examples/AT91/Master/main.c
author Edouard Tisserant
Wed, 06 Mar 2013 11:32:27 +0900
changeset 771 4c74be252095
parent 521 731bbe1b67b4
permissions -rw-r--r--
Now can_tcp_win32 default to 127.0.0.1 and can_tcp_win32_server is verbose
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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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ARM Port: 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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// Include Standard LIB  files
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#include "AT91SAM7X-EK.h"
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#include <string.h>
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#include "config.h"
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#include "io_macro.h"
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/************************* CANopen includes **********************************/
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#include "canfestival.h"
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#include "objdict.h"
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#include "can_AT91.h"
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//   Waiting time between AT91B_LED1 and AT91B_LED2
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#define     WAIT_TIME       AT91B_MCK
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#define PIO_INTERRUPT_LEVEL     6
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#define SOFT_INTERRUPT_LEVEL	2
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#define FIQ_INTERRUPT_LEVEL     7  // Always high
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// External Function Prototype
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extern void timer_init (unsigned int time);
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void sys_init();
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// Global variable
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extern int timer0_interrupt;
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unsigned int leds = 0;
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unsigned int keys,keys_old,keys_edge;
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unsigned char string_down[] = "1234567890x";
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unsigned char string_up[20];
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unsigned char val_down = 1;
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unsigned char val_up;
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unsigned char val_pdo = 1;
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// nodes
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#define MEMORY_MODULE		0
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#define OUTPUT_MODULE		1
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#define IO_MODULE		2
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// node ids
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#define ID_MEMORY_MODULE	0x20
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#define ID_OUTPUT_MODULE	0x21
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#define ID_IO_MODULE		0x22
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//----------------------------------------------------------------------------
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// Function Name       : main
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// Object              : Main interrupt function
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// Input Parameters    : none
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// Output Parameters   : TRUE
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//----------------------------------------------------------------------------
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int main(void)
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// Begin
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{
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  sys_init();                                   // Initialize system
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  timer_init(10);
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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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  __enable_interrupt();
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  setState(&ObjDict_Data, Initialisation);	// Init the state
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  setNodeId (&ObjDict_Data, 0x7F);
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  setState(&ObjDict_Data, Operational);		// Put the master in operational mode
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  for (;;)
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  {
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    if (timer0_interrupt)
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    {
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      timer0_interrupt = 0;
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      AT91F_PIO_SetOutput(AT91C_BASE_PIOB, 0x01);
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      keys = ~AT91F_PIO_GetInput(AT91D_BASE_PIO_SW)>>21 & 0x1F;
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      keys_edge = keys & ~keys_old;	// edge detection
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      keys_old = keys;
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//      static Message m = Message_Initializer;		// contain a CAN message
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//      if (canReceive(&m))			// a message received
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//        canDispatch(&ObjDict_Data, &m);         // process it
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      if (checkbit(keys_edge,0))	// edge on key 0
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      {
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	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Start_Node);
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//	startSYNC(&ObjDict_Data);
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      }
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      if (checkbit(keys_edge,1))	// edge on key 1
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      {
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	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Reset_Node);
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//	stopSYNC(&ObjDict_Data);
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      }
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      if (checkbit(keys,2))	// edge on key 2
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      {
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	if (!(DO1 <<= 1))					// generate running light
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	  DO1 = 1;
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	sendPDOevent (&ObjDict_Data);
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      }
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      if (checkbit(keys_edge,3))	// edge on key 3
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      {
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      }
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      leds = DI1;
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      AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, (leds << 19));
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      AT91F_PIO_SetOutput(AT91C_BASE_PIOB, ~(leds << 19) & AT91B_LED_MASK);
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      AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, 0x01);
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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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  // Enable User Reset and set its minimal assertion to 960 us
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  AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24);
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  // First, enable the clock of the PIOs
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  AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOA) ;
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  AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOB) ;
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  // then, we configure the PIO Lines corresponding to switches
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  // to be inputs.
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  AT91F_PIO_CfgInput(AT91C_BASE_PIOA, AT91B_SW_MASK) ;
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  // then, we configure the PIO Lines corresponding to AT91B_LEDx
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  // to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.
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  AT91F_PIO_CfgOutput(AT91C_BASE_PIOB, AT91B_LED_MASK | 0xFF) ;
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  // Clear the AT91B_LED's. On the EK we must apply a "1" to turn off AT91B_LEDs
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  AT91F_PIO_SetOutput(AT91C_BASE_PIOB, AT91B_LED_MASK) ;
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  AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
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  // Clear PA2 <=> Enable Transceiver Normal Mode (versus Standby mode)
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  AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
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}