Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_slavenode

Can_open_slavenode

Dependencies:   mbed

framework/driver/mbed/timer_mbed.cpp@6:bc64031ac849, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:43:05 2012 +0000
Revision:
6:bc64031ac849
Parent:
2:e0be90742924 
Change a typecast in can_mbed.cpp from unit8_t * to char * to fit the CANMessage constructor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5 mbed Port: sgrove
sam_grove 0:6219434a0cb5 6
sam_grove 0:6219434a0cb5 7 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 8
sam_grove 0:6219434a0cb5 9 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 10 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 11 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 12 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 13
sam_grove 0:6219434a0cb5 14 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 15 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 17 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 18
sam_grove 0:6219434a0cb5 19 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 20 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 22 */
sam_grove 0:6219434a0cb5 23
sam_grove 0:6219434a0cb5 24 // Includes for the Canfestival driver
sam_grove 0:6219434a0cb5 25 #include "canfestival.h"
sam_grove 0:6219434a0cb5 26 #include "canopen_timer.h"
sam_grove 0:6219434a0cb5 27 #include "mbed.h"
sam_grove 0:6219434a0cb5 28
sam_grove 0:6219434a0cb5 29 // make the system speed available for timer configuration
sam_grove 0:6219434a0cb5 30 extern uint32_t SystemCoreClock;
sam_grove 0:6219434a0cb5 31
sam_grove 0:6219434a0cb5 32 // Define the timer registers
sam_grove 2:e0be90742924 33 #define TimerAlarm LPC_TIM1->MR0 // compare register to genterate an interrupt
sam_grove 2:e0be90742924 34 #define TimerCounter LPC_TIM1->TC // free running timer counter register
sam_grove 0:6219434a0cb5 35
sam_grove 0:6219434a0cb5 36 /************************** Module variables **********************************/
sam_grove 0:6219434a0cb5 37 // Store the last timer value to calculate the elapsed time
sam_grove 0:6219434a0cb5 38 static TIMEVAL last_time_set = TIMEVAL_MAX;
sam_grove 0:6219434a0cb5 39
sam_grove 0:6219434a0cb5 40 void initTimer(void)
sam_grove 0:6219434a0cb5 41 /******************************************************************************
sam_grove 0:6219434a0cb5 42 Initializes the timer, turn on the interrupt and put the interrupt time to zero
sam_grove 0:6219434a0cb5 43 INPUT void
sam_grove 0:6219434a0cb5 44 OUTPUT void
sam_grove 0:6219434a0cb5 45 ******************************************************************************/
sam_grove 0:6219434a0cb5 46 {
sam_grove 2:e0be90742924 47 float prescaler = 0;
sam_grove 2:e0be90742924 48 TimerAlarm = 0;
sam_grove 2:e0be90742924 49 // power up the timer (if not already done)
sam_grove 2:e0be90742924 50 LPC_SC->PCONP |= (0x1 << 0x2);
sam_grove 2:e0be90742924 51 // reset the timer
sam_grove 2:e0be90742924 52 LPC_TIM1->TCR = 0x2;
sam_grove 2:e0be90742924 53 // set up the prescaler to create an 8us incrementing tick using Timer1
sam_grove 2:e0be90742924 54 switch ((LPC_SC->PCLKSEL0 >> 0x4) & 0x3){
sam_grove 2:e0be90742924 55 case 0x00: prescaler = 0.000008 / (1.0 / (SystemCoreClock / 4.0)); break;
sam_grove 2:e0be90742924 56 case 0x01: prescaler = 0.000008 / (1.0 / SystemCoreClock); break;
sam_grove 2:e0be90742924 57 case 0x02: prescaler = 0.000008 / (1.0 / (SystemCoreClock / 2.0)); break;
sam_grove 2:e0be90742924 58 case 0x03: prescaler = 0.000008 / (1.0 / (SystemCoreClock / 8.0)); break;
sam_grove 2:e0be90742924 59 }
sam_grove 2:e0be90742924 60 LPC_TIM1->PR = static_cast<uint32_t>(prescaler);
sam_grove 2:e0be90742924 61 // MR0 is used as a match event to trigger an interrupt - managed through TimerAlarm
sam_grove 2:e0be90742924 62 LPC_TIM1->MCR |= (0x1 << 0);
sam_grove 2:e0be90742924 63 NVIC_EnableIRQ(TIMER1_IRQn);
sam_grove 2:e0be90742924 64 // start the timer
sam_grove 2:e0be90742924 65 LPC_TIM1->TCR = 0x1;
sam_grove 0:6219434a0cb5 66 // Set timer for CANopen operation tick 8us , max time is 9+ hrs
sam_grove 2:e0be90742924 67 TimeDispatch();
sam_grove 0:6219434a0cb5 68 }
sam_grove 0:6219434a0cb5 69
sam_grove 0:6219434a0cb5 70 void setTimer(TIMEVAL value)
sam_grove 0:6219434a0cb5 71 /******************************************************************************
sam_grove 0:6219434a0cb5 72 Set the timer for the next alarm.
sam_grove 0:6219434a0cb5 73 INPUT value TIMEVAL (unsigned long)
sam_grove 0:6219434a0cb5 74 OUTPUT void
sam_grove 0:6219434a0cb5 75 ******************************************************************************/
sam_grove 0:6219434a0cb5 76 {
sam_grove 0:6219434a0cb5 77 TimerAlarm += (uint32_t)value; // Add the desired time to timer interrupt time
sam_grove 0:6219434a0cb5 78 }
sam_grove 0:6219434a0cb5 79
sam_grove 0:6219434a0cb5 80 TIMEVAL getElapsedTime(void)
sam_grove 0:6219434a0cb5 81 /******************************************************************************
sam_grove 0:6219434a0cb5 82 Return the elapsed time to tell the Stack how much time is spent since last call.
sam_grove 0:6219434a0cb5 83 INPUT void
sam_grove 0:6219434a0cb5 84 OUTPUT value TIMEVAL (unsigned long) the elapsed time
sam_grove 0:6219434a0cb5 85 ******************************************************************************/
sam_grove 0:6219434a0cb5 86 {
sam_grove 2:e0be90742924 87 uint32_t timer = TimerCounter; // Copy the value of the running timer
sam_grove 2:e0be90742924 88 // Calculate the time difference and return it
sam_grove 2:e0be90742924 89 return timer > last_time_set ? timer - last_time_set : last_time_set - timer;
sam_grove 0:6219434a0cb5 90 }
sam_grove 0:6219434a0cb5 91
sam_grove 0:6219434a0cb5 92 ///******************************************************************************
sam_grove 0:6219434a0cb5 93 //Interruptserviceroutine Timer Compare for the stack CAN timer
sam_grove 0:6219434a0cb5 94 //******************************************************************************/
sam_grove 0:6219434a0cb5 95
sam_grove 0:6219434a0cb5 96 extern "C" void TIMER1_IRQHandler()
sam_grove 0:6219434a0cb5 97 {
sam_grove 2:e0be90742924 98 // clear all pending interrupts
sam_grove 2:e0be90742924 99 LPC_TIM1->IR = 0x3F;
sam_grove 2:e0be90742924 100 // store the time of the last interrupt occurance
sam_grove 2:e0be90742924 101 last_time_set = TimerCounter;
sam_grove 2:e0be90742924 102 // Call the time handler of the stack to adapt the elapsed time
sam_grove 2:e0be90742924 103 TimeDispatch();
sam_grove 0:6219434a0cb5 104 }
sam_grove 0:6219434a0cb5 105