Mercurial Mercurial > canfestival / file revision
summary | shortlog | changelog | graph | tags | bookmarks | branches | files | changeset | file | latest | revisions | annotate | diff | comparison | raw | help
examples/AVR/Slave/hardware.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 413 57c7a451c671
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
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
*/
/******************************************************************************
MCU ports and Bits
Makros for access on hardware
******************************************************************************/

#ifndef _HARDWARE_INCLUDED
#define _HARDWARE_INCLUDED

/******************************************************************************
Makros for bit access on the ports and registers
******************************************************************************/
// Macros for set and clear bits in I/O registers
#define setbit(address,bit) ((address) |= (1<<(bit)))
#define clearbit(address,bit) ((address) &= ~(1<<(bit)))
#define togglebit(address,bit) ((address) ^= (1<<(bit)))

// Macro for testing of a single bit in an I/O location
#define checkbit(address,bit) ((address) & (1<<(bit)))

/************************** Hardware Makros **********************************/

// Read the inputs
#define get_inputs()		(~PINA)
#define read_bcd()		(~PINC & 0x0F)
// Write the outputs
#define set_outputs(val)	PORTB = ~(val)

#endif	// _HARDWARE_INCLUDED
canfestival