Luis Silvio Cordova Rivadeneira
/
Can_open_slavenode
Can_open_slavenode
source/main.cpp
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/************************************************************** 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; }