Diff: source/main.cpp

Revision:

0:9dd7c6129683

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/main.cpp	Mon May 30 07:36:47 2011 +0000
@@ -0,0 +1,148 @@
+/**************************************************************
+    CAN OPEN SAMPLE    - MBED MASTER
+**************************************************************/
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+mbed Port: sgrove
+
+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:
+    
+    Allow a user to change the bus state by sending COM messages to the device
+    57600 baud 8-n-1 send "help" for a list of options and formating info
+    CAN speed - 125k
+
+******************************************************************************/
+
+#include "mbed.h"
+#include "main.h"
+#include "canfestival.h"
+#include "can_mbed.h"
+#include "mbed_master.h"
+#include "port_helper.h"
+
+// Set used for main program timing control
+Ticker SysTimer;
+// flag used by the main program timing control interrupt
+uint8_t timer_interrupt = 0;
+
+// CAN - put and take data from the stack
+uint8_t nodeID;
+uint8_t change_node_id;
+NMTStateAdjustment stack_state = reset;
+
+// read a can message from the stack
+static Message m = Message_Initializer;
+const Message empty_msg = Message_Initializer;
+
+int main() 
+{
+    // start the debug helper
+    initHelper();
+    // start the system timer 
+    SysTimer.attach_us(&serviceSysTimer, CYCLE_TIME*10);
+    // Initialize the CANopen bus
+    canInit(CAN_BAUDRATE);
+    // Start timer for the CANopen stack
+    initTimer();  
+    // set the default node id (1-127)
+    nodeID = 0x7f;
+    // Init the state
+    setState(&mbed_master_Data, Initialisation);
+    setNodeId (&mbed_master_Data, nodeID);
+    // Put the master in operational mode
+    setState(&mbed_master_Data, Operational);
+
+    // keep on loopin'
+    while(1){
+        
+        // just testing the rx functionality
+        if (canReceive(&m)){
+            // the stack can crash with interrupts enabled
+            __disable_irq();
+            // pass the message on and process it
+            canDispatch(&mbed_master_Data, &m); 
+            // get back to work
+            __enable_irq();
+            // and print the message for debugging
+            printMsg(m);
+            // empty it for the next use
+            m = empty_msg;
+        }
+
+        // set the main loop exectuion speed at 10mS
+        if (sys_timer){
+            // Reset timer
+            reset_sys_timer();    
+
+            // look for COM requests
+            serviceCOMCommands();
+
+            // change operational state??
+            switch(stack_state){
+
+                case start:
+                    masterSendNMTstateChange (&mbed_master_Data, 0x00, NMT_Start_Node);
+                    startSYNC(&mbed_master_Data);
+                    stack_state = undefined;
+                    break;
+
+                case reset:
+                    masterSendNMTstateChange (&mbed_master_Data, 0x00, NMT_Reset_Node);
+                    startSYNC(&mbed_master_Data);
+                    stack_state = undefined;
+                    break;
+
+                case stop:
+                    masterSendNMTstateChange (&mbed_master_Data, 0x00, NMT_Stop_Node );
+                    stopSYNC(&mbed_master_Data);
+                    stack_state = undefined;
+                    break;
+                
+                default:
+                    break;
+            }
+
+            // Check if CAN address has been changed
+            if(change_node_id == 1){
+                reset_node_id();
+                setState(&mbed_master_Data, Stopped);             // Stop the node, to change the node ID
+                setNodeId(&mbed_master_Data, nodeID);             // Now the CAN adress is changed
+                setState(&mbed_master_Data, Initialisation);      // Set to Pre_operational, master must boot it again
+                setState(&mbed_master_Data, Operational);
+                stack_state = reset;
+            }
+
+            // other events
+            //sendPDOevent (&mbed_master_Data);
+        }
+    }
+}
+
+// ISR for the Ticker
+void serviceSysTimer()
+{
+    // just used for debugging purposes
+    serviceHelper();
+    // set a flag cleared by the main loop
+    timer_interrupt = 1;
+}
+