--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AVR/DS401_Slave/main.c Thu Jan 31 15:20:59 2008 +0100
@@ -0,0 +1,158 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+/******************************************************************************
+Project description:
+Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128
+Short description:
+ PORTA: Inputs (Keys, low active)
+ PORTB: Outputs (LEDs, low active)
+ PORTC: Node ID (1 BCD switch)
+
+******************************************************************************/
+#include "hardware.h"
+#include "canfestival.h"
+#include "can_AVR.h"
+#include "objdict.h"
+
+unsigned char timer_interrupt = 0; // Set if timer interrupt eclapsed
+unsigned char inputs;
+
+// CAN
+unsigned char nodeID;
+static Message m = Message_Initializer; // contain a CAN message
+
+static unsigned char old_input_value; // Inputs, to check if a input has changed
+
+void sys_init();
+
+// macros to handle the schedule timer
+#define sys_timer timer_interrupt
+#define reset_sys_timer() timer_interrupt = 0
+#define CYCLE_TIME 1000 // Sample Timebase [us]
+
+int main(void)
+{
+ sys_init(); // Initialize system
+ canInit(CAN_BAUDRATE); // Initialize the CANopen bus
+ initTimer(); // Start timer for the CANopen stack
+ nodeID = read_bcd(); // Read node ID first
+ setNodeId (&ObjDict_Data, nodeID);
+ setState(&ObjDict_Data, Initialisation); // Init the state
+ PDOInit(&ObjDict_Data);
+
+ // Examples for callbacks
+ // RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
+ // errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex,
+ // (void *) d->transfers[line].data, &size, 1);
+
+ for(;;) // forever loop
+ {
+ if (sys_timer) // Cycle timer, invoke action on every time slice
+ {
+ reset_sys_timer(); // Reset timer
+
+ // Read the input states from the ports
+ Read_Inputs_8_Bit[0] = get_inputs();
+ // Send the new input state if there was a change
+ if (old_input_value != Read_Inputs_8_Bit[0])
+ {
+ old_input_value = Read_Inputs_8_Bit[0];
+ if (getState(&ObjDict_Data) == Operational)
+ sendPDOevent(&ObjDict_Data);
+ }
+ set_outputs(Write_Outputs_8_Bit[0]);
+
+ // Check if CAN address has been changed
+ if(!( nodeID == read_bcd()))
+ {
+ nodeID = read_bcd(); // Save the new CAN adress
+ setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID
+ setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed
+ setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again
+ }
+ }
+ // Handle all MOB's at once, if a message was received pass it to the CANstack
+ if (canReceive(&m)) // a message reveived
+ canDispatch(&ObjDict_Data, &m); // process it
+ else
+ {
+ // Enter sleep mode
+ #ifdef WD_SLEEP // Watchdog and Sleep
+ wdt_reset();
+ sleep_enable();
+ sleep_cpu();
+ #endif // Watchdog and Sleep
+ }
+ }
+}
+
+void sys_init()
+/******************************************************************************
+Initialize the relays, the main states and the modbus protocol stack.
+INPUT LOCK_STATES *lock_states
+OUTPUT void
+******************************************************************************/
+{
+ OSCCAL = 0x43;
+
+ PORTA = 0xFF; // Inputs (Keys, low active) with pullup
+ DDRA = 0x00; //
+ PORTB = 0xFF; // Outputs (LEDs, low active) all 1
+ DDRB = 0xFF; //
+ PORTC = 0xFF; // 1 BCD switch with pullup
+ DDRC = 0x00; //
+ PORTD = 0x2C; // 2xCOM, unused, CAN, unused
+ DDRD = 0x2A; // All init 0 or without pullup
+ PORTE = 0x00; // Output
+ DDRE = 0x3C; // 2x not used, 2x not used
+ PORTF = 0x00; // Not used
+ DDRF = 0xFF; // All output
+ PORTG = 0x00; // Not used
+ DDRG = 0x1F; // Output for debug (only 5 pins)
+
+// Set timer 0 for main schedule time
+ TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten
+ TIMSK0 = 1 << OCIE0A; // Timer Interrupts: Timer 0 Compare
+ OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1); // Reloadvalue for timer 0
+ #ifdef WD_SLEEP // Watchdog and Sleep
+ wdt_reset();
+ wdt_enable(WDTO_15MS); // Watchdogtimer start with 16 ms timeout
+ #endif // Watchdog and Sleep
+ sei(); // Enable Interrupts
+}
+
+
+#ifdef __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=TIMER0_COMP_vect
+void TIMER0_COMP_interrupt(void)
+#else // GCC
+ISR(TIMER0_COMP_vect)
+#endif // GCC
+/******************************************************************************
+Interruptserviceroutine Timer 2 Compare A for the main cycle
+******************************************************************************/
+
+{
+ timer_interrupt = 1; // Set flag
+}