diff -r cc993e72b7e6 -r 731bbe1b67b4 examples/AT91/Master/main.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/AT91/Master/main.c	Wed Oct 22 21:17:38 2008 +0200
@@ -0,0 +1,164 @@
+/*
+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) ;
+
+}