Complete Startup Process

//====================================================================================================================//
// File:          cos_main.c                                                                                          //
// Description:   Example for integration of CANopen Slave Protocol Stack                                             //
//                                                                                                                    //
// Copyright (C) MicroControl GmbH & Co. KG                                                                           //
// 53844 Troisdorf - Germany                                                                                          //
// www.microcontrol.net                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of MicroControl GmbH & Co. KG, Germany. The        //
// program(s) may be used and/or copied only with the written permission of MicroControl GmbH & Co. KG or in          //
// accordance with the terms and conditions stipulated in the agreement/contract under which the program(s) have      //
// been supplied.                                                                                                     //
//                                                                                                                    //
//====================================================================================================================//
 
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Include files                                                                                                      **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
 
//------------------------------------------------------------------------------------------------------
// CANopen Slave Protocol Stack header files
//
#include "cos_led.h"
#include "cos_mgr.h"
#include "cos_nmt.h"
#include "cos_time.h"
#include "cos301.h"
 
 
 
//------------------------------------------------------------------------------------------------------
// HAL header files
//
#include "mc_cpu.h"
#include "mc_tmr.h"
#include "mc_tmr.h"
#include "mc_wdt.h"
 
 
//------------------------------------------------------------------------------------------------------
// CANopen Slave demo application
//
#include "cos_demo_app.h"
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Definitions                                                                                                        **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
//------------------------------------------------------------------------------------------------------
// Specific configuration of CANopen Slave Protocol Stack
//
#ifndef  TMPL_COS_CONFIG
#define  TMPL_COS_CONFIG       COS_CONF_SLAVE
#endif
 
//------------------------------------------------------------------------------------------------------
// Run CANopen Slave Protocol Stack for internal testing if > 0
//
#ifndef  TMPL_COS_TEST_MAIN
#define  TMPL_COS_TEST_MAIN    0
#endif
 
//------------------------------------------------------------------------------------------------------
// Select physical CAN interface for CANopen Slave Protocol Stack
//
#ifndef  TMPL_COS_USE_CAN_IF
#define  TMPL_COS_USE_CAN_IF   eCP_CHANNEL_1
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// main()                                                                                                             //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
int main(void)
{
 
 
   int32_t  slBitrateSelT;          // selected CANopen bit-rate
   uint8_t  ubNodeIdT;              // selected CANopen Node-ID
   uint32_t ulLastTimerTickT = 0;   // value from timer tick
 
   //---------------------------------------------------------------------------------------------------
   // Initialise the target CPU
   //
   McCpuInit();
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialise the timer resource on the target CPU
   //
   McTmrInit();
 
 
   //---------------------------------------------------------------------------------------------------
   // read the actual bit-rate setting and test if it is valid
   //
   slBitrateSelT = CosMgrGetBitrate();
   if (slBitrateSelT > eCP_BITRATE_MAX)
   {
      //-------------------------------------------------------------------------------------------
      // bit-rate value is out of limit:
      // - show failure status
      // - stop program here in endless loop
      //
      #if COS_LED_SUPPORT > 0
      CosLedNetworkError(eCosLedErr_BUS_OFF);
      #endif
      #if COS_LED_SUPPORT > 1
      CosLedModuleStatus(eCosLedMod_FAIL_BAUD);
      #endif
      while (1) { };
   }
 
 
   //---------------------------------------------------------------------------------------------------
   // read the actual node ID setting and test if it is valid
   //
   ubNodeIdT  = CosMgrGetNodeId();
   if (ubNodeIdT > 127)
   {
      //-------------------------------------------------------------------------------------------
      // address value is out of limit:
      // - show failure status
      // - stop program here in endless loop
      //
      #if COS_LED_SUPPORT > 0
      CosLedNetworkError(eCosLedErr_BUS_OFF);
      #endif
      #if COS_LED_SUPPORT > 1
      CosLedModuleStatus(eCosLedMod_FAIL_ADDR);
      #endif
      while (1) { };
   }
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialise the CANopen slave stack
   //
   CosMgrInit(TMPL_COS_USE_CAN_IF, TMPL_COS_CONFIG);
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialise the CANopen Slave demo application, this is individual for every target
   //
   CosDemoAppInit();
 
 
   //---------------------------------------------------------------------------------------------------
   // start the CANopen Slave Protocol Stack
   //
   CosMgrStart(ubNodeIdT, slBitrateSelT, eCP_BITRATE_NONE);
 
 
   //---------------------------------------------------------------------------------------------------
   // Initialise the watchdog timer on the target CPU
   //
   McWdtInit();
 
   //---------------------------------------------------------------------------------------------------
   // This is the main loop of the embedded application
   //
   while (1)
   {
      //-------------------------------------------------------------------------------------------
      // handle timer tick for the stack
      //
      if ((McTmrTick() - ulLastTimerTickT) > 0)
      {
         CosTmrEvent();
         
         ulLastTimerTickT = McTmrTick();
      }
 
 
      //-------------------------------------------------------------------------------------------
      // Check the result of the CANopen manager call
      //
      if (CosMgrProcess() != eCOS_ERR_NODE_RESET)
      {
         //-----------------------------------------------------------------------------------
         // Trigger the watch-dog timer each time we run successful through the 
         // CANopen manager
         //
         McWdtTrigger();
      }
      else
      {
         //-----------------------------------------------------------------------------------
         // Release all CAN resources and wait for the watchdog timer to restart
         // the application
         //
         CosMgrRelease();
 
         McCpuReset();
      }
 
 
      //-------------------------------------------------------------------------------------------
      // The following code is for automatic testing only
      //
      #if TMPL_COS_TEST_MAIN > 0
      static uint32_t ulTestMainCounterS = TMPL_COS_TEST_MAIN;
      if (ulTestMainCounterS == 0) break;
      ulTestMainCounterS--;
      #endif
 
   }  // end while (1)
 
   return (0);
}