--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AT91/Master/main.c Wed Oct 22 21:17:38 2008 +0200
@@ -0,0 +1,164 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+ARM Port: 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
+*/
+
+// Include Standard LIB files
+#include "AT91SAM7X-EK.h"
+#include <string.h>
+#include "config.h"
+#include "io_macro.h"
+/************************* CANopen includes **********************************/
+#include "canfestival.h"
+#include "objdict.h"
+#include "can_AT91.h"
+
+// Waiting time between AT91B_LED1 and AT91B_LED2
+#define WAIT_TIME AT91B_MCK
+
+#define PIO_INTERRUPT_LEVEL 6
+#define SOFT_INTERRUPT_LEVEL 2
+#define FIQ_INTERRUPT_LEVEL 7 // Always high
+
+// External Function Prototype
+extern void timer_init (unsigned int time);
+void sys_init();
+
+// Global variable
+extern int timer0_interrupt;
+
+unsigned int leds = 0;
+unsigned int keys,keys_old,keys_edge;
+
+unsigned char string_down[] = "1234567890x";
+unsigned char string_up[20];
+unsigned char val_down = 1;
+unsigned char val_up;
+unsigned char val_pdo = 1;
+
+// nodes
+#define MEMORY_MODULE 0
+#define OUTPUT_MODULE 1
+#define IO_MODULE 2
+
+// node ids
+#define ID_MEMORY_MODULE 0x20
+#define ID_OUTPUT_MODULE 0x21
+#define ID_IO_MODULE 0x22
+
+//----------------------------------------------------------------------------
+// Function Name : main
+// Object : Main interrupt function
+// Input Parameters : none
+// Output Parameters : TRUE
+//----------------------------------------------------------------------------
+int main(void)
+// Begin
+{
+ sys_init(); // Initialize system
+ timer_init(10);
+ canInit(CAN_BAUDRATE); // Initialize the CANopen bus
+ initTimer(); // Start timer for the CANopen stack
+ __enable_interrupt();
+ setState(&ObjDict_Data, Initialisation); // Init the state
+ setNodeId (&ObjDict_Data, 0x7F);
+ setState(&ObjDict_Data, Operational); // Put the master in operational mode
+
+
+ for (;;)
+ {
+ if (timer0_interrupt)
+ {
+ timer0_interrupt = 0;
+ AT91F_PIO_SetOutput(AT91C_BASE_PIOB, 0x01);
+
+ keys = ~AT91F_PIO_GetInput(AT91D_BASE_PIO_SW)>>21 & 0x1F;
+
+ keys_edge = keys & ~keys_old; // edge detection
+ keys_old = keys;
+
+// static Message m = Message_Initializer; // contain a CAN message
+
+// if (canReceive(&m)) // a message received
+// canDispatch(&ObjDict_Data, &m); // process it
+
+ if (checkbit(keys_edge,0)) // edge on key 0
+ {
+ masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Start_Node);
+// startSYNC(&ObjDict_Data);
+ }
+
+ if (checkbit(keys_edge,1)) // edge on key 1
+ {
+ masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Reset_Node);
+// stopSYNC(&ObjDict_Data);
+ }
+
+ if (checkbit(keys,2)) // edge on key 2
+ {
+ if (!(DO1 <<= 1)) // generate running light
+ DO1 = 1;
+ sendPDOevent (&ObjDict_Data);
+ }
+
+ if (checkbit(keys_edge,3)) // edge on key 3
+ {
+ }
+
+
+ leds = DI1;
+
+ AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, (leds << 19));
+ AT91F_PIO_SetOutput(AT91C_BASE_PIOB, ~(leds << 19) & AT91B_LED_MASK);
+
+ AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, 0x01);
+ }
+ }
+}
+
+void sys_init()
+/******************************************************************************
+Initialize the relays, the main states and the modbus protocol stack.
+INPUT LOCK_STATES *lock_states
+OUTPUT void
+******************************************************************************/
+{
+ // Enable User Reset and set its minimal assertion to 960 us
+ AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24);
+
+ // First, enable the clock of the PIOs
+ AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOA) ;
+ AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOB) ;
+
+ // then, we configure the PIO Lines corresponding to switches
+ // to be inputs.
+ AT91F_PIO_CfgInput(AT91C_BASE_PIOA, AT91B_SW_MASK) ;
+ // then, we configure the PIO Lines corresponding to AT91B_LEDx
+ // to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.
+ AT91F_PIO_CfgOutput(AT91C_BASE_PIOB, AT91B_LED_MASK | 0xFF) ;
+ // Clear the AT91B_LED's. On the EK we must apply a "1" to turn off AT91B_LEDs
+ AT91F_PIO_SetOutput(AT91C_BASE_PIOB, AT91B_LED_MASK) ;
+
+ AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
+ // Clear PA2 <=> Enable Transceiver Normal Mode (versus Standby mode)
+ AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
+
+}