main.c

运行在AT89C51CC01单片机上的CANOpen协议栈源代码

/**************************************************************************
MODULE:    MAIN - Joystick
CONTAINS:  CANopen joystick implementation
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>


// IO functions, buttons and LEDs are implemented in module io.c
extern void IO_UpdateLEDs (void);
extern WORD IO_ByteSwap (WORD val);

#ifdef USE_LED
// CAN Run and Err LED
extern BYTE data gRLED; // Current pattern on run led
extern BYTE data gELED; // Current pattern on error led
#endif

// Process Data to CANopen stack
BYTE data MSB_Values; // Goes into TPDO1
WORD data Axis[3]; // Goes into TPDO2

// Process Data, application copy
// These are updated in io.c by the timer interrupt service routine
BYTE data ProcB;
WORD data ProcX, ProcY, ProcZ;


// MicroCANopen Call-back function for fatal error
void MCOUSER_FatalError (WORD ErrCode)
{
  gELED = LED_BLINK;
  gRLED = LED_OFF;
  while (ErrCode != 0)
  {
  }
}


// MicroCANopen Call-back function to reset application
void MCOUSER_ResetApplication (void)
{
  EA = 0; // Disable all interrupts
  WDTPRG = 0; // Minimize timer count for fastest response (about 10ms)
  WDTRST = 0x1E; // Sequence to start WatchDog
  WDTRST = 0xE1;
  while (1)
  { // Wait for watchdog to hit
  }
}


// MicroCANopen Call-back function to reset communication
void MCOUSER_ResetCommunication (void)
{
  EA = 0;
  MCO_Init(125,OD_NODEID,OD_HEARTBEAT); // 125kbit, Node ID, heartbeat

#if NR_OF_TPDOS > 0
  MCO_InitTPDO(1,0,0,50,1,&MSB_Values);    
  // TPDO1, default ID (0x180+nodeID), 0 event, 50ms inhibit, 1 byte
  // Transmit trigger: COS (change-of-state) with 50ms inhibit time
#endif
  
#if NR_OF_TPDOS > 1
  MCO_InitTPDO(2,0,100,0,6,(BYTE *) &(Axis[0])); 
  // TPDO2, default ID (0x280+nodeID), 100ms event, 0ms inhibit, 6 bytes
  // Transmit trigger: 100ms event time
#endif
}

void main (void)
{
#ifdef USE_LED
  gELED = LED_ON;
  gRLED = LED_OFF;
#endif

  // Initialize Timer 1 interrupt
  TR1  =  0;     // timer 1: stop 
  TMOD |= 0x20;  // mode 2 
  TH1  =  0x80;  // first run-time not important
  TL1  =  0x80;
  TR1  =  1;     // timer 1: start 
  ET1  =  1;     // enable timer 1 int 

  // Initialize ADC
  ADCF  = 1;     // Enable P1.0 to be used
  ADCON = 0x20;  // Set bit 5, clear all others
  ADCON |= 0x08; // Start a conversion
  
  // Init Process Data
  ProcX = 0x8000;
  ProcY = 0x8000;
  ProcZ = 0x8000;

  // Reset/Initialize CANopen communication
  MCOUSER_ResetCommunication();

  EA = 1; // End of initialization, Enable all interrupts

#ifdef USE_LED
  gELED = LED_ON;
  gRLED = LED_BLINK;
#endif

while(1)
  {

    EA = 0; // Disable interrupts for data consistency
	// Copy MSB of each axis to buttons bits 4,5,6
    Axis[0] = IO_ByteSwap(ProcX);
    Axis[1] = IO_ByteSwap(ProcY);
    Axis[2] = IO_ByteSwap(ProcZ);
    ProcB   = (BYTE) ( ((ProcX & 0x8000) >> 11) |
                       ((ProcY & 0x8000) >> 10) |
			           ((ProcZ & 0x8000) >>  9) );
	MSB_Values = ProcB;
    EA = 1;

	// Updated LED display values
    IO_UpdateLEDs(); // Uses ProcX, ProcY, ProcZ

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