Diff: source/main.cpp

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/main.cpp	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,129 @@
+/**************************************************************
+    CAN OPEN SAMPLE - MBED SLAVE DS401
+**************************************************************/
+/*
+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:
+Test project for a DS 401 slave, running on mbed
+Short description:
+
+    reads from the COM port and changes ID, input value, ect.
+    57600 8-n-1
+    "help" will print a list of available commands
+    prints rx'd messages to the console
+    CAN running at 125k
+ 
+
+******************************************************************************/
+
+#include "mbed.h"
+#include "main.h"
+#include "canfestival.h"
+#include "can_mbed.h"
+#include "mbed_slave.h"
+#include "ds401.h"
+#include "port_helper.h"
+
+// Set used for main program timing control
+Ticker SysTimer;
+// flag used by the main program timing control interrupt
+volatile uint8_t timer_interrupt = 0;
+volatile uint8_t change_node_id = 0;
+
+// CAN - put and take data from the stack
+uint8_t nodeID;
+uint8_t digital_input[1] = {0};
+uint8_t digital_output[1] = {0};
+uint8_t last_digital_output;
+
+// read a can message from the stack
+static Message m = Message_Initializer;
+
+int main() 
+{
+    // initialize the helper code - just for debugging
+    initHelper();
+    // start the system timer 
+    SysTimer.attach_us(&serviceSysTimer, CYCLE_TIME);
+    // start of CANfestival stack calls
+    canInit(CAN_BAUDRATE);              // Initialize the CANopen bus
+    initTimer();                        // Start timer for the CANopen stack
+    nodeID = 10;                           // node id can be anything (1-127)
+    setNodeId (&mbed_slave_Data, nodeID);
+    // Init the state
+    setState(&mbed_slave_Data, Initialisation);
+    
+    // just keep loopin'
+    while(1){
+        // Cycle timer, invoke action on every time slice
+        if (sys_timer){ 
+            // Reset timer
+            reset_sys_timer(); 
+
+            // look for host communication to change things
+            serviceCOMCommands();
+            
+            // service ds401 digital inputs and outputs
+            digital_input_handler(&mbed_slave_Data, digital_input, sizeof(digital_input));
+            digital_output_handler(&mbed_slave_Data, digital_output, sizeof(digital_output));
+            
+            if (last_digital_output != digital_output[0]){
+                // do something
+                printf("new output = %d", digital_output[0]);
+            }
+            // save the last value = IO can get continuously bashed
+            last_digital_output = digital_output[0];     
+
+            // Check if CAN address has been changed
+            if(change_node_id == 1){
+                reset_node_id();
+                setState(&mbed_slave_Data, Stopped);               // Stop the node, to change the node ID
+                setNodeId(&mbed_slave_Data, nodeID);               // Now the CAN adress is changed
+                setState(&mbed_slave_Data, Initialisation);     // Set to Pre_operational, master must boot it again
+            }
+        }
+
+        // a message was received - pass it to the CANstack
+        if (canReceive(&m)){     
+            // interrupts need to be disabled here
+            __disable_irq();
+            // process it
+            canDispatch(&mbed_slave_Data, &m);
+            // and re-enabled here
+            __enable_irq();
+            // print it to the console for debugging
+            printMsg(m);
+        }
+    }
+}
+
+// ISR for the Ticker
+void serviceSysTimer()
+{
+    // just used for debugging purposes
+    serviceHelper();
+    // set a flag cleared by the main loop
+    timer_interrupt = 1;
+}
+