Fix non freed windows handle. (thx to jaroslav.fojtik)
/*
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) ;
}