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bacnet-stack/ports/at91sam7s/main.c

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/**************************************************************************
*
* Copyright (C) 2007 Steve Karg <skarg@users.sourceforge.net>
* 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 <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <stdint.h>
/* 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);
}
}
}
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