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Testing the Atmel ARM7 port with an actual UART attached. Fixed several problems, but still not responding.

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This commit is contained in:
skarg
2007-08-18 00:03:11 +00:00
parent 07816a3fd5
commit 2cdf64ab90
8 changed files with 225 additions and 155 deletions
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bacnet-stack/ports/at91sam7s/.gdbinit
+4 -4
View File
@@ -6,11 +6,11 @@ monitor speed auto
monitor long 0xffffff60 0x00320100
monitor long 0xfffffd44 0xa0008000
monitor long 0xfffffc20 0xa0000601
#monitor sleep 100
monitor sleep 100
monitor long 0xfffffc2c 0x00480a0e
#monitor sleep 200
monitor sleep 200
monitor long 0xfffffc30 0x7
#monitor sleep 100
monitor sleep 100
monitor long 0xfffffd08 0xa5000401
#monitor sleep 100
monitor sleep 100
bacnet-stack/ports/at91sam7s/dlmstp.c
+3 -7
View File
@@ -48,9 +48,9 @@ static uint8_t RxBuffer[MAX_MPDU];
#define INCREMENT_AND_LIMIT_UINT16(x) {if (x < 0xFFFF) x++;}
void dlmstp_millisecond_timer(void)
volatile uint16_t *dlmstp_millisecond_timer_address(void)
{
INCREMENT_AND_LIMIT_UINT16(MSTP_Port.SilenceTimer);
return &(MSTP_Port.SilenceTimer);
}
void dlmstp_copy_bacnet_address(BACNET_ADDRESS * dest, BACNET_ADDRESS * src)
@@ -116,6 +116,7 @@ int dlmstp_send_pdu(BACNET_ADDRESS * dest, /* destination address */
}
dlmstp_copy_bacnet_address(&Transmit_Packet.address, dest);
bytes_sent = sizeof(Transmit_Packet);
Transmit_Packet.ready = true;
}
return bytes_sent;
@@ -123,12 +124,9 @@ int dlmstp_send_pdu(BACNET_ADDRESS * dest, /* destination address */
static void dlmstp_task(void)
{
volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
/* only do receive state machine while we don't have a frame */
if ((MSTP_Port.ReceivedValidFrame == false) &&
(MSTP_Port.ReceivedInvalidFrame == false)) {
/* LED OFF */
pPIO->PIO_SODR = LED2;
do {
RS485_Check_UART_Data(&MSTP_Port);
MSTP_Receive_Frame_FSM(&MSTP_Port);
@@ -137,8 +135,6 @@ static void dlmstp_task(void)
break;
} while (MSTP_Port.DataAvailable);
} else {
/* LED ON */
pPIO->PIO_CODR = LED2;
}
/* only do master state machine while rx is idle */
if (MSTP_Port.receive_state == MSTP_RECEIVE_STATE_IDLE) {
bacnet-stack/ports/at91sam7s/h_rp.c
+34 -35
View File
@@ -134,58 +134,57 @@ void handler_read_property(uint8_t * service_request,
BACNET_ERROR_CODE error_code = ERROR_CODE_UNKNOWN_OBJECT;
BACNET_ADDRESS my_address;
len = rp_decode_service_request(service_request, service_len, &data);
/* encode the NPDU portion of the packet */
datalink_get_my_address(&my_address);
npdu_encode_npdu_data(&npdu_data, false, MESSAGE_PRIORITY_NORMAL);
pdu_len = npdu_encode_pdu(&Handler_Transmit_Buffer[0], src,
&my_address, &npdu_data);
if (len < 0) {
/* bad decoding - send an abort */
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, ABORT_REASON_OTHER, true);
} else if (service_data->segmented_message) {
if (service_data->segmented_message) {
/* we don't support segmentation - send an abort */
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
ABORT_REASON_SEGMENTATION_NOT_SUPPORTED, true);
} else {
/* most cases will be error */
error = true;
len = Encode_Property_APDU(
&Temp_Buf[0],
data.object_type,
data.object_instance,
data.object_property,
data.array_index,
&error_class, &error_code);
if (len >= 0) {
/* encode the APDU portion of the packet */
data.application_data = &Temp_Buf[0];
data.application_data_len = len;
/* FIXME: probably need a length limitation sent with encode */
len =
rp_ack_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, &data);
error = false;
}
goto RP_ABORT;
}
len = rp_decode_service_request(service_request, service_len, &data);
if (len < 0) {
/* bad decoding - send an abort */
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, ABORT_REASON_OTHER, true);
goto RP_ABORT;
}
/* most cases will be error */
error = true;
len = Encode_Property_APDU(
&Temp_Buf[0],
data.object_type,
data.object_instance,
data.object_property,
data.array_index,
&error_class, &error_code);
if (len >= 0) {
/* encode the APDU portion of the packet */
data.application_data = &Temp_Buf[0];
data.application_data_len = len;
/* FIXME: probably need a length limitation sent with encode */
len =
rp_ack_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, &data);
error = false;
}
if (error) {
switch (len) {
if (len == -2) {
/* BACnet APDU too small to fit data, so proper response is Abort */
case -2:
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
ABORT_REASON_SEGMENTATION_NOT_SUPPORTED, true);
break;
case -1:
default:
len = bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_READ_PROPERTY, error_class, error_code);
break;
goto RP_ABORT;
}
len = bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_READ_PROPERTY, error_class, error_code);
}
RP_ABORT:
pdu_len += len;
bytes_sent = datalink_send_pdu(src, &npdu_data,
&Handler_Transmit_Buffer[0], pdu_len);
bacnet-stack/ports/at91sam7s/h_wp.c
+73 -69
View File
@@ -58,85 +58,89 @@ void handler_write_property(uint8_t * service_request,
int bytes_sent = 0;
BACNET_ADDRESS my_address;
/* decode the service request only */
len = wp_decode_service_request(service_request,
service_len, &wp_data);
/* encode the NPDU portion of the packet */
datalink_get_my_address(&my_address);
npdu_encode_npdu_data(&npdu_data, false, MESSAGE_PRIORITY_NORMAL);
pdu_len = npdu_encode_pdu(&Handler_Transmit_Buffer[0], src,
&my_address, &npdu_data);
if (service_data->segmented_message) {
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
ABORT_REASON_SEGMENTATION_NOT_SUPPORTED, true);
goto WP_ABORT;
}
/* decode the service request only */
len = wp_decode_service_request(service_request,
service_len, &wp_data);
/* bad decoding or something we didn't understand - send an abort */
if (len <= 0) {
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, ABORT_REASON_OTHER, true);
} else if (service_data->segmented_message) {
len = abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
ABORT_REASON_SEGMENTATION_NOT_SUPPORTED, true);
} else {
switch (wp_data.object_type) {
case OBJECT_DEVICE:
if (Device_Write_Property(&wp_data, &error_class, &error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
case OBJECT_ANALOG_INPUT:
case OBJECT_BINARY_INPUT:
error_class = ERROR_CLASS_PROPERTY;
error_code = ERROR_CODE_WRITE_ACCESS_DENIED;
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, SERVICE_CONFIRMED_WRITE_PROPERTY,
error_class, error_code);
break;
case OBJECT_BINARY_VALUE:
if (Binary_Value_Write_Property(&wp_data, &error_class,
&error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
case OBJECT_ANALOG_VALUE:
if (Analog_Value_Write_Property(&wp_data, &error_class,
&error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
default:
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, SERVICE_CONFIRMED_WRITE_PROPERTY,
error_class, error_code);
break;
}
goto WP_ABORT;
}
/* handle the object type */
switch (wp_data.object_type) {
case OBJECT_DEVICE:
if (Device_Write_Property(&wp_data, &error_class, &error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
case OBJECT_ANALOG_INPUT:
case OBJECT_BINARY_INPUT:
error_class = ERROR_CLASS_PROPERTY;
error_code = ERROR_CODE_WRITE_ACCESS_DENIED;
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, SERVICE_CONFIRMED_WRITE_PROPERTY,
error_class, error_code);
break;
case OBJECT_BINARY_VALUE:
if (Binary_Value_Write_Property(&wp_data, &error_class,
&error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
case OBJECT_ANALOG_VALUE:
if (Analog_Value_Write_Property(&wp_data, &error_class,
&error_code)) {
len =
encode_simple_ack(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY);
} else {
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_WRITE_PROPERTY, error_class,
error_code);
}
break;
default:
len =
bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, SERVICE_CONFIRMED_WRITE_PROPERTY,
error_class, error_code);
break;
}
WP_ABORT:
pdu_len += len;
bytes_sent = datalink_send_pdu(src, &npdu_data,
&Handler_Transmit_Buffer[0], pdu_len);
bacnet-stack/ports/at91sam7s/main.c
+78 -27
View File
@@ -23,12 +23,15 @@
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*********************************************************************/
/* hardware specific */
#include "AT91SAM7S256.h"
#include "board.h"
#include "math.h"
#include "stdlib.h"
#include "string.h"
#include "stdbool.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"
@@ -37,6 +40,10 @@
#include "dcc.h"
#include "iam.h"
#include "handlers.h"
#include "device.h"
#include "dcc.h"
#include "iam.h"
#include "txbuf.h"
// *******************************************************
// FIXME: use header files? External References
@@ -45,9 +52,6 @@ extern void LowLevelInit(void);
extern unsigned enableIRQ(void);
extern unsigned enableFIQ(void);
extern void TimerInit(void);
extern volatile unsigned long Timer_Milliseconds;
// *******************************************************
// FIXME: use header files? Global Variables
// *******************************************************
@@ -58,8 +62,9 @@ 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;
void millisecond_timer(void)
static void millisecond_timer(void)
{
while (Timer_Milliseconds) {
Timer_Milliseconds--;
@@ -75,21 +80,15 @@ void millisecond_timer(void)
if (LED_Timer_4) {
LED_Timer_4--;
}
dlmstp_millisecond_timer();
if (DCC_Timer) {
DCC_Timer--;
}
}
/* note: MS/TP silence timer is updated in ISR */
}
int main (void) {
unsigned long IdleCount = 0; // idle loop blink counter
bool LED3_Off_Enabled = true;
uint16_t pdu_len = 0;
BACNET_ADDRESS src; /* source address */
uint8_t pdu[MAX_MPDU]; /* PDU data */
// Initialize the Atmel AT91SAM7S256
// (watchdog, PLL clock, default interrupts, etc.)
LowLevelInit();
TimerInit();
static void init(void)
{
/* Initialize the Parallel I/O Controller A Peripheral Clock */
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
pPMC->PMC_PCER = pPMC->PMC_PCSR | (1<<AT91C_ID_PIOA);
@@ -127,7 +126,10 @@ int main (void) {
// Enable the FIQ interrupt in
// AIC Interrupt Enable Command Register
pAIC->AIC_IECR = (1<<AT91C_ID_FIQ);
}
static void bacnet_init(void)
{
#if defined(BACDL_MSTP)
RS485_Set_Baud_Rate(38400);
dlmstp_set_mac_address(55);
@@ -135,7 +137,8 @@ int main (void) {
dlmstp_set_max_info_frames(1);
dlmstp_init(NULL);
#endif
Device_Init();
Device_Set_Object_Instance_Number(22222);
#ifndef DLMSTP_TEST
/* we need to handle who-is to support dynamic device binding */
apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_IS,
@@ -153,32 +156,80 @@ int main (void) {
(SERVICE_CONFIRMED_DEVICE_COMMUNICATION_CONTROL,
handler_device_communication_control);
#endif
}
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 */
uint8_t pdu[MAX_MPDU]; /* PDU data */
// 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
enableIRQ();
enableFIQ();
// endless blink loop
/* broadcast an I-Am on startup */
iam_send(&Handler_Transmit_Buffer[0]);
// endless blink loop
while (1) {
millisecond_timer();
/* interrupt turns on the LED, we turn it off */
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 = 250;
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 LED2 (DS2) on
/* turn on */
pPIO->PIO_CODR = LED4;
} else {
// turn LED2 (DS2) off
/* turn off */
pPIO->PIO_SODR = LED4;
}
/* wait */
bacnet-stack/ports/at91sam7s/makefile
+8 -3
View File
@@ -11,7 +11,12 @@ AR=arm-elf-ar
LDSCRIPT=at91sam7s256.ld
BACNET_FLAGS = -DBACDL_MSTP=1 -DPRINT_ENABLED=0 -DBIG_ENDIAN=0 -DMAX_APDU=480 -DDLMSTP_TEST
BACNET_FLAGS = -DBACDL_MSTP
BACNET_FLAGS += -DPRINT_ENABLED=0
BACNET_FLAGS += -DBIG_ENDIAN=0
BACNET_FLAGS += -DMAX_APDU=480
#BACNET_FLAGS += -DDLMSTP_TEST
INCLUDES = -I. -I../.. -I../../demo/handler -I../../demo/object
#OPTIMIZATION = -O0
OPTIMIZATION = -Os
@@ -67,8 +72,8 @@ CORESRC = ../../npdu.c \
../../iam.c \
../../version.c
#CSRC = $(PORTSRC) $(DEMOSRC) $(CORESRC)
CSRC = $(PORTSRC)
CSRC = $(PORTSRC) $(DEMOSRC)
#CSRC = $(PORTSRC)
AOBJ = $(ASRC:.s=.o)
COBJ = $(CSRC:.c=.o)
bacnet-stack/ports/at91sam7s/rs485.c
+17 -8
View File
@@ -33,6 +33,7 @@
#include <stdlib.h>
#include <stdio.h>
#include "mstp.h"
#include "timer.h"
/* This file has been customized for use with UART0
on the AT91SAM7S-EK */
@@ -63,10 +64,16 @@ void RS485_Set_Interface(char *ifname)
*****************************************************************************/
void RS485_Initialize(void)
{
// enable the USART0 peripheral clock
/* Enable the USART0 clock in the Power Management Controller */
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
pPMC->PMC_PCER = pPMC->PMC_PCSR | (1<<AT91C_ID_US0);
/* Disable and clear USART0 interrupt
in AIC Interrupt Disable Command Register */
volatile AT91PS_AIC pAIC = AT91C_BASE_AIC;
pAIC->AIC_IDCR = (1<<AT91C_ID_US0);
pAIC->AIC_ICCR = (1<<AT91C_ID_US0);
/* enable the peripheral by disabling the pin in the PIO controller */
*AT91C_PIOA_PDR = AT91C_PA5_RXD0 | AT91C_PA6_TXD0 | AT91C_PA7_RTS0;
@@ -92,7 +99,7 @@ void RS485_Initialize(void)
RS485_Interface->US_CR =
AT91C_US_RXEN | /* Receiver Enable */
AT91C_US_TXEN; /* Transmitter Enable */
return;
}
@@ -149,10 +156,6 @@ void RS485_Send_Frame(
{
uint8_t turnaround_time;
/* toggle LED on send */
volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
/* LED ON */
pPIO->PIO_CODR = LED1;
/* delay after reception - per MS/TP spec */
if (mstp_port) {
/* wait about 40 bit times since reception */
@@ -164,6 +167,10 @@ void RS485_Send_Frame(
/* do nothing - wait for timer to increment */
};
}
/* toggle LED on send */
volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
/* LED ON */
pPIO->PIO_CODR = LED1;
while (nbytes) {
while (!(RS485_Interface->US_CSR & AT91C_US_TXRDY)) {
/* do nothing - wait until Tx buffer is empty */
@@ -179,8 +186,6 @@ void RS485_Send_Frame(
while (!(RS485_Interface->US_CSR & AT91C_US_TXRDY)) {
/* do nothing - wait until Tx buffer is empty */
}
/* LED OFF */
pPIO->PIO_SODR = LED1;
return;
}
@@ -188,6 +193,8 @@ void RS485_Send_Frame(
/* called by timer, interrupt(?) or other thread */
void RS485_Check_UART_Data(struct mstp_port_struct_t *mstp_port)
{
volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
if (mstp_port->ReceiveError == true) {
/* wait for state machine to clear this */
}
@@ -197,6 +204,8 @@ void RS485_Check_UART_Data(struct mstp_port_struct_t *mstp_port)
if ( RS485_Interface->US_CSR & AT91C_US_RXRDY) {
mstp_port->DataRegister = RS485_Interface->US_RHR;
mstp_port->DataAvailable = true;
/* LED ON */
pPIO->PIO_CODR = LED2;
}
}
}
bacnet-stack/ports/at91sam7s/timer.c
+8 -2
View File
@@ -40,11 +40,14 @@
/**********************************************************
Header files
**********************************************************/
#include <stdint.h>
#include "AT91SAM7S256.h"
#include "board.h"
#include "dlmstp.h"
// global variable counts interrupts
volatile unsigned long Timer_Milliseconds = 0;
volatile unsigned long Timer_Milliseconds;
volatile uint16_t *pTimer_MSTP_Silence;
void Timer0_Setup(int milliseconds) {
// TC Block Control Register TC_BCR (read/write)
@@ -302,6 +305,8 @@ void Timer0IrqHandler (void) {
dummy = pTC->TC_SR;
// increment the tick count
Timer_Milliseconds++;
if ((*pTimer_MSTP_Silence) < 0xFFFF)
(*pTimer_MSTP_Silence)++;
}
// *****************************************************************************
@@ -314,8 +319,9 @@ void Timer0IrqHandler (void) {
// modified the peripheral clock init
// *****************************************************************************
void TimerInit(void) {
pTimer_MSTP_Silence = dlmstp_millisecond_timer_address();
// enable the Timer0 peripheral clock
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
volatile AT91PS_PMC pPMC = AT91C_BASE_PMC;
pPMC->PMC_PCER = pPMC->PMC_PCSR | (1<<AT91C_ID_TC0);
// Set up the AIC registers for Timer 0
volatile AT91PS_AIC pAIC = AT91C_BASE_AIC;