examples/AVR/Slave/main.c
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 675 e5c5101c4f0b
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS.
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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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e5c5101c4f0b FIXED: - The AVR example now compiles in linux.
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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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}