examples/AVR/DS401_Slave/main.c
author peter
Fri, 07 Mar 2008 16:02:59 +0100
changeset 414 d6d31c35676b
parent 375 03fb0bfccc1f
permissions -rw-r--r--
included data.h
375
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     1
/*
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack.
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     3
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     5
AVR Port: Andreas GLAUSER and Peter CHRISTEN
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     6
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     7
See COPYING file for copyrights details.
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     8
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
     9
This library is free software; you can redistribute it and/or
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    10
modify it under the terms of the GNU Lesser General Public
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    11
License as published by the Free Software Foundation; either
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    12
version 2.1 of the License, or (at your option) any later version.
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    13
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    14
This library is distributed in the hope that it will be useful,
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    15
but WITHOUT ANY WARRANTY; without even the implied warranty of
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    16
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    17
Lesser General Public License for more details.
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    18
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    19
You should have received a copy of the GNU Lesser General Public
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    20
License along with this library; if not, write to the Free Software
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    21
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    22
*/
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    23
/******************************************************************************
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    24
Project description:
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    25
Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    26
Short description:
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    27
  PORTA:	Inputs (Keys, low active)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    28
  PORTB:	Outputs (LEDs, low active)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    29
  PORTC:	Node ID (1 BCD switch)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    30
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    31
******************************************************************************/
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    32
#include "hardware.h"
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    33
#include "canfestival.h"
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    34
#include "can_AVR.h"
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    35
#include "objdict.h"
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    36
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    37
unsigned char timer_interrupt = 0;		// Set if timer interrupt eclapsed
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    38
unsigned char inputs;
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    39
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    40
// CAN
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    41
unsigned char nodeID;
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    42
static Message m = Message_Initializer;		// contain a CAN message
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    43
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    44
static unsigned char old_input_value;		// Inputs, to check if a input has changed
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    45
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    46
void sys_init();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    47
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    48
// macros to handle the schedule timer
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    49
#define sys_timer			timer_interrupt
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    50
#define reset_sys_timer()		timer_interrupt = 0
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    51
#define CYCLE_TIME	        	1000     	// Sample Timebase [us]
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    52
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    53
int main(void)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    54
{
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    55
  sys_init();                                   // Initialize system
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    56
  canInit(CAN_BAUDRATE);         		// Initialize the CANopen bus
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    57
  initTimer();                                 	// Start timer for the CANopen stack
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    58
  nodeID = read_bcd();				// Read node ID first
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    59
  setNodeId (&ObjDict_Data, nodeID);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    60
  setState(&ObjDict_Data, Initialisation);	// Init the state
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    61
  PDOInit(&ObjDict_Data);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    62
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    63
  // Examples for callbacks
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    64
  // RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    65
  // errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, 
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    66
  // (void *) d->transfers[line].data, &size, 1);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    67
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    68
  for(;;)		                        // forever loop
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    69
  {
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    70
    if (sys_timer)	                        // Cycle timer, invoke action on every time slice
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    71
    {
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    72
      reset_sys_timer();	                // Reset timer
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    73
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    74
      // Read the input states from the ports
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    75
      Read_Inputs_8_Bit[0]  = get_inputs();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    76
      // Send the new input state if there was a change
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    77
      if (old_input_value != Read_Inputs_8_Bit[0])
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    78
      {
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    79
          old_input_value = Read_Inputs_8_Bit[0];
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    80
	  if (getState(&ObjDict_Data) == Operational)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    81
	    sendPDOevent(&ObjDict_Data);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    82
      }
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    83
      set_outputs(Write_Outputs_8_Bit[0]);
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    84
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    85
      // Check if CAN address has been changed
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    86
      if(!( nodeID == read_bcd()))
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    87
      {
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    88
        nodeID = read_bcd();                    // Save the new CAN adress
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    89
        setState(&ObjDict_Data, Stopped);         // Stop the node, to change the node ID
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    90
        setNodeId(&ObjDict_Data, nodeID);         // Now the CAN adress is changed
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    91
        setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    92
      }
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    93
    }
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    94
    // Handle all MOB's at once, if a message was received pass it to the CANstack
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    95
    if (canReceive(&m))			// a message reveived
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    96
      canDispatch(&ObjDict_Data, &m);         // process it
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    97
    else
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    98
    {
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
    99
      // Enter sleep mode
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   100
      #ifdef WD_SLEEP		// Watchdog and Sleep
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   101
      wdt_reset();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   102
      sleep_enable();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   103
      sleep_cpu();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   104
      #endif				// Watchdog and Sleep
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   105
    }
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   106
  }
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   107
}
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   108
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   109
void sys_init()
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   110
/******************************************************************************
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   111
Initialize the relays, the main states and the modbus protocol stack.
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   112
INPUT	LOCK_STATES *lock_states
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   113
OUTPUT	void
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   114
******************************************************************************/
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   115
{
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   116
  OSCCAL = 0x43;
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   117
  
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   118
  PORTA = 0xFF;	                        // Inputs (Keys, low active) with pullup
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   119
  DDRA  = 0x00;		                // 
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   120
  PORTB = 0xFF;	                        // Outputs (LEDs, low active) all 1
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   121
  DDRB  = 0xFF;		                // 
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   122
  PORTC = 0xFF;	                        // 1 BCD switch with pullup
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   123
  DDRC  = 0x00;		                // 
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   124
  PORTD = 0x2C;	                        // 2xCOM, unused, CAN, unused
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   125
  DDRD  = 0x2A;		                // All init 0 or without pullup
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   126
  PORTE = 0x00;	                        // Output
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   127
  DDRE  = 0x3C;		                // 2x not used, 2x not used
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   128
  PORTF = 0x00;	                        // Not used
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   129
  DDRF  = 0xFF;		                // All output
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   130
  PORTG = 0x00;	                        // Not used
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   131
  DDRG  = 0x1F;		                // Output for debug (only 5 pins)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   132
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   133
// Set timer 0 for main schedule time
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   134
  TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   135
  TIMSK0 = 1 << OCIE0A;		        // Timer Interrupts: Timer 0 Compare
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   136
  OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1);	// Reloadvalue for timer 0
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   137
  #ifdef WD_SLEEP		// Watchdog and Sleep
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   138
  wdt_reset();
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   139
  wdt_enable(WDTO_15MS);   	// Watchdogtimer start with 16 ms timeout
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   140
  #endif			// Watchdog and Sleep
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   141
  sei();         // Enable Interrupts
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   142
}
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   143
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   144
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   145
#ifdef  __IAR_SYSTEMS_ICC__
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   146
#pragma type_attribute = __interrupt
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   147
#pragma vector=TIMER0_COMP_vect
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   148
void TIMER0_COMP_interrupt(void)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   149
#else	// GCC
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   150
ISR(TIMER0_COMP_vect)
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   151
#endif	// GCC
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   152
/******************************************************************************
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   153
Interruptserviceroutine Timer 2 Compare A for the main cycle
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   154
******************************************************************************/
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   155
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   156
{
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   157
  timer_interrupt = 1;	// Set flag
03fb0bfccc1f AVR port, thanks to Peter Christen, Comat AG.
etisserant
parents:
diff changeset
   158
}