peter@521: /*
peter@521: This file is part of CanFestival, a library implementing CanOpen Stack.
peter@521: 
peter@521: Copyright (C): Edouard TISSERANT and Francis DUPIN
peter@521: ARM Port: Peter CHRISTEN
peter@521: 
peter@521: See COPYING file for copyrights details.
peter@521: 
peter@521: This library is free software; you can redistribute it and/or
peter@521: modify it under the terms of the GNU Lesser General Public
peter@521: License as published by the Free Software Foundation; either
peter@521: version 2.1 of the License, or (at your option) any later version.
peter@521: 
peter@521: This library is distributed in the hope that it will be useful,
peter@521: but WITHOUT ANY WARRANTY; without even the implied warranty of
peter@521: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
peter@521: Lesser General Public License for more details.
peter@521: 
peter@521: You should have received a copy of the GNU Lesser General Public
peter@521: License along with this library; if not, write to the Free Software
peter@521: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
peter@521: */
peter@521: 
peter@521: // Include Standard LIB  files
peter@521: #include "AT91SAM7X-EK.h"
peter@521: #include <string.h>
peter@521: #include "config.h"
peter@521: #include "io_macro.h"
peter@521: /************************* CANopen includes **********************************/
peter@521: #include "canfestival.h"
peter@521: #include "objdict.h"
peter@521: #include "can_AT91.h"
peter@521: 
peter@521: //   Waiting time between AT91B_LED1 and AT91B_LED2
peter@521: #define     WAIT_TIME       AT91B_MCK
peter@521: 
peter@521: #define PIO_INTERRUPT_LEVEL     6
peter@521: #define SOFT_INTERRUPT_LEVEL	2
peter@521: #define FIQ_INTERRUPT_LEVEL     7  // Always high
peter@521: 
peter@521: // External Function Prototype
peter@521: extern void timer_init (unsigned int time);
peter@521: void sys_init();
peter@521: 
peter@521: // Global variable
peter@521: extern int timer0_interrupt;
peter@521: 
peter@521: unsigned int leds = 0;
peter@521: unsigned int keys,keys_old,keys_edge;
peter@521: 
peter@521: unsigned char string_down[] = "1234567890x";
peter@521: unsigned char string_up[20];
peter@521: unsigned char val_down = 1;
peter@521: unsigned char val_up;
peter@521: unsigned char val_pdo = 1;
peter@521: 
peter@521: // nodes
peter@521: #define MEMORY_MODULE		0
peter@521: #define OUTPUT_MODULE		1
peter@521: #define IO_MODULE		2
peter@521: 
peter@521: // node ids
peter@521: #define ID_MEMORY_MODULE	0x20
peter@521: #define ID_OUTPUT_MODULE	0x21
peter@521: #define ID_IO_MODULE		0x22
peter@521: 
peter@521: //----------------------------------------------------------------------------
peter@521: // Function Name       : main
peter@521: // Object              : Main interrupt function
peter@521: // Input Parameters    : none
peter@521: // Output Parameters   : TRUE
peter@521: //----------------------------------------------------------------------------
peter@521: int main(void)
peter@521: // Begin
peter@521: {
peter@521:   sys_init();                                   // Initialize system
peter@521:   timer_init(10);
peter@521:   canInit(CAN_BAUDRATE);         		// Initialize the CANopen bus
peter@521:   initTimer();                                 	// Start timer for the CANopen stack
peter@521:   __enable_interrupt();
peter@521:   setState(&ObjDict_Data, Initialisation);	// Init the state
peter@521:   setNodeId (&ObjDict_Data, 0x7F);
peter@521:   setState(&ObjDict_Data, Operational);		// Put the master in operational mode
peter@521: 	
peter@521: 
peter@521:   for (;;)
peter@521:   {
peter@521:     if (timer0_interrupt)
peter@521:     {
peter@521:       timer0_interrupt = 0;
peter@521:       AT91F_PIO_SetOutput(AT91C_BASE_PIOB, 0x01);
peter@521: 
peter@521:       keys = ~AT91F_PIO_GetInput(AT91D_BASE_PIO_SW)>>21 & 0x1F;
peter@521: 
peter@521:       keys_edge = keys & ~keys_old;	// edge detection
peter@521:       keys_old = keys;
peter@521: 
peter@521: //      static Message m = Message_Initializer;		// contain a CAN message
peter@521: 
peter@521: //      if (canReceive(&m))			// a message received
peter@521: //        canDispatch(&ObjDict_Data, &m);         // process it
peter@521: 
peter@521:       if (checkbit(keys_edge,0))	// edge on key 0
peter@521:       {
peter@521: 	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Start_Node);
peter@521: //	startSYNC(&ObjDict_Data);
peter@521:       }
peter@521: 
peter@521:       if (checkbit(keys_edge,1))	// edge on key 1
peter@521:       {
peter@521: 	masterSendNMTstateChange (&ObjDict_Data, 0x00, NMT_Reset_Node);
peter@521: //	stopSYNC(&ObjDict_Data);
peter@521:       }
peter@521: 
peter@521:       if (checkbit(keys,2))	// edge on key 2
peter@521:       {
peter@521: 	if (!(DO1 <<= 1))					// generate running light
peter@521: 	  DO1 = 1;
peter@521: 	sendPDOevent (&ObjDict_Data);
peter@521:       }
peter@521: 
peter@521:       if (checkbit(keys_edge,3))	// edge on key 3
peter@521:       {
peter@521:       }
peter@521: 
peter@521: 
peter@521:       leds = DI1;
peter@521: 
peter@521:       AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, (leds << 19));
peter@521:       AT91F_PIO_SetOutput(AT91C_BASE_PIOB, ~(leds << 19) & AT91B_LED_MASK);
peter@521: 
peter@521:       AT91F_PIO_ClearOutput(AT91C_BASE_PIOB, 0x01);
peter@521:     }
peter@521:   }
peter@521: }
peter@521: 
peter@521: void sys_init()
peter@521: /******************************************************************************
peter@521: Initialize the relays, the main states and the modbus protocol stack.
peter@521: INPUT	LOCK_STATES *lock_states
peter@521: OUTPUT	void
peter@521: ******************************************************************************/
peter@521: {
peter@521:   // Enable User Reset and set its minimal assertion to 960 us
peter@521:   AT91C_BASE_RSTC->RSTC_RMR = AT91C_RSTC_URSTEN | (0x4<<8) | (unsigned int)(0xA5<<24);
peter@521: 
peter@521:   // First, enable the clock of the PIOs
peter@521:   AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOA) ;
peter@521:   AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_PIOB) ;
peter@521: 
peter@521:   // then, we configure the PIO Lines corresponding to switches
peter@521:   // to be inputs.
peter@521:   AT91F_PIO_CfgInput(AT91C_BASE_PIOA, AT91B_SW_MASK) ;
peter@521:   // then, we configure the PIO Lines corresponding to AT91B_LEDx
peter@521:   // to be outputs. No need to set these pins to be driven by the PIO because it is GPIO pins only.
peter@521:   AT91F_PIO_CfgOutput(AT91C_BASE_PIOB, AT91B_LED_MASK | 0xFF) ;
peter@521:   // Clear the AT91B_LED's. On the EK we must apply a "1" to turn off AT91B_LEDs
peter@521:   AT91F_PIO_SetOutput(AT91C_BASE_PIOB, AT91B_LED_MASK) ;
peter@521: 
peter@521:   AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
peter@521:   // Clear PA2 <=> Enable Transceiver Normal Mode (versus Standby mode)
peter@521:   AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91B_CAN_TRANSCEIVER_RS) ;
peter@521: 
peter@521: }