/************************************************************************** * * Copyright (C) 2007 Steve Karg * Portions of the AT91SAM7S startup code were developed by James P Lynch. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be included * in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * *********************************************************************/ /* hardware specific */ #include "board.h" #include "timer.h" /* standard libraries */ #include #include #include #include /* BACnet */ #include "rs485.h" #include "datalink.h" #include "npdu.h" #include "apdu.h" #include "dcc.h" #include "iam.h" #include "handlers.h" #include "client.h" #include "device.h" #include "dcc.h" #include "iam.h" #include "txbuf.h" /* ******************************************************* */ /* FIXME: use header files? External References */ /* ******************************************************* */ extern void LowLevelInit( void); extern unsigned enableIRQ( void); extern unsigned enableFIQ( void); /* used by crt.s file */ unsigned FiqCount = 0; static unsigned long LED_Timer_1 = 0; static unsigned long LED_Timer_2 = 0; static unsigned long LED_Timer_3 = 0; static unsigned long LED_Timer_4 = 1000; static unsigned long DCC_Timer = 1000; static inline void millisecond_timer( void) { while (Timer_Milliseconds) { Timer_Milliseconds--; if (LED_Timer_1) { LED_Timer_1--; } if (LED_Timer_2) { LED_Timer_2--; } if (LED_Timer_3) { LED_Timer_3--; } if (LED_Timer_4) { LED_Timer_4--; } if (DCC_Timer) { DCC_Timer--; } } /* note: MS/TP silence timer is updated in ISR */ } static inline void init( void) { unsigned int pcsr; /* Initialize the Parallel I/O Controller A Peripheral Clock */ volatile AT91PS_PMC pPMC = AT91C_BASE_PMC; pcsr = pPMC->PMC_PCSR; pPMC->PMC_PCER = pcsr | (1 << AT91C_ID_PIOA); /* Set up the LEDs (PA0 - PA3) */ volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA; /* PIO Enable Register */ /* allow PIO to control pins P0 - P3 and pin 19 */ pPIO->PIO_PER = LED_MASK | SW1_MASK; /* PIO Output Enable Register */ /* sets pins P0 - P3 to outputs */ pPIO->PIO_OER = LED_MASK; /* PIO Set Output Data Register */ /* turns off the four LEDs */ pPIO->PIO_SODR = LED_MASK; /* Select PA19 (pushbutton) to be FIQ function (Peripheral B) */ pPIO->PIO_BSR = SW1_MASK; /* Set up the AIC registers for FIQ (pushbutton SW1) */ volatile AT91PS_AIC pAIC = AT91C_BASE_AIC; /* Disable FIQ interrupt in */ /* AIC Interrupt Disable Command Register */ pAIC->AIC_IDCR = (1 << AT91C_ID_FIQ); /* Set the interrupt source type in */ /* AIC Source Mode Register[0] */ pAIC->AIC_SMR[AT91C_ID_FIQ] = (AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED); /* Clear the FIQ interrupt in */ /* AIC Interrupt Clear Command Register */ pAIC->AIC_ICCR = (1 << AT91C_ID_FIQ); /* Remove disable FIQ interrupt in */ /* AIC Interrupt Disable Command Register */ pAIC->AIC_IDCR = (0 << AT91C_ID_FIQ); /* Enable the FIQ interrupt in */ /* AIC Interrupt Enable Command Register */ pAIC->AIC_IECR = (1 << AT91C_ID_FIQ); } static inline void bacnet_init( void) { #if defined(BACDL_MSTP) uint8_t MAC_Address = 0x55; RS485_Set_Baud_Rate(38400); dlmstp_set_mac_address(MAC_Address); dlmstp_set_max_master(127); dlmstp_set_max_info_frames(1); dlmstp_init(NULL); #endif Device_Set_Object_Instance_Number(22222); /* initialize objects */ Device_Init(NULL); /* set up our confirmed service unrecognized service handler - required! */ apdu_set_unrecognized_service_handler_handler (handler_unrecognized_service); apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_HAS, handler_who_has); /* we need to handle who-is to support dynamic device binding */ apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_IS, handler_who_is); /* Set the handlers for any confirmed services that we support. */ /* We must implement read property - it's required! */ apdu_set_confirmed_handler(SERVICE_CONFIRMED_READ_PROPERTY, handler_read_property); apdu_set_confirmed_handler(SERVICE_CONFIRMED_READ_PROP_MULTIPLE, handler_read_property_multiple); apdu_set_confirmed_handler(SERVICE_CONFIRMED_REINITIALIZE_DEVICE, handler_reinitialize_device); apdu_set_confirmed_handler(SERVICE_CONFIRMED_WRITE_PROPERTY, handler_write_property); /* handle communication so we can shutup when asked */ apdu_set_confirmed_handler(SERVICE_CONFIRMED_DEVICE_COMMUNICATION_CONTROL, handler_device_communication_control); } static uint8_t Receive_PDU[MAX_MPDU]; /* PDU data */ int main( void) { unsigned long IdleCount = 0; /* idle loop blink counter */ bool LED1_Off_Enabled = true; bool LED2_Off_Enabled = true; bool LED3_Off_Enabled = true; uint16_t pdu_len = 0; BACNET_ADDRESS src; /* source address */ /* Set up the LEDs (PA0 - PA3) */ volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA; /* Initialize the Atmel AT91SAM7S256 */ /* (watchdog, PLL clock, default interrupts, etc.) */ LowLevelInit(); TimerInit(); init(); bacnet_init(); /* enable interrupts */ isr_enable(); /* broadcast an I-Am on startup */ Send_I_Am(&Handler_Transmit_Buffer[0]); /* endless blink loop */ while (1) { millisecond_timer(); if (!DCC_Timer) { dcc_timer_seconds(1); DCC_Timer = 1000; } /* USART Tx turns the LED on, we turn it off */ if (((pPIO->PIO_ODSR & LED1) == LED1) && (LED1_Off_Enabled)) { LED1_Off_Enabled = false; /* wait */ LED_Timer_1 = 20; } if (!LED_Timer_1) { /* turn off */ pPIO->PIO_SODR = LED1; LED1_Off_Enabled = true; } /* USART Rx turns the LED on, we turn it off */ if (((pPIO->PIO_ODSR & LED2) == LED2) && (LED2_Off_Enabled)) { LED2_Off_Enabled = false; /* wait */ LED_Timer_2 = 20; } if (!LED_Timer_2) { /* turn off */ pPIO->PIO_SODR = LED2; LED2_Off_Enabled = true; } /* switch or NPDU turns on the LED, we turn it off */ if (((pPIO->PIO_ODSR & LED3) == LED3) && (LED3_Off_Enabled)) { LED3_Off_Enabled = false; /* wait */ LED_Timer_3 = 500; } if (!LED_Timer_3) { /* turn LED3 (DS3) off */ pPIO->PIO_SODR = LED3; LED3_Off_Enabled = true; } /* Blink LED every second */ if (!LED_Timer_4) { if ((pPIO->PIO_ODSR & LED4) == LED4) { /* turn on */ pPIO->PIO_CODR = LED4; } else { /* turn off */ pPIO->PIO_SODR = LED4; } /* wait */ LED_Timer_4 = 1000; } /* count # of times through the idle loop */ IdleCount++; /* BACnet handling */ pdu_len = datalink_receive(&src, &Receive_PDU[0], sizeof(Receive_PDU), 0); if (pdu_len) { pPIO->PIO_CODR = LED3; npdu_handler(&src, &Receive_PDU[0], pdu_len); } } }