author | Edouard Tisserant |
Wed, 13 Jun 2012 19:07:41 +0200 | |
changeset 738 | 396839c5d70f |
parent 675 | e5c5101c4f0b |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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AVR Port: Andreas GLAUSER and Peter CHRISTEN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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/****************************************************************************** |
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Project description: |
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Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128 |
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Short description: |
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PORTA: Inputs (Keys, low active) |
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PORTB: Outputs (LEDs, low active) |
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PORTC: Node ID (1 BCD switch, low active) |
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******************************************************************************/ |
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#include "hardware.h" |
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#include "canfestival.h" |
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#include "can_AVR.h" |
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675
e5c5101c4f0b
FIXED: - The AVR example now compiles in linux.
Christian Taedcke <hacking@taedcke.com>
parents:
525
diff
changeset
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#include "ObjDict.h" |
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#include "ds401.h" |
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unsigned char timer_interrupt = 0; // Set if timer interrupt eclapsed |
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unsigned char inputs; |
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// CAN |
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unsigned char nodeID; |
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unsigned char digital_input[1] = {0}; |
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unsigned char digital_output[1] = {0}; |
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static Message m = Message_Initializer; // contain a CAN message |
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void sys_init(); |
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// macros to handle the schedule timer |
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#define sys_timer timer_interrupt |
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#define reset_sys_timer() timer_interrupt = 0 |
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#define CYCLE_TIME 1000 // Sample Timebase [us] |
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int main(void) |
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{ |
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sys_init(); // Initialize system |
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canInit(CAN_BAUDRATE); // Initialize the CANopen bus |
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initTimer(); // Start timer for the CANopen stack |
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nodeID = read_bcd(); // Read node ID first |
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setNodeId (&ObjDict_Data, nodeID); |
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setState(&ObjDict_Data, Initialisation); // Init the state |
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for(;;) // forever loop |
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{ |
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if (sys_timer) // Cycle timer, invoke action on every time slice |
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{ |
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reset_sys_timer(); // Reset timer |
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digital_input[0] = get_inputs(); |
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digital_input_handler(&ObjDict_Data, digital_input, sizeof(digital_input)); |
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digital_output_handler(&ObjDict_Data, digital_output, sizeof(digital_output)); |
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set_outputs(digital_output[0]); |
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// Check if CAN address has been changed |
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if(!( nodeID == read_bcd())) |
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{ |
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nodeID = read_bcd(); // Save the new CAN adress |
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setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID |
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setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed |
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setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again |
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} |
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} |
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// a message was received pass it to the CANstack |
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if (canReceive(&m)) // a message reveived |
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canDispatch(&ObjDict_Data, &m); // process it |
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else |
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{ |
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// Enter sleep mode |
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#ifdef WD_SLEEP // Watchdog and Sleep |
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wdt_reset(); |
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sleep_enable(); |
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sleep_cpu(); |
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#endif // Watchdog and Sleep |
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} |
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} |
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} |
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void sys_init() |
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/****************************************************************************** |
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Initialize the relays, the main states and the modbus protocol stack. |
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INPUT LOCK_STATES *lock_states |
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OUTPUT void |
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******************************************************************************/ |
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{ |
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OSCCAL = 0x43; // adjust the RC oszillator |
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PORTA = 0xFF; // Inputs (Keys, low active) with pullup |
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DDRA = 0x00; // |
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PORTB = 0xFF; // Outputs (LEDs, low active) all 1 |
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DDRB = 0xFF; // |
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PORTC = 0xFF; // 1 BCD switch with pullup |
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DDRC = 0x00; // |
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PORTD = 0x2C; // 2xCOM, unused, CAN, unused |
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DDRD = 0x2A; // All init 0 or without pullup |
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PORTE = 0x00; // Output |
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DDRE = 0x3C; // 2x not used, 2x not used |
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PORTF = 0x00; // Not used |
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DDRF = 0xFF; // All output |
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PORTG = 0x00; // Not used |
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DDRG = 0x1F; // Output for debug (only 5 pins) |
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// Set timer 0 for main schedule time |
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TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten |
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TIMSK0 = 1 << OCIE0A; // Timer Interrupts: Timer 0 Compare |
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OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1); // Reloadvalue for timer 0 |
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#ifdef WD_SLEEP // Watchdog and Sleep |
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wdt_reset(); |
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wdt_enable(WDTO_15MS); // Watchdogtimer start with 16 ms timeout |
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#endif // Watchdog and Sleep |
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sei(); // Enable Interrupts |
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} |
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#ifdef __IAR_SYSTEMS_ICC__ |
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#pragma type_attribute = __interrupt |
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#pragma vector=TIMER0_COMP_vect |
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void TIMER0_COMP_interrupt(void) |
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#else // GCC |
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ISR(TIMER0_COMP_vect) |
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#endif // GCC |
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/****************************************************************************** |
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Interruptserviceroutine Timer 2 Compare A for the main cycle |
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******************************************************************************/ |
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{ |
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timer_interrupt = 1; // Set flag |
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} |