109 lines
3.3 KiB
C
109 lines
3.3 KiB
C
#include <stdio.h>
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#include "ecat_slv.h"
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#include "utypes.h"
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#include <bcm2835.h>
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/* Application variables */
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_Objects Obj;
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#define GPIO21 RPI_BPLUS_GPIO_J8_40
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#define GPIO20 RPI_BPLUS_GPIO_J8_38
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#define GPIO16 RPI_BPLUS_GPIO_J8_36
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#define GPIO12 RPI_BPLUS_GPIO_J8_32
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#define GPIO24 RPI_BPLUS_GPIO_J8_18
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#define GPIO23 RPI_BPLUS_GPIO_J8_16
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#define GPIO26 RPI_BPLUS_GPIO_J8_37
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#define GPIO19 RPI_BPLUS_GPIO_J8_35
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#define GPIO13 RPI_BPLUS_GPIO_J8_33
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#define GPIO06 RPI_BPLUS_GPIO_J8_31
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#define GPIO05 RPI_BPLUS_GPIO_J8_29
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#define GPIO22 RPI_BPLUS_GPIO_J8_15
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void cb_get_inputs (void)
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{
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// Assume LEDs connected to 3.3v
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bcm2835_gpio_write(GPIO21, (Obj.LEDs.LED0 ? LOW : HIGH));
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bcm2835_gpio_write(GPIO20, (Obj.LEDs.LED1 ? LOW : HIGH));
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bcm2835_gpio_write(GPIO16, (Obj.LEDs.LED2 ? LOW : HIGH));
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bcm2835_gpio_write(GPIO12, (Obj.LEDs.LED3 ? LOW : HIGH));
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bcm2835_gpio_write(GPIO24, (Obj.LEDs.LED4 ? LOW : HIGH));
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bcm2835_gpio_write(GPIO23, (Obj.LEDs.LED5 ? LOW : HIGH));
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}
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void cb_set_outputs (void)
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{
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// Assume Buttons connected to 3.3v
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO26);
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO19);
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO13);
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO06);
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO05);
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Obj.Buttons.Button0 = bcm2835_gpio_lev(GPIO22);
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}
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void GPIO_init (void)
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{
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bcm2835_init();
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// Assume LEDs connected to 3.3v side of header
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bcm2835_gpio_fsel(GPIO21, BCM2835_GPIO_FSEL_OUTP);
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bcm2835_gpio_fsel(GPIO20, BCM2835_GPIO_FSEL_OUTP);
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bcm2835_gpio_fsel(GPIO16, BCM2835_GPIO_FSEL_OUTP);
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bcm2835_gpio_fsel(GPIO12, BCM2835_GPIO_FSEL_OUTP);
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bcm2835_gpio_fsel(GPIO24, BCM2835_GPIO_FSEL_OUTP);
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bcm2835_gpio_fsel(GPIO23, BCM2835_GPIO_FSEL_OUTP);
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// Assume buttons connected to 5v side of header
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// Do not bridge to 5v, the ports might burn
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bcm2835_gpio_fsel(GPIO26, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_fsel(GPIO19, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_fsel(GPIO13, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_fsel(GPIO06, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_fsel(GPIO05, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_fsel(GPIO22, BCM2835_GPIO_FSEL_INPT);
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bcm2835_gpio_set_pud(GPIO26, BCM2835_GPIO_PUD_DOWN);
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bcm2835_gpio_set_pud(GPIO19, BCM2835_GPIO_PUD_DOWN);
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bcm2835_gpio_set_pud(GPIO13, BCM2835_GPIO_PUD_DOWN);
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bcm2835_gpio_set_pud(GPIO06, BCM2835_GPIO_PUD_DOWN);
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bcm2835_gpio_set_pud(GPIO05, BCM2835_GPIO_PUD_DOWN);
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bcm2835_gpio_set_pud(GPIO22, BCM2835_GPIO_PUD_DOWN);
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}
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int main_run (void * arg)
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{
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static esc_cfg_t config =
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{
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.user_arg = "rpi3,cs0",
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.use_interrupt = 0,
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.watchdog_cnt = 150,
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.set_defaults_hook = NULL,
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.pre_state_change_hook = NULL,
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.post_state_change_hook = NULL,
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.application_hook = NULL,
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.safeoutput_override = NULL,
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.pre_object_download_hook = NULL,
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.post_object_download_hook = NULL,
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.rxpdo_override = NULL,
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.txpdo_override = NULL,
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.esc_hw_interrupt_enable = NULL,
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.esc_hw_interrupt_disable = NULL,
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.esc_hw_eep_handler = NULL,
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.esc_check_dc_handler = NULL,
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};
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printf ("Hello Main\n");
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GPIO_init();
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ecat_slv_init (&config);
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while (1)
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{
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ecat_slv();
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}
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return 0;
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}
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int main (void)
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{
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printf ("Hello Main\n");
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main_run (NULL);
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return 0;
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}
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