www.pudn.com > lpc2_can_examples.zip > BlinkyCAN.c

/************************************************************************** 
MODULE:    BlinkCAN - Main 
CONTAINS:  CAN Example program for MCB2100 board from  
           Keil Software 
COPYRIGHT: Embedded Systems Academy, Inc. 2002-2004. 
           All rights reserved. See www.microcanopen.com for more... 
           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 VERSION CREATED FOR FREE DISTRIBUTION 
           FOR KEIL SOFTWARE www.keil.com 
		       FOR PHILIPS SEMICONDUCTORS www.philipsmcu.com 
		       BASED ON BlinkyIRQ PROVIDED BY KEIL SOFTWARE 
VERSION:   1.22, Pf 18-MAR-04 
--------------------------------------------------------------------------- 
HISTORY:   1.23, Pf 22-MAR-04, Release for Philips LPC2129 
***************************************************************************/  
                   
#include  // LPC21xx definitions 
#include "mco.h" 
#include "mcohw.h" 
 
// Timer Ticks 
extern WORD gTimCnt; 
 
// Process data communicated via CAN 
extern BYTE gProcImg[PROCIMG_SIZE]; 
 
// Execute an A to D Conversion 
DWORD getAD  
  ( 
    void 
  )  
{     
  DWORD val; 
 
  ADCR |= 0x01000000; // Start A/D Conversion 
 
  do  
  { 
    val = ADDR; // Read A/D Data Register 
  }  
  while ((val & 0x80000000) == 0); // Wait for end of A/D Conversion 
 
  ADCR &= ~0x01000000; // Stop A/D Conversion 
  val = (val >> 6) & 0x03FF; // Extract AIN0 Value 
 
  return val; 
} 
 
// Dynamic wait 
// While waiting update process data and call CANopen Stack 
void wait  
  ( 
  void 
  )   
{ 
  DWORD ana; 
  WORD comp; 
 
  // Receive analog data from process image 
  ana = gProcImg[OUT_ana_1+1]; 
  ana <<= 8; 
  ana += gProcImg[OUT_ana_1]; 
  comp = MCOHW_GetTime() + 10 + (ana >> 2); 
 
  while (!MCOHW_IsTimeExpired(comp)) // Variable wait    
  { 
    MCO_ProcessStack(); 
 
    // Get analog input from ADC 
    ana = getAD(); 
    gProcImg[IN_ana_1]   = (BYTE) ana; 
    gProcImg[IN_ana_1+1] = (BYTE) (ana >> 8); 
 
    // Echo analog output received 
    gProcImg[IN_ana_2]   = gProcImg[OUT_ana_1]; 
    gProcImg[IN_ana_2+1] = gProcImg[OUT_ana_1+1]; 
 
    // Transmit timer values 
    gProcImg[IN_digi_1] = (BYTE) comp; 
    gProcImg[IN_digi_2] = (BYTE) (comp >> 8); 
    gProcImg[IN_digi_3] = (BYTE) gTimCnt; 
    gProcImg[IN_digi_4] = (BYTE) (gTimCnt >> 8); 
 
    // Calculate next compare value 
    ana = gProcImg[OUT_ana_1+1]; 
    ana <<= 8; 
    ana += gProcImg[OUT_ana_1]; 
  } 
} 
 
 
int main  
  ( 
  void 
  )  
{ 
DWORD j; // LED var 
 
  // No divider: peripheral clock = processor clock 
  VPBDIV = 1;  
     
  // Init Vector Interrupt Controller 
  VICIntEnClr = 0xFFFFFFFF; // Disable all Ints 
  VICIntSelect = 0x00000000; 
 
 
  IODIR1 = 0x00FF0000; // P1.16..23 defined as Outputs 
  ADCR   = 0x00270401; // Setup A/D: 10-bit AIN0 @ 3MHz  
 
  // Initialisation of MicroCANopen 
  MCOUSER_ResetCommunication(); 
 
  while (1)   
  {                                             // Loop forever  
    for (j = 0x010000; j < 0x800000; j <<= 1) { // Blink LED 0,1,2,3,4,5,6 
      IOSET1 = j;                               // Turn on LED 
      wait ();                                  // call wait function 
      IOCLR1 = j;                               // Turn off LED 
    } 
    for (j = 0x800000; j > 0x010000; j >>=1 ) { // Blink LED 7,6,5,4,3,2,1 
      IOSET1 = j;                               // Turn on LED 
      wait ();                                  // call wait function 
      IOCLR1 = j;                               // Turn off LED 
    } 
  } 
}