diff -r d6d31c35676b -r ac9d693fc589 examples/AVR/DS401_Slave/main.c --- a/examples/AVR/DS401_Slave/main.c Fri Mar 07 16:02:59 2008 +0100 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,158 +0,0 @@ -/* -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 -*/ -/****************************************************************************** -Project description: -Test projekt for a DS 401 slave, running on Atmel's STK500 with AT90CAN128 -Short description: - PORTA: Inputs (Keys, low active) - PORTB: Outputs (LEDs, low active) - PORTC: Node ID (1 BCD switch) - -******************************************************************************/ -#include "hardware.h" -#include "canfestival.h" -#include "can_AVR.h" -#include "objdict.h" - -unsigned char timer_interrupt = 0; // Set if timer interrupt eclapsed -unsigned char inputs; - -// CAN -unsigned char nodeID; -static Message m = Message_Initializer; // contain a CAN message - -static unsigned char old_input_value; // Inputs, to check if a input has changed - -void sys_init(); - -// macros to handle the schedule timer -#define sys_timer timer_interrupt -#define reset_sys_timer() timer_interrupt = 0 -#define CYCLE_TIME 1000 // Sample Timebase [us] - -int main(void) -{ - sys_init(); // Initialize system - canInit(CAN_BAUDRATE); // Initialize the CANopen bus - initTimer(); // Start timer for the CANopen stack - nodeID = read_bcd(); // Read node ID first - setNodeId (&ObjDict_Data, nodeID); - setState(&ObjDict_Data, Initialisation); // Init the state - PDOInit(&ObjDict_Data); - - // Examples for callbacks - // RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate); - // errorCode = setODentry(d, d->transfers[line].index, d->transfers[line].subIndex, - // (void *) d->transfers[line].data, &size, 1); - - for(;;) // forever loop - { - if (sys_timer) // Cycle timer, invoke action on every time slice - { - reset_sys_timer(); // Reset timer - - // Read the input states from the ports - Read_Inputs_8_Bit[0] = get_inputs(); - // Send the new input state if there was a change - if (old_input_value != Read_Inputs_8_Bit[0]) - { - old_input_value = Read_Inputs_8_Bit[0]; - if (getState(&ObjDict_Data) == Operational) - sendPDOevent(&ObjDict_Data); - } - set_outputs(Write_Outputs_8_Bit[0]); - - // Check if CAN address has been changed - if(!( nodeID == read_bcd())) - { - nodeID = read_bcd(); // Save the new CAN adress - setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID - setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed - setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again - } - } - // Handle all MOB's at once, if a message was received pass it to the CANstack - if (canReceive(&m)) // a message reveived - canDispatch(&ObjDict_Data, &m); // process it - else - { - // Enter sleep mode - #ifdef WD_SLEEP // Watchdog and Sleep - wdt_reset(); - sleep_enable(); - sleep_cpu(); - #endif // Watchdog and Sleep - } - } -} - -void sys_init() -/****************************************************************************** -Initialize the relays, the main states and the modbus protocol stack. -INPUT LOCK_STATES *lock_states -OUTPUT void -******************************************************************************/ -{ - OSCCAL = 0x43; - - PORTA = 0xFF; // Inputs (Keys, low active) with pullup - DDRA = 0x00; // - PORTB = 0xFF; // Outputs (LEDs, low active) all 1 - DDRB = 0xFF; // - PORTC = 0xFF; // 1 BCD switch with pullup - DDRC = 0x00; // - PORTD = 0x2C; // 2xCOM, unused, CAN, unused - DDRD = 0x2A; // All init 0 or without pullup - PORTE = 0x00; // Output - DDRE = 0x3C; // 2x not used, 2x not used - PORTF = 0x00; // Not used - DDRF = 0xFF; // All output - PORTG = 0x00; // Not used - DDRG = 0x1F; // Output for debug (only 5 pins) - -// Set timer 0 for main schedule time - TCCR0A |= 1 << WGM01 | 1 << CS01 | 1 << CS00;// Timer 0 CTC , Timer 0 mit CK/64 starten - TIMSK0 = 1 << OCIE0A; // Timer Interrupts: Timer 0 Compare - OCR0A = (unsigned char)(F_CPU / 64 * CYCLE_TIME/1000000 - 1); // Reloadvalue for timer 0 - #ifdef WD_SLEEP // Watchdog and Sleep - wdt_reset(); - wdt_enable(WDTO_15MS); // Watchdogtimer start with 16 ms timeout - #endif // Watchdog and Sleep - sei(); // Enable Interrupts -} - - -#ifdef __IAR_SYSTEMS_ICC__ -#pragma type_attribute = __interrupt -#pragma vector=TIMER0_COMP_vect -void TIMER0_COMP_interrupt(void) -#else // GCC -ISR(TIMER0_COMP_vect) -#endif // GCC -/****************************************************************************** -Interruptserviceroutine Timer 2 Compare A for the main cycle -******************************************************************************/ - -{ - timer_interrupt = 1; // Set flag -}