#include <AT91SAM7S256.H> /* AT91SAMT7S64 definitions */
#include <lib_AT91SAM7S256.h>
/*
* Main Program
*/
int i;
__irq void isrUDP(void)
{
unsigned int status = AT91C_BASE_UDP->UDP_ISR;
AT91PS_UDP pUDP = AT91C_BASE_UDP;
AT91_REG isr = pUDP->UDP_ISR;
AT91_REG csr = pUDP->UDP_CSR[0]; //rejestr csr endpointu 0
if (isr&AT91C_UDP_EPINT0)
{
if (i)
{
AT91C_BASE_PIOA->PIO_SODR = 1;
i = 0;
}
else
{
AT91C_BASE_PIOA->PIO_CODR = 1;
i = 1;
}
}
AT91C_BASE_UDP->UDP_CSR[0] = (0<<AT91C_UDP_RXSETUP);
AT91C_BASE_AIC->AIC_EOICR = status;
}

int main (void) {
AT91C_BASE_PIOA->PIO_PER = (1 << AT91C_PIO_PA0);
AT91C_BASE_PIOA->PIO_OER = 0x00000001;
AT91C_BASE_PMC->PMC_PCER = (1UL << AT91C_ID_PIOA);

// Set the PLL USB Divider
AT91C_BASE_CKGR->CKGR_PLLR |= AT91C_CKGR_USBDIV_1;
AT91C_BASE_PMC->PMC_SCER = AT91C_PMC_UDP; //Разрешили частоту на UDP
AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_UDP);

AT91C_BASE_UDP->UDP_RSTEP = (1 << 0);
AT91C_BASE_UDP->UDP_RSTEP = 0;
AT91C_BASE_UDP->UDP_CSR[0] = AT91C_UDP_EPTYPE_CTRL;
AT91C_BASE_UDP->UDP_CSR[0] = AT91C_UDP_EPEDS;

// Enable UDP PullUp (USB_DP_PUP) : enable & Clear of the corresponding PIO
// Set in PIO mode and Configure in Output
AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91C_PIO_PA16);
// Clear for set the Pul up resistor
AT91F_PIO_ClearOutput(AT91C_BASE_PIOA,AT91C_PIO_PA16);

AT91C_BASE_UDP->UDP_IMR = AT91C_UDP_ENDBUSRES|AT91C_UDP_EPINT0;
AT91C_BASE_AIC->AIC_SVR[AT91C_ID_UDP] = (unsigned int)isrUDP;
AT91C_BASE_AIC->AIC_SMR[AT91C_ID_UDP] = 6;
AT91C_BASE_AIC->AIC_IECR = (1UL << AT91C_ID_UDP);

// Loop forever
for (;;)
{
}
}