io.c

1开放源码的CanOpen(C)

/**************************************************************************
MODULE:    IO
CONTAINS:  IO functions for Atmel CANopen Demo Board
           Board is a CANgine board - see www.cangine.com
COPYRIGHT: Embedded Systems Academy, Inc. 2003.
           All rights reserved. www.microcanopen.com
           This software was written in accordance to the guidelines at
		   www.esacademy.com/software/softwarestyleguide.pdf
DISCLAIM:  Read and understand our disclaimer before using this code!
           www.esacademy.com/disclaim.htm
LICENSE:   Users that have purchased a license for PCANopenMagic
           (www.esacademy.com/software/pcanopenmagic)
           may use this code in commercial projects.
           Otherwise only educational use is acceptable.
VERSION:   1.00, Pf/Aa/Ck 28-MAY-03
---------------------------------------------------------------------------
HISTORY:   1.00, Pf 07-OCT-02, First Published Version
***************************************************************************/ 

#include "mco.h"
#include "mcohw.h"
#include <Reg51cc01.h>


#define T1_RELOAD 89 // Timer 1 reload = 0.05us at 20Mhz
#define INC_VAL 2 // In timer ISR, joystick values are incremented by this

// The process data from main, is updated in timer ISR
#ifdef JOYSTICK
extern WORD data ProcX;
extern WORD data ProcY;
#endif
extern WORD data ProcZ;

// PWM output on LEDs, value 0-16
BYTE LED_up = 0;
BYTE LED_down = 0;
BYTE LED_right = 0;
BYTE LED_left = 0;
BYTE LED_ana = 0;
BYTE cnt = 0; // count from 0 to 64 as comparison for values above

bit mXClr; // detect if both X buttons pressed
bit mYClr; // detect if both Y buttons pressed
bit mToggle; // toggle for timer ISR


#ifndef ENCODER // Not needed for the encoder example
/**************************************************************************
DOES: Byte swapping (big-endian to little-endian conversion
**************************************************************************/
WORD IO_ByteSwap (WORD val)
{
unsigned int rval;

  ((BYTE *) &rval) [0] = ((BYTE *) &val) [1];
  ((BYTE *) &rval) [1] = ((BYTE *) &val) [0];

  return (rval);
}
#endif

/**************************************************************************
DOES: Converts a value from 0 to 0x7FFF to 0,1,2,4,8,16,32,64
      Needed for the LED fading
**************************************************************************/
BYTE ConvertLEDValue (WORD val)
{
  val &= 0x7FFF; // ensure value range 0 to 0x7FFF
  val >>= 12; // transform to range 0 to 7
  if (val == 0)
    return 0;
  else
    return (BYTE) (1 << (val-1));
}


/**************************************************************************
DOES: Implements the LED fading / PWM
**************************************************************************/
void SwitchLEDs (void)
{
#ifdef JOYSTICK
  if (cnt < LED_left)
    P0_0 = 0;
  else
    P0_0 = 1;
  if (cnt < LED_right)
    P0_1 = 0;
  else
    P0_1 = 1;
  if (cnt < LED_down)
    P0_2 = 0;
  else
    P0_2 = 1;
  if (cnt < LED_up)
    P0_3 = 0;
  else
    P0_3 = 1;
#endif // JOYSTICK
  if (cnt < LED_ana)
    P1_7 = 0;
  else
    P1_7 = 1;
  cnt++;
  if (cnt >= 64)
    cnt = 0;
}


/**************************************************************************
DOES: Checks all buttons and the potentiometer
**************************************************************************/
void ReadInputs (void)
{
#ifdef JOYSTICK
  if (mYClr) // Both buttons were pressed, reset sequence started
  { // wait until both buttons are released
    if ((P2_0 == 1) && (P2_1 == 1))
	{
	  mYClr = 0;
	}
  }
  else
  {
    if (P2_0 == 0) // Down button pressed
    {
      if (ProcY >= INC_VAL)
        ProcY -= INC_VAL;
    }
    if (P2_1 == 0) // Up button pressed
    {
      if (ProcY <= (0xFFFF - INC_VAL))
        ProcY += INC_VAL;
    }
  }
  if ((P2_0 == 0) && (P2_1 == 0))
  { // Up and Down pressed
    ProcY = 0x8000;
    mYClr = 1;
  }

  if (mXClr) // Both buttons were pressed, reset sequence started
  { // wait until both buttons are released
    if ((P2_2 == 1) && (P2_3 == 1))
	{
	  mXClr = 0;
	}
  }
  else
  {
    if (P2_2 == 0) // Left button pressed
    {
      if (ProcX >= INC_VAL)
        ProcX -= INC_VAL;
    }
    if (P2_3 == 0) // Right button pressed
    {
      if (ProcX <= (0xFFFF - INC_VAL))
        ProcX += INC_VAL;
    }
  }
  if ((P2_2 == 0) && (P2_3 == 0))
  { // Right and Left pressed
    ProcX = 0x8000;
    mXClr = 1;
  }
#endif // JOYSTICK
  if ((ADCON & 0x08) == 0) // Conversion complete?
  {
    ProcZ = ((WORD) ADDH) << 8; // Read value from last ADC conversion
    ADCON |= 0x08; // Start New ADC Conversion
  }
  else
  {
    ProcZ = (ProcZ & 0xFF00) | 0x0055;
  }
}


/**************************************************************************
DOES: Updates the values displayed on the LEDs
**************************************************************************/
void IO_UpdateLEDs (void)
{
WORD data w;

#ifdef JOYSTICK
  // X - Axis, up and down
  EA = 0;
  w = ProcX;
  EA = 1;
  if (w < 0x8000)
  {
    LED_down = ConvertLEDValue(0x7FFF - w); 
    LED_up = 0;
  }
  else
  {
    LED_down = 0; 
	LED_up = ConvertLEDValue(w - 0x8000);
  }
	
  // Y - Axis, left and right
  EA = 0;
  w = ProcY;
  EA = 1;
  if (w < 0x8000)
  {
    LED_left = ConvertLEDValue(0x7FFF - w); 
	LED_right = 0;
  }
  else
  {
    LED_left = 0; 
	LED_right = ConvertLEDValue(w - 0x8000);
  }
#endif // JOYSTICK

  // Z - Axis, potentiometer, analog out
  EA = 0;
  w = ProcZ;
  EA = 1;
  LED_ana = ConvertLEDValue(w >> 1); 
}



/**************************************************************************
DOES: Timer Interrupt Service Routine. 
Performs all I/O tasks.
**************************************************************************/

void AppTimerISR (void) interrupt 3
{
  mToggle = ~mToggle;
  if (mToggle) // Only execute this every 2nd call
  {
    SwitchLEDs();
    ReadInputs();
  }
}