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