peter@413: /* peter@413: This file is part of CanFestival, a library implementing CanOpen Stack. peter@413: peter@413: Copyright (C): Edouard TISSERANT and Francis DUPIN peter@413: AVR Port: Andreas GLAUSER and Peter CHRISTEN peter@413: peter@413: See COPYING file for copyrights details. peter@413: peter@413: This library is free software; you can redistribute it and/or peter@413: modify it under the terms of the GNU Lesser General Public peter@413: License as published by the Free Software Foundation; either peter@413: version 2.1 of the License, or (at your option) any later version. peter@413: peter@413: This library is distributed in the hope that it will be useful, peter@413: but WITHOUT ANY WARRANTY; without even the implied warranty of peter@413: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU peter@413: Lesser General Public License for more details. peter@413: peter@413: You should have received a copy of the GNU Lesser General Public peter@413: License along with this library; if not, write to the Free Software peter@413: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA peter@413: */ peter@413: /****************************************************************************** peter@413: Project description: peter@413: Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128 peter@413: Short description: peter@413: PORTA: Inputs (Keys, low active) peter@413: PORTB: Outputs (LEDs, low active) peter@525: PORTC: Node ID (1 BCD switch, low active) peter@413: peter@413: ******************************************************************************/ peter@413: #include "hardware.h" peter@413: #include "canfestival.h" peter@413: #include "can_AVR.h" hacking@675: #include "ObjDict.h" peter@413: #include "ds401.h" peter@413: peter@413: unsigned char timer_interrupt = 0; // Set if timer interrupt eclapsed peter@413: unsigned char inputs; peter@413: peter@413: // CAN peter@413: unsigned char nodeID; peter@413: unsigned char digital_input[1] = {0}; peter@413: unsigned char digital_output[1] = {0}; peter@413: peter@413: static Message m = Message_Initializer; // contain a CAN message peter@413: peter@413: void sys_init(); peter@413: peter@413: // macros to handle the schedule timer peter@413: #define sys_timer timer_interrupt peter@413: #define reset_sys_timer() timer_interrupt = 0 peter@413: #define CYCLE_TIME 1000 // Sample Timebase [us] peter@413: peter@413: int main(void) peter@413: { peter@413: sys_init(); // Initialize system peter@413: canInit(CAN_BAUDRATE); // Initialize the CANopen bus peter@413: initTimer(); // Start timer for the CANopen stack peter@413: nodeID = read_bcd(); // Read node ID first peter@413: setNodeId (&ObjDict_Data, nodeID); peter@413: setState(&ObjDict_Data, Initialisation); // Init the state peter@413: peter@413: for(;;) // forever loop peter@413: { peter@413: if (sys_timer) // Cycle timer, invoke action on every time slice peter@413: { peter@413: reset_sys_timer(); // Reset timer peter@413: digital_input[0] = get_inputs(); peter@413: digital_input_handler(&ObjDict_Data, digital_input, sizeof(digital_input)); peter@413: digital_output_handler(&ObjDict_Data, digital_output, sizeof(digital_output)); peter@413: set_outputs(digital_output[0]); peter@413: peter@413: // Check if CAN address has been changed peter@413: if(!( nodeID == read_bcd())) peter@413: { peter@413: nodeID = read_bcd(); // Save the new CAN adress peter@413: setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID peter@413: setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed peter@413: setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again peter@413: } peter@413: } peter@413: peter@413: // a message was received pass it to the CANstack peter@413: if (canReceive(&m)) // a message reveived peter@413: canDispatch(&ObjDict_Data, &m); // process it peter@413: else peter@413: { peter@413: // Enter sleep mode peter@413: #ifdef WD_SLEEP // Watchdog and Sleep peter@413: wdt_reset(); peter@413: sleep_enable(); peter@413: sleep_cpu(); peter@413: #endif // Watchdog and Sleep peter@413: } peter@413: } peter@413: } peter@413: peter@413: void sys_init() peter@413: /****************************************************************************** peter@413: Initialize the relays, the main states and the modbus protocol stack. peter@413: INPUT LOCK_STATES *lock_states peter@413: OUTPUT void peter@413: ******************************************************************************/ peter@413: { peter@525: OSCCAL = 0x43; // adjust the RC oszillator peter@413: peter@413: PORTA = 0xFF; // Inputs (Keys, low active) with pullup peter@413: DDRA = 0x00; // peter@413: PORTB = 0xFF; // Outputs (LEDs, low active) all 1 peter@413: DDRB = 0xFF; // peter@413: PORTC = 0xFF; // 1 BCD switch with pullup peter@413: DDRC = 0x00; // peter@413: PORTD = 0x2C; // 2xCOM, unused, CAN, unused peter@413: DDRD = 0x2A; // All init 0 or without pullup peter@413: PORTE = 0x00; // Output peter@413: DDRE = 0x3C; // 2x not used, 2x not used peter@413: PORTF = 0x00; // Not used peter@413: DDRF = 0xFF; // All output peter@413: PORTG = 0x00; // Not used peter@413: DDRG = 0x1F; // Output for debug (only 5 pins) peter@413: peter@413: // Set timer 0 for main schedule time peter@413: TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten peter@413: TIMSK0 = 1 << OCIE0A; // Timer Interrupts: Timer 0 Compare peter@413: OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1); // Reloadvalue for timer 0 peter@413: #ifdef WD_SLEEP // Watchdog and Sleep peter@413: wdt_reset(); peter@413: wdt_enable(WDTO_15MS); // Watchdogtimer start with 16 ms timeout peter@413: #endif // Watchdog and Sleep peter@413: sei(); // Enable Interrupts peter@413: } peter@413: peter@413: peter@413: #ifdef __IAR_SYSTEMS_ICC__ peter@413: #pragma type_attribute = __interrupt peter@413: #pragma vector=TIMER0_COMP_vect peter@413: void TIMER0_COMP_interrupt(void) peter@413: #else // GCC peter@413: ISR(TIMER0_COMP_vect) peter@413: #endif // GCC peter@413: /****************************************************************************** peter@413: Interruptserviceroutine Timer 2 Compare A for the main cycle peter@413: ******************************************************************************/ peter@413: peter@413: { peter@413: timer_interrupt = 1; // Set flag peter@413: }