--- a/examples/AVR/DS401_Slave/main.c Fri Mar 07 16:02:59 2008 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,158 +0,0 @@
-/*
-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
-}