PLUS+1 C Open Overview

Transcription

1 MAKING MODERN LIVING POSSIBLE Technical Information PLUS+1 C Open Overview powersolutions.danfoss.com

2 Revision history Table of revisions Date Changed Rev February 2016 First edition BC en-US Rev 0101 February 2016

3 Contents Introduction to PLUS+1 C Open Definitions and abbreviations...4 Requirements Supported devices Installation Projects Compile overview Architecture PLUS+1 C Open examples Create diagnostic pages Documentation... 6 PLUS+1 C Open development package... 7 PLUS+1 Service Tool... 7 Download and installation of the PLUS+1 Service Tool...8 MSYS utilities...8 Download...8 Install...8 GNU tools and compiler...8 Download...9 Install...9 Folder structure Adding files to the project Interfacing to kernel functions...10 Compiling a program Connecting the CG150-2 USB/CAN Gateway Interface...11 Download hex-file to the controller...12 Theory of operation Program flow and tasks API access...15 Memory...15 Data types...16 Ratatosk Installation and other related issues Support...19 BC en-US Rev 0101 February

4 Introduction to PLUS+1 C Open PLUS+1 C Open is a development package that gives the ability to the user to program the Danfoss Power Solution PLUS+1 ARM based controllers by using C programming language. The user can add/ remove/build its own code around the provided template and create its own application. All the build tools are open source and can be freely downloaded from the internet. PLUS+1 C Open provides a full package containing everything is needed to add, remove and build applications and C code library. The user can run multiple tasks by using the same code or function library, handle timers and prioritize tasks. Inter-tasks communication is available too. All the created tasks have access to the hardware I/Os. Definitions and abbreviations Definitions and abbreviations CAN CRC CPU ECU EEPROM IDE Kernel MC RAM 0x MSK Controller Area Network Cyclic Redundancy Check Central Processing Unit Electronic Control Unit Electrically Erasable and Programmable Read-Only Memory Integrated Development Environment Set of hardware-dependent driver functions and operating system Master Controller, reprogrammable device Random Access Memory When starting a number, it defines a base 16 number (hexadecimal base) Modular Safety Kernel 4 BC en-US Rev 0101 February 2016

5 Requirements User skills PLUS+1 C Open development package is designed for experienced C Programmers. Knowledge of the PLUS+1 architecture and PLUS+1 tools is preferable, in particular PLUS+1 Service Tool, knowledge of GCC compiler usage and makefile syntax is strongly suggested. Tools To successfully use PLUS+1 C Open, download and install the following tools: The PLUS+1 C Open Development package for the PLUS+1 Controller you want to use PLUS+1 Service Tool MSys installer GCC compiler Hardware and system Other requirements are: Danfoss CG150-2 USB/CAN Gateway Interface PC running Windows 7/8 (32-64 bit) The Danfoss CG150-2 USB/CAN Gateway Interface is required for downloading the generated.hex files to the controller. Please see the PLUS+C Datasheet for more details and other related products. The system requirements to run the Service Tool are shown in the Table below: System requirements GUIDE Minimum Service Tool Minimum GUIDE/Service Tool Recommended CPU 1.5 GHz 1.0 GHz 3.0 GHz OS UAC Microsoft Windows 7 (32-/64-bit) or Windows 8 (32-/64-bit) Local administrator access RAM 1 GB 1 GB 3 GB HDD > 1 GB > 500 MB > 2 GB, solid state drive Resolution 1024 x x x PDF XML For license registration Any recent standards-compliant PDF reader MSXML 4.0 Service Pack 2 (Microsoft XML Core Services).Net Version 4.0 N/A Version 4.0 BC en-US Rev 0101 February

6 Supported devices The PLUS+1 C Open environment supports the following members of the PLUS+1 family based on the MSK: MC (Part Number ) MC (Part Number ) MC (Part Number ) MC (Part Number ) SC (Part Number ) SC (Part Number ) Please contact your Danfoss Representative for an updated list of the supported devices. Documentation For every controller there is a Datasheet and for a controller family there s a Technical Information document available. SC Family Technical Information MC0XX-1XX Family Technical Information Current technical literature L L BC en-US Rev 0101 February 2016

7 Installation PLUS+1 C Open development package The package is distributed as 7zip archive that contains the following directories: Doc - documentation PLUS+1 C Open Quick Start Guide How to document PLUS+1 C Open Overview in depth tour of the PLUS+1 C Open PLUS+1 C Data Sheet RefMan all API functions to connect to IO and use RTOS API HW Description/Application Interface Hardware Data Sheet contains pin configuration of the controller (according to the package) Hardware Technical Information detailed approach of the controller (according to the package) Inc which includes several.h files such as: Interface.h access to I/O PLUSC_API.h access to API Obj includes object files Src includes the C code template and examples Unpack the archive in a directory of your preference. Be aware that the hardware Data Sheet/Technical Information may be outdated. Current Danfoss product literature is online at: PLUS+1 Service Tool The PLUS+1 Service Tool can be used for downloading the.hex file to the controllers as well as for diagnostic. Configuration reading and writing is also possible via Service Tool (reading and writing of non volatile parameters). Diagnostic Diagnostic data is set up in C structures. Reading and writing data with the PLUS+1 Service Tool is done automatically. Alternatively, a custom diagnostic protocol can be implemented within the C environment to work with captive Service Tool. Free version The free version of the PLUS+1 Service Tool has limited features and does not allow to create diagnostic pages but only scan the PLUS+1 network in order to recognize all PLUS+1 units connected and to download the application to the selected controller. Read and write application parameters (not available in free version unless you have the diagnostic file available) Download of application hex files to PLUS+1 microcontroller Access to any device on the PLUS+1 network via CAN, using the PLUS+1 USB/CAN gateway The free version is available at: Developers edition The developers Edition version of the PLUS+1 Service Tool has all the features like the free version with additional three extra features: It can create diagnostic pages BC en-US Rev 0101 February

8 Installation Logging data Design Functionality (design parameter functions) To obtain a PLUS+1 Service Tool Developer Edition please download the free version and then purchase the license (contact plus1license@danfoss.com or your reference Account Manager). Ratatosk is an executable used to create interface files for PLUS+1 Service Tool. It is distributed with licensed PLUS+1 GUIDE versions. For more information, please read the How To document included in the package. Download and installation of the PLUS+1 Service Tool The PLUS+1 Service Tool should be installed following the instructions: 1. Download the PLUS+1 Service Tool Setup file on your computer. 2. Install PLUS+1 Service Tool. 3. Start PLUS+1 Service Tool. A warning might be displayed if you don't have an active license installed. 4. Click Get License. 5. Fill the form including contact and company information and valid address. In place of Purchase Order number, enter No Charge Service Tool License. 6. Click Generate File and send the generated file to plus1license@danfoss.com. After your request is processed you will receive a confirmation with a license file. 7. Save on your hard disk the license file included in your confirmation In Guide click Add license and select the saved license file. 9. Click Make active and select password or not. 10. Click Close. You should now be able to use the Service Tool part of PLUS+1 Guide. MSYS utilities Before installing the GNU C compiler, a set of utilities called MSYS is also needed. MSYS, a contraction of Minimal SYStem, is a Bourne Shell command line interpreter system. It is a collection of GNU utilities such as bash, make, gawk and grep to allow building of applications and programs which depend on traditionally UNIX tools to be present. It is primarily intended to supplement the MinGW (Minimalist GNU for Windows) development environment. For using the PLUS+1 C Open, only the MSYS Utilities are needed, not the full MinGW environment. Download To download the MSYS utilities, click the following link: In case the link is not available, please use a searching engine. Install Run the installer and follow the instructions. It is suggested to install it in C:\msys\1.0, but you can use any directory that you prefer. Do not use spaces in the path name reference. GNU tools and compiler GCC (GNU Compiler Collection) is the suggested C compiler to be used. Under Windows, it comes as an executable containing a toolchain specific for ARM embedded controllers. 8 BC en-US Rev 0101 February 2016

9 Installation This toolchain is maintained, tested and regularly updated by ARM and it is freely downloadable. The GCC version included in this toolchain is targeted to the ARM controllers, specifically Cortex M3 and M4. Download Click on the link below to open the website for the suggested version of GCC Tools for ARM Embedded Processors: then select the Windows installer and save it on your local computer. Refer to the GCC release note for the minimum requirements to run GCC on your computer. Main GCC required features: Cortex -M3 support Cortex -M4 with hard float multilib support Fixed point fraction support GCC Compiler has been released under GNU License Agreement. Please read license.txt and Readme.txt files. Install Run the installer/the.exe file (gcc-arm-none-eabi-*-yyyymmdd.exe) and follow the instructions. In Windows, it can be more convenient to either let the installer register the environment variables or run INSTALL_DIR\bin\gccvar.bat to set environment variables. *-yyyymmdd is dependent by the version, in this case gcc-arm-noneeabi-4_7-2013q You can install GCC in any location but do not use spaces in the path name reference. More info regarding the version of the GCC Tools for ARM Embedded Processors can be found under the following link: BC en-US Rev 0101 February

10 Projects Folder structure The template project has the following folders structure: The root will contain the batch file, makefile, linker command file and resulting project hex and map file. The directory \inc includes provided header interface files plus project specific header files. The directory \src includes provided demonstration c files to show the interface to the drivers. The directory \obj includes provided library and object files. Object files generated during compilation will also be stored here. Adding files to the project Customer specific header files shall be added inside the \inc directory. Customer specific source files shall be added inside the \src directory. In addition these files need to be added to the makefile so the build of the project will include these files. This is done by simply extending the source definition inside the makefile. The definition would change from: SOURCE = $(SOURCEDIR)/Demo_PC.c $(SOURCEDIR)/AppInterface_PC.c To: SOURCE = $(SOURCEDIR)/Demo_PC.c $(SOURCEDIR)/AppInterface_PC.c $ (SOURCEDIR)/file1.c It is recommended to replace $(SOURCEDIR)/Demo_PC.c with a project specific file which at least contains two interface functions: PC_DEMO_INIT(); PC_DEMO_MAIN(); Interfacing to kernel functions The functions that access the RTOS and kernel drivers are defined in PLUSC_API.h and interface.h. These should always be included. Further header files will automatically be included. The Prototypes and functionality are described inside the attached doxygen HTML help file system with the main-entry main.html. This file can be opened in most of the browsers (IE, Firefox, Chrome, ) 10 BC en-US Rev 0101 February 2016

11 Compile overview Compiling a program The PLUS+1 C Open has been designed to fit into the users' development environment and structure. Consequently it is necessary to edit the batch file to provide the correct directory path in doit.bat file. The variable that have to be defined are: MSYSDIR: Defines path to MSYS; will be used for shell tools SET TOOLDIR=C:/MSYS/1.0/bin use the same path like above but is strictly related to where you installed the tool. GCC_DIR: Defines the path to the GCC Compiler SET COMPILER_DIR=C:/GCC/GNU_Tools/ARM_Embedded/4.7_2013q2 TEST_APP_NAME: Defines project output name SET PC_EXEC=MyProjectName Remember to add in the makefile the source files of your project. Launch make or doit.bat batch program in order to get the application compiled. Instead of \ use /. Connecting the CG150-2 USB/CAN Gateway Interface The CG150-2 USB/CAN Gateway Interface Communicator is the interface between the computer and the controller. Before you can use the PLUS+1 Service Tool you must first have the proper hardware connected and installed to your PC. Connect the controller to the CAN communication device. For the Customers that are still using the old CAN/USB Gateway Cable CG150, the driver files will continue to be supported in the PLUS+1 Service Tool for at least 2 more years minimum. We suggest to make the transition to the CG For the detailed procedure please see the Service Tool User Manual, page 12. Details of the hardware s pin connection can be found in the hardware s datasheet and the Technical Information Manual. BC en-US Rev 0101 February

12 Compile overview Download hex-file to the controller Once compiled, the application can be downloaded to the PLUS+1 Controller using the PLUS+1 Service Tool. Select Download from the File menu and select the target device to the Controller Application field. Browse to the PLUS+1 C project and select the corresponding hex-file. In general, it is possible to use the same hardware for a GUIDE and PLUS+1 C development. The ECU is not locked either to GUIDE or PLUS+1 C programming. The same requirements for downloading a GUIDE application to the controller are valid also for a PLUS+1 C application: DO NOT INTERRUPT the download process SYS family of application and target ECU have to match Application type, which is configurable in the GUIDE or PLUS+1 C development tool, has to be known 12 BC en-US Rev 0101 February 2016

13 Compile overview After selecting the file and pressing Start Download, the following warning messages might occur. The above warning message it is posted if the OS version inside the OS is not identical to the OS version inside the hex-file. Press OK to continue downloading the application. It will only be posted the first time downloading an application built with a new OS version included in the development environment. Here, insert the target application type. Type: MC for the MC package/hw MC for the MC package/hw MC for the MC package/hw MC for the MC package/hw and press OK. For the detailed download process, please see the PLUS+1 Service Tool User Manual, L (HEX files are instead LHX files in the manual). BC en-US Rev 0101 February

14 Architecture Theory of operation The PLUS+1 C Open interface development platform is based on the same MSK kernel drivers and the same peripheral drivers than GUIDE. The difference is that the GUIDE API will not be used by the drivers. The application software will access the peripheral I/O drivers directly. For example, instead of using the global variable C1p02.Voltage, the application has to call a function to get the desired value Program flow and tasks The development platform is providing a flat structure to the programmer for the main task which is running the cyclic updates of the I/O status. The application allows to start multiple tasks from the _INITTASK function via the OS abstraction interface. There is no limitation in regards the number of tasks to be created. Each task running in a cyclic mode will be under investigation of the task observer which will reset the system in case a cyclic task has not been called back to the observer in-between the last 5 cycles. At startup one initialization routine _INITASK is called prior the inputs are read the first time. Afterwards the C-application _MAINTASK is called in cyclic way whereby the repetition time is under control of the application and can be set in the range between 1 and 250 ms. The _MAINTASK can be left empty in case the application has started own tasks. Otherwise the _MAINTASK can be used to implement the application functionality. It is possible to call different function from inside the above shown function and it is also possible to have a modular concept with different modules. The code inside _INTTASK and _MAINTASK should not contain any endless loop nor should the CPU stay longer than 5 times the repetition time inside the application, otherwise the on-chip watchdog will reset the CPU. The repetition time is set by writing to the requested value to the element ExecTimeOutExec inside the OS struct. Reference the How to document for more information about tasks. 14 BC en-US Rev 0101 February 2016

15 Architecture API access The API used in the open interface is given by the peripheral driver itself and an example can be seen below. A detailed description for a specific device is available in the Refman.pdf document. The function would look like in the example below: function uireturnvalue = AC_guiGetVdlp(DIRECT, VLDP_Number, &puivoltage, &puiadvalue); All function will return a status which is equal to zero in case of success and else with an error code in case of nonsuccess. In most cases the non-success is given by using a wrong index. The first input parameter to the functions indicates if the value should be read either directly from the directly from the I/O or from the last update cycle (given by OS.ExecTime). The second parameter describes which channel to be used. The remaining parameters are used for the destination pointers of the result. The number of the pointer depends on the I/O type and what kind of I/O is used. The architecture of direct and indirect access allows synchronization between multiple channels and is a prerequisite for I/O accessing multiple channels at the same time like h-bridge outputs and frequency inputs. In addition, it saves CPU time to use the indirect method for reading a channel in multiple modules, because in this case a RAM copy value will be used instead of calling the channel directly down to the lowest level. The API will be documented by using Doxygen inside the peripheral drivers and using this generated document as the interface description. Example: Memory Per default, variables, program code and constants are linked to be located into the internal flash. On some units, external RAM and/or external flash might be available. This can be used to store additional variables, constants and also program code. Reference the HowTo document for more information about memory management. Variables in external RAM In case variables to be located in external RAM the following instruction has to be used after declaration of the variable : attribute ((section(".b3ram_bss"))); A complete declaration would look like: static U32 mu32_testdata; // attribute ((section(".b3ram_bss"))); BC en-US Rev 0101 February

16 Architecture Constants in external flash In case variables to be located in external flash the following instruction has to be used after declaration of the const element : attribute ((section (".memory_b1_const"))); A complete declaration would look like: const U32 u32extparflash[0x40000] attribute ((section(".memory_b1_const")))= { [0... 0x3FFFF] = 0xA53C5AC3UL }; Code in external flash In case functions to be located in external flash the following instruction has to be used after definition of the function : : attribute ((section (".memory_b1_text"))); A complete definition would look like: void gv_test(void) attribute ((section(".memory_b1_text"))); and the corresponding declaration : void gv_test(void) { } Data types The basic types are in a file called datatypes.h. The purpose of datatypes.h is to replace the basic types of char, int, short, long, float, and double with more portable types and to define other basic types that all PLUS+1 software can use. The basic types of char, int, short, long, float, and double cannot be used directly. Below is just an example of what the file may look like. This file is optimized for each microcontroller. These definitions are automatically defined by including interface.h. typedef unsigned char BOOL; #define FALSE ((BOOL)0) #define TRUE (!FALSE) typedef char SDPORTTYPE; typedef uint8_t U8; typedef uint16_t U16; typedef uint32_t U32; typedef int8_t S8; typedef int16_t S16; typedef int32_t S32; typedef double_t FLOAT; 16 BC en-US Rev 0101 February 2016

17 PLUS+1 C Open examples The PLUS+1 C Open package contains examples with a demo source code included to demonstrate different aspects of the PLUS+1 C Open environment. A short description of the default included examples is listed below: AppInterface_PC.c Diagnostics with PLUS+1 Service Tool Read Checkpoint Demo_PC.c Functions and data to support the CAN interface in the Applayer MultipleTasks.c Creation of multiple tasks NV_Data.c Data storage in EEPROM The examples can be found in the package, under the src and inc folders. Depending on the package, more examples may be included. BC en-US Rev 0101 February

18 Create diagnostic pages Ratatosk Ratatosk is an executable used to create interface files for PLUS+1 Service Tool. It is distributed with licensed PLUS+1 GUIDE versions. For more information, please read the How to document included in the package. 18 BC en-US Rev 0101 February 2016

19 Installation and other related issues Support For installation issues call PLUS+1 help desk: A PLUS+1 C forum is available at for other related topics/issues. BC en-US Rev 0101 February

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