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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 ARM Port: 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 // Include Standard LIB files |
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25 #include "AT91SAM7X-EK.h" |
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26 #include <string.h> |
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27 #include "config.h" |
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28 #include "io_macro.h" |
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29 /************************* CANopen includes **********************************/ |
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30 #include "canfestival.h" |
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31 #include "objdict.h" |
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32 #include "can_AT91.h" |
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33 |
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34 // Waiting time between AT91B_LED1 and AT91B_LED2 |
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35 #define WAIT_TIME AT91B_MCK |
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36 |
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37 #define PIO_INTERRUPT_LEVEL 6 |
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38 #define SOFT_INTERRUPT_LEVEL 2 |
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39 #define FIQ_INTERRUPT_LEVEL 7 // Always high |
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40 |
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41 // External Function Prototype |
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42 extern void timer_init (unsigned int time); |
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43 void sys_init(); |
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44 |
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45 // Global variable |
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46 extern int timer0_interrupt; |
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47 |
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48 unsigned int leds = 0; |
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49 unsigned int keys,keys_old,keys_edge; |
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50 |
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51 unsigned char string_down[] = "1234567890x"; |
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52 unsigned char string_up[20]; |
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53 unsigned char val_down = 1; |
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54 unsigned char val_up; |
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55 unsigned char val_pdo = 1; |
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56 |
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57 // nodes |
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58 #define MEMORY_MODULE 0 |
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59 #define OUTPUT_MODULE 1 |
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60 #define IO_MODULE 2 |
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61 |
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62 // node ids |
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63 #define ID_MEMORY_MODULE 0x20 |
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64 #define ID_OUTPUT_MODULE 0x21 |
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65 #define ID_IO_MODULE 0x22 |
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66 |
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67 //---------------------------------------------------------------------------- |
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68 // Function Name : main |
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69 // Object : Main interrupt function |
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70 // Input Parameters : none |
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71 // Output Parameters : TRUE |
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72 //---------------------------------------------------------------------------- |
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73 int main(void) |
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74 // Begin |
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75 { |
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76 sys_init(); // Initialize system |
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77 timer_init(10); |
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78 canInit(CAN_BAUDRATE); // Initialize the CANopen bus |
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79 initTimer(); // Start timer for the CANopen stack |
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80 __enable_interrupt(); |
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81 setState(&ObjDict_Data, Initialisation); // Init the state |
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82 setNodeId (&ObjDict_Data, 0x7F); |
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83 setState(&ObjDict_Data, Operational); // Put the master in operational mode |
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84 |
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85 |
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86 for (;;) |
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87 { |
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88 if (timer0_interrupt) |
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89 { |
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90 timer0_interrupt = 0; |
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91 AT91F_PIO_SetOutput(AT91C_BASE_PIOB, 0x01); |
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92 |
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93 keys = ~AT91F_PIO_GetInput(AT91D_BASE_PIO_SW)>>21 & 0x1F; |
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94 |
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95 keys_edge = keys & ~keys_old; // edge detection |
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96 keys_old = keys; |
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97 |
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98 // static Message m = Message_Initializer; // contain a CAN message |
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99 |
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100 // if (canReceive(&m)) // a message received |
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101 // canDispatch(&ObjDict_Data, &m); // process it |
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102 |
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103 if (checkbit(keys_edge,0)) // edge on key 0 |
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104 { |
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105 masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Start_Node); |
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106 // startSYNC(&ObjDict_Data); |
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107 } |
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108 |
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109 if (checkbit(keys_edge,1)) // edge on key 1 |
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110 { |
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111 masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Reset_Node); |
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112 // stopSYNC(&ObjDict_Data); |
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113 } |
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114 |
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115 if (checkbit(keys,2)) // edge on key 2 |
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116 { |
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117 if (!(DO1 <<= 1)) // generate running light |
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118 DO1 = 1; |
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119 sendPDOevent (&ObjDict_Data); |
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120 } |
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121 |
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122 if (checkbit(keys_edge,3)) // edge on key 3 |
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123 { |
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124 } |
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125 |
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126 |
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127 leds = DI1; |
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128 |
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129 AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, (leds << 19)); |
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130 AT91F_PIO_SetOutput(AT91C_BASE_PIOB, ~(leds << 19) & AT91B_LED_MASK); |
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131 |
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132 AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, 0x01); |
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133 } |
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134 } |
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135 } |
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136 |
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137 void sys_init() |
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138 /****************************************************************************** |
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139 Initialize the relays, the main states and the modbus protocol stack. |
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140 INPUT LOCK_STATES *lock_states |
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141 OUTPUT void |
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142 ******************************************************************************/ |
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143 { |
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144 // Enable User Reset and set its minimal assertion to 960 us |
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145 AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24); |
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146 |
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147 // First, enable the clock of the PIOs |
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148 AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOA) ; |
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149 AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOB) ; |
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150 |
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151 // then, we configure the PIO Lines corresponding to switches |
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152 // to be inputs. |
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153 AT91F_PIO_CfgInput(AT91C_BASE_PIOA, AT91B_SW_MASK) ; |
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154 // then, we configure the PIO Lines corresponding to AT91B_LEDx |
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155 // 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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156 AT91F_PIO_CfgOutput(AT91C_BASE_PIOB, AT91B_LED_MASK | 0xFF) ; |
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157 // Clear the AT91B_LED's. On the EK we must apply a "1" to turn off AT91B_LEDs |
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158 AT91F_PIO_SetOutput(AT91C_BASE_PIOB, AT91B_LED_MASK) ; |
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159 |
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160 AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ; |
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161 // Clear PA2 <=> Enable Transceiver Normal Mode (versus Standby mode) |
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162 AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ; |
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163 |
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164 } |