0x0000000000001aa0 get_OD_data .text.set_OD_data - 0x0000000000001968 0x78 ./src/od.o - 0x0000000000001968 set_OD_data + 0x0000000000001af0 0x50 ./src/od.o + 0x0000000000001af0 set_OD_data .text.ssp_config - 0x00000000000019e0 0x98 ./src/ssp.o - 0x00000000000019e0 ssp_config + 0x0000000000001b40 0x98 ./src/ssp.o + 0x0000000000001b40 ssp_config .text.ssp_send - 0x0000000000001a78 0x40 ./src/ssp.o - 0x0000000000001a78 ssp_send + 0x0000000000001bd8 0x40 ./src/ssp.o + 0x0000000000001bd8 ssp_send .text.SystemInit - 0x0000000000001ab8 0xd8 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) - 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0x0000000000004254 0x4 /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_semihost.a(__ciob.o) - 0x0000000000004254 __num_Ciob_streams - 0x0000000000004258 . = ALIGN (0x4) + 0x00000000000043b4 0x4 /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_semihost.a(__ciob.o) + 0x00000000000043b4 __num_Ciob_streams + 0x00000000000043b8 . = ALIGN (0x4) -.glue_7 0x0000000000004258 0x0 - .glue_7 0x0000000000004258 0x0 linker stubs +.glue_7 0x00000000000043b8 0x0 + .glue_7 0x00000000000043b8 0x0 linker stubs -.glue_7t 0x0000000000004258 0x0 - .glue_7t 0x0000000000004258 0x0 linker stubs +.glue_7t 0x00000000000043b8 0x0 + .glue_7t 0x00000000000043b8 0x0 linker stubs -.vfp11_veneer 0x0000000000004258 0x0 - .vfp11_veneer 0x0000000000004258 0x0 linker stubs +.vfp11_veneer 0x00000000000043b8 0x0 + .vfp11_veneer 0x00000000000043b8 0x0 linker stubs -.v4_bx 0x0000000000004258 0x0 - .v4_bx 0x0000000000004258 0x0 linker stubs +.v4_bx 0x00000000000043b8 0x0 + .v4_bx 0x00000000000043b8 0x0 linker stubs -.iplt 0x0000000000004258 0x0 - .iplt 0x0000000000004258 0x0 ./src/accelo.o +.iplt 0x00000000000043b8 0x0 + .iplt 0x00000000000043b8 0x0 ./src/accelo.o -.rel.dyn 0x0000000000004258 0x0 - .rel.iplt 0x0000000000004258 0x0 ./src/accelo.o +.rel.dyn 0x00000000000043b8 0x0 + .rel.iplt 0x00000000000043b8 0x0 ./src/accelo.o .ARM.extab *(.ARM.extab* .gnu.linkonce.armextab.*) -.ARM.exidx 0x0000000000004258 0x0 - 0x0000000000004258 __exidx_start = . +.ARM.exidx 0x00000000000043b8 0x0 + 0x00000000000043b8 __exidx_start = . *(.ARM.exidx* .gnu.linkonce.armexidx.*) - 0x0000000000004258 __exidx_end = . - 0x0000000000004258 _etext = . + 0x00000000000043b8 __exidx_end = . + 0x00000000000043b8 _etext = . -.data_RAM2 0x000000002007c000 0x0 load address 0x0000000000004258 +.data_RAM2 0x000000002007c000 0x0 load address 0x00000000000043b8 FILL mask 0xff [!provide] PROVIDE (__start_data_RAM2 = .) [!provide] PROVIDE (__start_data_RamAHB32 = .) @@ -1089,7 +1093,7 @@ END GROUP 0x0000000010000000 . = ALIGN (0x4) 0x0000000010000000 _end_uninit_RESERVED = . -.data 0x0000000010000000 0xb8 load address 0x0000000000004258 +.data 0x0000000010000000 0xb8 load address 0x00000000000043b8 FILL mask 0xff 0x0000000010000000 _data = . [!provide] PROVIDE (__start_data_RAM = .) @@ -1124,9 +1128,9 @@ END GROUP 0x0000000010000017 0x1 ./src/od.o 0x0000000010000017 baudrate .data.od_accelo_interval - 0x0000000010000018 0x1 ./src/od.o + 0x0000000010000018 0x2 ./src/od.o 0x0000000010000018 od_accelo_interval - *fill* 0x0000000010000019 0x3 ff + *fill* 0x000000001000001a 0x2 ff .data.ODList 0x000000001000001c 0x9c ./src/od.o 0x000000001000001c ODList 0x00000000100000b8 . = ALIGN (0x4) @@ -1134,7 +1138,7 @@ END GROUP [!provide] PROVIDE (__end_data_RAM = .) [!provide] PROVIDE (__end_data_RamLoc32 = .) -.igot.plt 0x00000000100000b8 0x0 load address 0x0000000000004310 +.igot.plt 0x00000000100000b8 0x0 load address 0x0000000000004470 .igot.plt 0x00000000100000b8 0x0 ./src/accelo.o .bss_RAM2 0x000000002007c000 0x0 @@ -1163,10 +1167,11 @@ END GROUP *fill* 0x0000000010000105 0x3 .bss.state 0x0000000010000108 0x4 ./src/main.o 0x0000000010000108 state + .bss.tmp 0x000000001000010c 0x2 ./src/main.o + 0x000000001000010c tmp .bss.accelo_interval - 0x000000001000010c 0x2 ./src/main.o - 0x000000001000010c accelo_interval - *fill* 0x000000001000010e 0x2 + 0x000000001000010e 0x2 ./src/main.o + 0x000000001000010e accelo_interval .bss.timer_counter 0x0000000010000110 0x4 ./src/main.o 0x0000000010000110 timer_counter @@ -1234,12 +1239,12 @@ END GROUP 0x0000000010008000 PROVIDE (_vStackTop = DEFINED (__user_stack_top)?__user_stack_top:(__top_RamLoc32 - 0x0)) 0xffffffffefff74c6 PROVIDE (__valid_user_code_checksum = (0x0 - ((((((_vStackTop + (ResetISR + 0x1)) + (NMI_Handler + 0x1)) + (HardFault_Handler + 0x1)) + (DEFINED (MemManage_Handler)?MemManage_Handler:0x0 + 0x1)) + (DEFINED (BusFault_Handler)?BusFault_Handler:0x0 + 0x1)) + (DEFINED (UsageFault_Handler)?UsageFault_Handler:0x0 + 0x1)))) 0x0000000000000000 _image_start = LOADADDR (.text) - 0x0000000000004310 _image_end = (LOADADDR (.data) + SIZEOF (.data)) - 0x0000000000004310 _image_size = (_image_end - _image_start) + 0x0000000000004470 _image_end = (LOADADDR (.data) + SIZEOF (.data)) + 0x0000000000004470 _image_size = (_image_end - _image_start) OUTPUT(CANOpen_attempt.axf elf32-littlearm) LOAD linker stubs -.debug_info 0x0000000000000000 0x43c4 +.debug_info 0x0000000000000000 0x448d .debug_info 0x0000000000000000 0x267 ./src/accelo.o .debug_info 0x0000000000000267 0x185 ./src/callback.o .debug_info 0x00000000000003ec 0xb8b ./src/can.o @@ -1247,12 +1252,12 @@ LOAD linker stubs .debug_info 0x00000000000011f6 0x40 ./src/crp.o .debug_info 0x0000000000001236 0xd45 ./src/i2c.o .debug_info 0x0000000000001f7b 0x62b ./src/lcd.o - .debug_info 0x00000000000025a6 0xf69 ./src/main.o - .debug_info 0x000000000000350f 0x30d ./src/od.o - .debug_info 0x000000000000381c 0x861 ./src/ssp.o - .debug_info 0x000000000000407d 0x347 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_info 0x00000000000025a6 0x1055 ./src/main.o + .debug_info 0x00000000000035fb 0x2ea ./src/od.o + .debug_info 0x00000000000038e5 0x861 ./src/ssp.o + .debug_info 0x0000000000004146 0x347 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) -.debug_abbrev 0x0000000000000000 0x10da +.debug_abbrev 0x0000000000000000 0x10c5 .debug_abbrev 0x0000000000000000 0x13d ./src/accelo.o .debug_abbrev 0x000000000000013d 0x10c ./src/callback.o .debug_abbrev 0x0000000000000249 0x239 ./src/can.o @@ -1260,10 +1265,10 @@ LOAD linker stubs .debug_abbrev 0x00000000000005a4 0x38 ./src/crp.o .debug_abbrev 0x00000000000005dc 0x283 ./src/i2c.o .debug_abbrev 0x000000000000085f 0x149 ./src/lcd.o - .debug_abbrev 0x00000000000009a8 0x389 ./src/main.o - .debug_abbrev 0x0000000000000d31 0x137 ./src/od.o - .debug_abbrev 0x0000000000000e68 0x164 ./src/ssp.o - .debug_abbrev 0x0000000000000fcc 0x10e /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_abbrev 0x00000000000009a8 0x39b ./src/main.o + .debug_abbrev 0x0000000000000d43 0x110 ./src/od.o + .debug_abbrev 0x0000000000000e53 0x164 ./src/ssp.o + .debug_abbrev 0x0000000000000fb7 0x10e /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) .debug_aranges 0x0000000000000000 0x338 .debug_aranges @@ -1289,17 +1294,17 @@ LOAD linker stubs .debug_aranges 0x0000000000000310 0x28 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) -.debug_ranges 0x0000000000000000 0x280 +.debug_ranges 0x0000000000000000 0x298 .debug_ranges 0x0000000000000000 0x30 ./src/accelo.o .debug_ranges 0x0000000000000030 0x20 ./src/callback.o .debug_ranges 0x0000000000000050 0x38 ./src/can.o .debug_ranges 0x0000000000000088 0x70 ./src/cr_startup_lpc175x_6x.o .debug_ranges 0x00000000000000f8 0x48 ./src/i2c.o .debug_ranges 0x0000000000000140 0x50 ./src/lcd.o - .debug_ranges 0x0000000000000190 0xa0 ./src/main.o - .debug_ranges 0x0000000000000230 0x20 ./src/od.o - .debug_ranges 0x0000000000000250 0x18 ./src/ssp.o - .debug_ranges 0x0000000000000268 0x18 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_ranges 0x0000000000000190 0xb8 ./src/main.o + .debug_ranges 0x0000000000000248 0x20 ./src/od.o + .debug_ranges 0x0000000000000268 0x18 ./src/ssp.o + .debug_ranges 0x0000000000000280 0x18 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) .debug_macro 0x0000000000000000 0x3473 .debug_macro 0x0000000000000000 0xa8 ./src/accelo.o @@ -1333,7 +1338,7 @@ LOAD linker stubs .debug_macro 0x00000000000028c8 0x12d /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) .debug_macro 0x00000000000029f5 0xa7e /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) -.debug_line 0x0000000000000000 0x2b82 +.debug_line 0x0000000000000000 0x2ba1 .debug_line 0x0000000000000000 0x407 ./src/accelo.o .debug_line 0x0000000000000407 0x2a5 ./src/callback.o .debug_line 0x00000000000006ac 0x5b6 ./src/can.o @@ -1341,12 +1346,12 @@ LOAD linker stubs .debug_line 0x0000000000000dc2 0xb5 ./src/crp.o .debug_line 0x0000000000000e77 0x579 ./src/i2c.o .debug_line 0x00000000000013f0 0x55f ./src/lcd.o - .debug_line 0x000000000000194f 0x875 ./src/main.o - .debug_line 0x00000000000021c4 0x1f3 ./src/od.o - .debug_line 0x00000000000023b7 0x34c ./src/ssp.o - .debug_line 0x0000000000002703 0x47f /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_line 0x000000000000194f 0x8ae ./src/main.o + .debug_line 0x00000000000021fd 0x1d9 ./src/od.o + .debug_line 0x00000000000023d6 0x34c ./src/ssp.o + .debug_line 0x0000000000002722 0x47f /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) -.debug_str 0x0000000000000000 0xbd53 +.debug_str 0x0000000000000000 0xbd5d .debug_str 0x0000000000000000 0xa2b3 ./src/accelo.o 0xa33e (size before relaxing) .debug_str 0x000000000000a2b3 0xb0 ./src/callback.o @@ -1361,13 +1366,13 @@ LOAD linker stubs 0xac5f (size before relaxing) .debug_str 0x000000000000b0e7 0x92 ./src/lcd.o 0xa569 (size before relaxing) - .debug_str 0x000000000000b179 0x63d ./src/main.o - 0xafcd (size before relaxing) - .debug_str 0x000000000000b7b6 0x138 ./src/od.o + .debug_str 0x000000000000b179 0x6d2 ./src/main.o + 0xb068 (size before relaxing) + .debug_str 0x000000000000b84b 0xad ./src/od.o 0x4562 (size before relaxing) - .debug_str 0x000000000000b8ee 0x41 ./src/ssp.o + .debug_str 0x000000000000b8f8 0x41 ./src/ssp.o 0xa7aa (size before relaxing) - .debug_str 0x000000000000b92f 0x424 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_str 0x000000000000b939 0x424 /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) 0xa10e (size before relaxing) .comment 0x0000000000000000 0x49 @@ -1505,17 +1510,17 @@ LOAD linker stubs .ARM.attributes 0x000000000000076b 0x1b /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_semihost.a(__sys_write.o) -.debug_frame 0x0000000000000000 0x9e0 +.debug_frame 0x0000000000000000 0x9e4 .debug_frame 0x0000000000000000 0xd4 ./src/accelo.o .debug_frame 0x00000000000000d4 0x84 ./src/callback.o .debug_frame 0x0000000000000158 0xfc ./src/can.o .debug_frame 0x0000000000000254 0x170 ./src/cr_startup_lpc175x_6x.o .debug_frame 0x00000000000003c4 0x11c ./src/i2c.o .debug_frame 0x00000000000004e0 0x154 ./src/lcd.o - .debug_frame 0x0000000000000634 0x298 ./src/main.o - .debug_frame 0x00000000000008cc 0x80 ./src/od.o - .debug_frame 0x000000000000094c 0x58 ./src/ssp.o - .debug_frame 0x00000000000009a4 0x3c /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) + .debug_frame 0x0000000000000634 0x29c ./src/main.o + .debug_frame 0x00000000000008d0 0x80 ./src/od.o + .debug_frame 0x0000000000000950 0x58 ./src/ssp.o + .debug_frame 0x00000000000009a8 0x3c /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/Debug/libCMSIS_CORE_LPC17xx.a(system_LPC17xx.o) Cross Reference Table @@ -1758,6 +1763,7 @@ can_receive ./src/can.o can_sdo_receive ./src/can.o ./src/main.o can_sdo_send ./src/can.o + ./src/main.o can_send ./src/can.o ./src/main.o cmd ./src/main.o @@ -1774,6 +1780,7 @@ disp_clear ./src/lcd.o disp_setpix ./src/lcd.o ./src/main.o disp_setwindow ./src/lcd.o +entry_tmp ./src/main.o errno /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_c.a(errno.o) /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_c.a(_cr_sbrk.o) /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_c.a(ftell.o) @@ -1797,6 +1804,7 @@ ftell /usr/local/mcuxpressoide-11.5. /usr/local/mcuxpressoide-11.5.0_7232/ide/plugins/com.nxp.mcuxpresso.tools.linux_11.5.0.202107051138/tools/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7-m/nofp/libcr_c.a(fseek.o) g_pfnVectors ./src/cr_startup_lpc175x_6x.o get_OD_data ./src/od.o + ./src/main.o get_data_from_i2c_and_ready_to_be_sent_to_master_then_send ./src/main.o get_od_accelo_interval ./src/od.o ./src/main.o @@ -1869,6 +1877,7 @@ strlen /usr/local/mcuxpressoide-11.5. timer_0_init ./src/timer.o timer_counter ./src/main.o timer_counter_ms ./src/timer.o +tmp ./src/main.o transform_from_two_compli ./src/accelo.o type_device ./src/od.o uart_init ./src/uart.o diff --git a/Debug/src/main.o b/Debug/src/main.o index 09031e3..e743343 100644 Binary files a/Debug/src/main.o and b/Debug/src/main.o differ diff --git a/Debug/src/main.su b/Debug/src/main.su index d6c2f25..e489f6e 100644 --- a/Debug/src/main.su +++ b/Debug/src/main.su @@ -1,19 +1,19 @@ /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/inc/core_cm3.h:1405:22:NVIC_SetPriority 16 static /home/yuyu/Documents/Documents/HEPIA/SPI/workspace/CMSIS_CORE_LPC17xx/inc/core_cm3.h:1532:26:SysTick_Config 16 static -../src/main.c:94:6:SysTick_Handler 4 static -../src/main.c:98:5:get_systick_counter 4 static -../src/main.c:113:6:affichage 16 static -../src/main.c:124:6:CANOpen_pdo1_send 16 static -../src/main.c:138:6:CANOpen_pdo1_receive 16 static -../src/main.c:146:6:CANOpen_pdo2_send 16 static -../src/main.c:159:6:CANOpen_pdo3_send 16 static -../src/main.c:172:6:CANOpen_pdo4_send 16 static -../src/main.c:187:6:get_data_from_i2c_and_ready_to_be_sent_to_master_then_send 8 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 +../src/main.c:98:6:SysTick_Handler 4 static +../src/main.c:102:5:get_systick_counter 4 static +../src/main.c:117:6:affichage 16 static +../src/main.c:128:6:CANOpen_pdo1_send 16 static +../src/main.c:142:6:CANOpen_pdo1_receive 16 static +../src/main.c:150:6:CANOpen_pdo2_send 16 static +../src/main.c:163:6:CANOpen_pdo3_send 16 static +../src/main.c:176:6:CANOpen_pdo4_send 16 static +../src/main.c:191:6:get_data_from_i2c_and_ready_to_be_sent_to_master_then_send 8 static +../src/main.c:206:6:CAN_IRQHandler 24 static +../src/main.c:308:7:print_received_can_data 16 static +../src/main.c:315:6:callback_init 8 static +../src/main.c:324:6:CANOpen_NMT_send 16 static +../src/main.c:334:6:CANOpen_heartbeat_send 16 static +../src/main.c:343:5:slave_main 32 static +../src/main.c:392:6:master_main 32 static +../src/main.c:440:5:main 8 static diff --git a/Debug/src/od.o b/Debug/src/od.o index b99609c..9b4afa7 100644 Binary files a/Debug/src/od.o and b/Debug/src/od.o differ diff --git a/Debug/src/od.su b/Debug/src/od.su index 24535cd..d648d5d 100644 --- a/Debug/src/od.su +++ b/Debug/src/od.su @@ -1,3 +1,3 @@ ../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 +../src/od.c:138:6:get_OD_data 16 static +../src/od.c:156:6:set_OD_data 16 static diff --git a/Debug/uart2can-bin_bla_Debug.ld b/Debug/uart2can-bin_bla_Debug.ld index e288d5f..3b81d2d 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 22, 2022, 2:13:14 AM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 3:58:27 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 9a028fe..82c5a11 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 22, 2022, 2:13:14 AM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 3:58:27 AM */ GROUP ( diff --git a/Debug/uart2can-bin_bla_Debug_memory.ld b/Debug/uart2can-bin_bla_Debug_memory.ld index ffcb8b8..07144df 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 22, 2022, 2:13:14 AM + * MCUXpresso IDE v11.5.0 [Build 7232] [2022-01-11] on Jun 22, 2022, 3:58:27 AM */ MEMORY diff --git a/src/main.c b/src/main.c index 9bf0999..d51743e 100644 --- a/src/main.c +++ b/src/main.c @@ -70,6 +70,10 @@ int cmd; int state = 0; int scroll_speed = 20; +uint16_t tmp; + +OD_entry_t entry_tmp; + //#define CAN_NMT_RESET_COMMUNICATION 130 /* @@ -241,6 +245,21 @@ void CAN_IRQHandler(){ break; case CAN_RSDO: can_sdo_receive(&msg, &msg_sdo); + if(msg_sdo.css == 0){ //css 0 Download sdo request + if(msg_sdo.od_index == 0x5000){ + tmp = (msg_sdo.data[1]<<8)|(msg_sdo.data[0]); + set_OD_data(msg_sdo.od_index, msg_sdo.od_subidx, &tmp); + + } + }else if(msg_sdo.css == 2){//css 2 sdo upload request + get_OD_data(msg_sdo.od_index, msg_sdo.od_subidx, &tmp); + + } + scroll_speed = get_od_accelo_interval(); + tmp = tmp; + break; + case CAN_TSDO: + can_sdo_send(msg_sdo); /* if(msg_sdo.od_index == ODList[0].index){ diff --git a/src/od.c b/src/od.c index b3382d5..5bda69c 100644 --- a/src/od.c +++ b/src/od.c @@ -10,7 +10,7 @@ char software_version[4] = "0.0"; uint16_t od_heartbeat = 1000; uint8_t node_id = 0x42; uint8_t baudrate = 0x03; -uint8_t od_accelo_interval = 1000; +uint16_t od_accelo_interval = 900; uint16_t od_measurements[3]; uint8_t get_od_accelo_interval(){ @@ -135,24 +135,38 @@ void set_OD_data(uint16_t index, uint8_t subEntries, void* odObject){ } }*/ -OD_entry_t get_OD_data(uint16_t index, uint8_t subEntries){ - for(int i = 0; i < SIZE_OF_OD; i++){ +void get_OD_data(uint16_t index, uint8_t subEntries, void* res){ + /*for(int i = 0; i < SIZE_OF_OD; i++){ if(ODList[i].index == index){ if(ODList[i].subIdx == subEntries){ return ODList[i]; } } + }*/ + if(index == 0x1000){ + res = ODList[0].odObject; + }else if(index == 0x1001){ + res = ODList[1].odObject; + }else if(index == 0x5000){ + res = ODList[8].odObject; } } void set_OD_data(uint16_t index, uint8_t subEntries, void* odObject){ - for(int i = 0; i < SIZE_OF_OD; i++){ + /*for(int i = 0; i < SIZE_OF_OD; i++){ if(ODList[i].index == index){ if(ODList[i].subIdx == subEntries){ ODList[i].odObject = odObject; } } + }*/ + if(index == 0x1000){ + ODList[0].odObject = (uint32_t*)(odObject); + }else if(index == 0x1001){ + ODList[1].odObject = (uint8_t*)(odObject); + }else if(index == 0x5000){ + ODList[8].odObject = (uint16_t*)(odObject); } } diff --git a/src/od.h b/src/od.h index 4a269a6..2f6646c 100644 --- a/src/od.h +++ b/src/od.h @@ -18,7 +18,7 @@ typedef struct OD_entry{ //OD_entry_t ODList[SIZE_OF_OD]; -OD_entry_t get_OD_data(uint16_t index, uint8_t subEntries); +void get_OD_data(uint16_t index, uint8_t subEntries, void* res); void set_OD_data(uint16_t index, uint8_t subEntries, void* odObject);