main_mm.c

MicoCANOpen很好的学习源代码

/**************************************************************************
MODULE:    MAIN
CONTAINS:  Example application using MicroCANopen
           For PEAK System Tehnik MicroMod Module
           www.peak-system.com
           Compiled with Fujitsu Softune Workbench
COPYRIGHT: Embedded Systems Academy, Inc. 2002 - 2007
           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:   THIS IS THE EDUCATIONAL VERSION OF MICROCANOPEN
           See file license_educational.txt or
           www.microcanopen.com/license_educational.txt
           A commercial MicroCANopen license is available at
           www.CANopenStore.com
VERSION:   3.30, ESA 30-JAN-07
           $LastChangedDate: 2007-01-30 20:50:41 -0800 (Tue, 30 Jan 2007) $
           $LastChangedRevision: 235 $
***************************************************************************/ 

#include "inc\compiler.h"
#include "inc\mb90495.h"
#include "inc\vectors.h"
#include "inc\can.h"
#include "inc\hardware.h"
#include "inc\uart.h"
#include "inc\timer.h"
#include "inc\i2c.h"
#include "inc\eeprom.h"
#include "inc\adi.h"
#include "inc\pwm.h"
#include "..\mco\mco.h"

// external declaration for the process image array
extern UNSIGNED8 MEM_NEAR gProcImg[];

/**************************************************************************
DOES:    Execute an A to D conversion
RETURNS: Converted value
**************************************************************************/
UNSIGNED16 read_poti(
  void
  ) 
{    
  return AD_Read(0);
}


/**************************************************************************
DOES:    The main function
RETURNS: nothing
**************************************************************************/
void main(
  void
  )
{
UNSIGNED32 pot;
UNSIGNED8 b;

  InitIrqLevels();
  __set_il(7);        // allow all levels 

  Hardware_Init();

  UART_Init(SER_BAUD_19200);
  puts("\n\r\n\rMicroCANopen for PEAK MicroMOD V2.10");

  Timer_Init();

  AD_Init();

  for(b=0;b<4;b++)
  {
    AD_SetTimeConstant(b, 20);  // Passfilter of 20ms
  }

  // Reset/Initialize CANopen communication
  MCOUSER_ResetCommunication();
  CAN_RegisterMsg(0);

  __EI();             // Enable Interrupts

  // foreground loop
  while(1)
  {
    // Trigger watchdog
    WATCHDOG;
    
    // Update process data
    // Output first digital byte
    Set_DOUTByte(gProcImg[P620001_DIGOUTPUT8_]);
    // Echo all digital data
    gProcImg[P600001_DIGINPUT8_] = gProcImg[P620001_DIGOUTPUT8_];
    gProcImg[P600001_DIGINPUT8_] = gProcImg[P620002_DIGOUTPUT8_];
    gProcImg[P600001_DIGINPUT8_] = gProcImg[P620003_DIGOUTPUT8_];
    gProcImg[P600001_DIGINPUT8_] = gProcImg[P620004_DIGOUTPUT8_];

    // first analog input is real I/O
    pot = read_poti();
    gProcImg[P640101_ANALOGINPUT16_]   = pot & 0x000000FF; // lo byte
    gProcImg[P640101_ANALOGINPUT16_+1] = (pot >> 8) & 0x000000FF; // hi byte

    // echo all other I/O values from input to output
    // analog
    gProcImg[P640102_ANALOGINPUT16_]   = gProcImg[P641102_ANALOGOUTPUT16_];
    gProcImg[P640102_ANALOGINPUT16_+1] = gProcImg[P641102_ANALOGOUTPUT16_+1];

    // Operate on CANopen protocol stack
    MCO_ProcessStack();
  } // end of while(1)
} // end of main