bool DispatchStage::execute(InstRef &IR) {
const InstrDesc &Desc = IR.getInstruction()->getDesc();
if (!isAvailable(Desc.NumMicroOps) || !canDispatch(IR))
return false;
dispatch(IR);
return true;
}
DWORD canReceiveLoop(CAN_PORT port)
{
Message m;
while(((CANPort*)port)->used)
{
if(m_canReceive(((CANPort*)port)->fd, &m) != 0)
break;
EnterMutex();
canDispatch(((CANPort*)port)->d, &m);
LeaveMutex();
}
return 0;
}
void can_irq_handler(void)
/******************************************************************************
CAN Interrupt
******************************************************************************/
{
volatile unsigned int status;
static Message m = Message_Initializer; // contain a CAN message
status = AT91F_CAN_GetStatus(AT91C_BASE_CAN) & AT91F_CAN_GetInterruptMaskStatus(AT91C_BASE_CAN);
if(status & RX_INT_MSK)
{ // Rx Interrupt
if (canReceive(&m)) // a message received
canDispatch(&ObjDict_Data, &m); // process it
}
}
int main(void)
{
sys_init(); // Initialize system
canInit(CAN_BAUDRATE); // Initialize the CANopen bus
initTimer(); // Start timer for the CANopen stack
nodeID = read_bcd(); // Read node ID first
setNodeId (&ObjDict_Data, nodeID);
setState(&ObjDict_Data, Initialisation); // Init the state
for(;;) // forever loop
{
if (sys_timer) // Cycle timer, invoke action on every time slice
{
reset_sys_timer(); // Reset timer
digital_input[0] = get_inputs();
digital_input_handler(&ObjDict_Data, digital_input, sizeof(digital_input));
digital_output_handler(&ObjDict_Data, digital_output, sizeof(digital_output));
set_outputs(digital_output[0]);
// Check if CAN address has been changed
if(!( nodeID == read_bcd()))
{
nodeID = read_bcd(); // Save the new CAN adress
setState(&ObjDict_Data, Stopped); // Stop the node, to change the node ID
setNodeId(&ObjDict_Data, nodeID); // Now the CAN adress is changed
setState(&ObjDict_Data, Pre_operational); // Set to Pre_operational, master must boot it again
}
}
// a message was received pass it to the CANstack
if (canReceive(&m)) // a message reveived
canDispatch(&ObjDict_Data, &m); // process it
else
{
// Enter sleep mode
#ifdef WD_SLEEP // Watchdog and Sleep
wdt_reset();
sleep_enable();
sleep_cpu();
#endif // Watchdog and Sleep
}
}
}
uint8_t can_process()
{
uint8_t res = 0;
if(can_state.init_return!=RET_OK){
return 0;
}
while(canReceive(&rec_m)){
/***********This code will start any board which sends out a
pre-operational CANOpen code*/
// if(rec_m.cob_id&0x0F){
// if(rec_m.data[0] == 0x7F){
// can_enable_slave_heartbeat((UNS16)rec_m.cob_id&0x0FF,100);
// can_start_node(rec_m.cob_id&0x0FF);
// }
// }
canDispatch(&Sensor_Board_Data, &rec_m); //send packet to CanFestival
res = 1;
}
switch(getState(&Sensor_Board_Data)){
case Initialisation:
LED_2 = 0;
LED_3 = 0;
break;
case Pre_operational:
LED_2 = 1;
LED_3 = 0;
break;
case Operational:
LED_2 = 0;
LED_3 = 1;
break;
default:
LED_2 = 1;
LED_3 = 1;
break;
};
return res;
}
