1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack.

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

ARM Port: Peter CHRISTEN

     6

     7

See COPYING file for copyrights details.

     8

     9

This library is free software; you can redistribute it and/or

    10

modify it under the terms of the GNU Lesser General Public

    11

License as published by the Free Software Foundation; either

    12

version 2.1 of the License, or (at your option) any later version.

    13

    14

This library is distributed in the hope that it will be useful,

    15

but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

Lesser General Public License for more details.

    18

    19

You should have received a copy of the GNU Lesser General Public

    20

License along with this library; if not, write to the Free Software

    21

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    22

*/

    23

    24

// Include Standard LIB  files

    25

#include "AT91SAM7X-EK.h"

    26

#include <string.h>

    27

#include "config.h"

    28

#include "io_macro.h"

    29

/************************* CANopen includes **********************************/

    30

#include "canfestival.h"

    31

#include "objdict.h"

    32

#include "can_AT91.h"

    33

    34

//   Waiting time between AT91B_LED1 and AT91B_LED2

    35

#define     WAIT_TIME       AT91B_MCK

    36

    37

#define PIO_INTERRUPT_LEVEL     6

    38

#define SOFT_INTERRUPT_LEVEL	2

    39

#define FIQ_INTERRUPT_LEVEL     7  // Always high

    40

    41

// External Function Prototype

    42

extern void timer_init (unsigned int time);

    43

void sys_init();

    44

    45

// Global variable

    46

extern int timer0_interrupt;

    47

    48

unsigned int leds = 0;

    49

unsigned int keys,keys_old,keys_edge;

    50

    51

unsigned char string_down[] = "1234567890x";

    52

unsigned char string_up[20];

    53

unsigned char val_down = 1;

    54

unsigned char val_up;

    55

unsigned char val_pdo = 1;

    56

    57

// nodes

    58

#define MEMORY_MODULE		0

    59

#define OUTPUT_MODULE		1

    60

#define IO_MODULE		2

    61

    62

// node ids

    63

#define ID_MEMORY_MODULE	0x20

    64

#define ID_OUTPUT_MODULE	0x21

    65

#define ID_IO_MODULE		0x22

    66

    67

//----------------------------------------------------------------------------

    68

// Function Name       : main

    69

// Object              : Main interrupt function

    70

// Input Parameters    : none

    71

// Output Parameters   : TRUE

    72

//----------------------------------------------------------------------------

    73

int main(void)

    74

// Begin

    75

{

    76

  sys_init();                                   // Initialize system

    77

  timer_init(10);

    78

  canInit(CAN_BAUDRATE);         		// Initialize the CANopen bus

    79

  initTimer();                                 	// Start timer for the CANopen stack

    80

  __enable_interrupt();

    81

  setState(&ObjDict_Data, Initialisation);	// Init the state

    82

  setNodeId (&ObjDict_Data, 0x7F);

    83

  setState(&ObjDict_Data, Operational);		// Put the master in operational mode

    84

    85

    86

  for (;;)

    87

  {

    88

    if (timer0_interrupt)

    89

    {

    90

      timer0_interrupt = 0;

    91

      AT91F_PIO_SetOutput(AT91C_BASE_PIOB, 0x01);

    92

    93

      keys = ~AT91F_PIO_GetInput(AT91D_BASE_PIO_SW)>>21 & 0x1F;

    94

    95

      keys_edge = keys & ~keys_old;	// edge detection

    96

      keys_old = keys;

    97

    98

//      static Message m = Message_Initializer;		// contain a CAN message

    99

   100

//      if (canReceive(&m))			// a message received

   101

//        canDispatch(&ObjDict_Data, &m);         // process it

   102

   103

      if (checkbit(keys_edge,0))	// edge on key 0

   104

      {

   105

	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Start_Node);

   106

//	startSYNC(&ObjDict_Data);

   107

      }

   108

   109

      if (checkbit(keys_edge,1))	// edge on key 1

   110

      {

   111

	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Reset_Node);

   112

//	stopSYNC(&ObjDict_Data);

   113

      }

   114

   115

      if (checkbit(keys,2))	// edge on key 2

   116

      {

   117

	if (!(DO1 <<= 1))					// generate running light

   118

	  DO1 = 1;

   119

	sendPDOevent (&ObjDict_Data);

   120

      }

   121

   122

      if (checkbit(keys_edge,3))	// edge on key 3

   123

      {

   124

      }

   125

   126

   127

      leds = DI1;

   128

   129

      AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, (leds << 19));

   130

      AT91F_PIO_SetOutput(AT91C_BASE_PIOB, ~(leds << 19) & AT91B_LED_MASK);

   131

   132

      AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, 0x01);

   133

    }

   134

  }

   135

}

   136

   137

void sys_init()

   138

/******************************************************************************

   139

Initialize the relays, the main states and the modbus protocol stack.

   140

INPUT	LOCK_STATES *lock_states

   141

OUTPUT	void

   142

******************************************************************************/

   143

{

   144

  // Enable User Reset and set its minimal assertion to 960 us

   145

  AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24);

   146

   147

  // First, enable the clock of the PIOs

   148

  AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOA) ;

   149

  AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOB) ;

   150

   151

  // then, we configure the PIO Lines corresponding to switches

   152

  // to be inputs.

   153

  AT91F_PIO_CfgInput(AT91C_BASE_PIOA, AT91B_SW_MASK) ;

   154

  // then, we configure the PIO Lines corresponding to AT91B_LEDx

   155

  // to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.

   156

  AT91F_PIO_CfgOutput(AT91C_BASE_PIOB, AT91B_LED_MASK | 0xFF) ;

   157

  // Clear the AT91B_LED's. On the EK we must apply a "1" to turn off AT91B_LEDs

   158

  AT91F_PIO_SetOutput(AT91C_BASE_PIOB, AT91B_LED_MASK) ;

   159

   160

  AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;

   161

  // Clear PA2 <=> Enable Transceiver Normal Mode (versus Standby mode)

   162

  AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;

   163

   164

}