/**
* CAN test program.
*
* @target AVR
* @date 2006-10-29
* @author Jimmy Myhrman, Andreas Fritiofsson
*
*/
/*-----------------------------------------------------------------------------
* Includes
*---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/eeprom.h>
#include <stdio.h>
#include <string.h>
#include <canid.h>
#include <config.h>
/* lib files */
#if USE_STDCAN == 1
#include <stdcan.h>
#else
#include <mcp2515.h>
#endif
#include <serial.h>
#include <uart.h>
#include <timebase.h>
#if USE_STDCAN == 1
#if SENDTIMESTAMP == 1
#warning SENDTIMESTAMP not fully implemented with StdCan yet.
#endif
#endif
/*-----------------------------------------------------------------------------
* Defines
*---------------------------------------------------------------------------*/
#define UART_START_BYTE 253
#define UART_END_BYTE 250
#if USE_STDCAN == 0
volatile Can_Message_t rxMsg; // Message storage
volatile uint8_t rxMsgFull; // Synchronization flag
#endif
const uint8_t days[12] = {31,28,31,30,31,30,31,31,30,31,30,31};
union {
uint32_t packed;
struct date_t {
unsigned ss:6;
unsigned mm:6;
unsigned hh:5;
unsigned DD:5;
unsigned MM:4;
unsigned YY:6;
} unpacked;
} date;
#if SENDTIMESTAMP == 1
void IncTime(void) {
static uint8_t YY=07, MM=03, DD=02, hh=23, mm=58, ss=00;
if (ss++ > 59) {
ss=0;
if (mm++ > 59) {
mm=0;
if (hh++ > 23) {
hh=0;
if (DD++ > days[MM-1] + ((YY%4) & (MM==2)) ? 1 : 0) {
DD=1;
if (MM++ > 12) {
MM=1; YY++;
}
}
}
}
}
date.unpacked.YY = YY;
date.unpacked.MM = MM;
date.unpacked.DD = DD;
date.unpacked.hh = hh;
date.unpacked.mm = mm;
date.unpacked.ss = ss;
}
#endif
/*-----------------------------------------------------------------------------
* Functions
*---------------------------------------------------------------------------*/
/**
* Parses an incoming UART byte by maintaining a state machine. The UART
* bytes will build up a CAN message according to the protocol described here:
*
* http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara
*
* @param c
* The received UART byte.
*/
void UartParseByte(uint8_t c) {
#if USE_STDCAN == 0
static Can_Message_t cm;
#else
static StdCan_Msg_t cm;
#endif
static uint8_t waitingMessage = 0;
static uint32_t startTime = 0;
static int8_t count = 0;
/* 50ms timeout */
if (waitingMessage && Timebase_PassedTimeMillis(startTime) > 50) {
waitingMessage = 0;
}
if (waitingMessage) {
/* save start time */
startTime = Timebase_CurrentTime();
/* UART END */
if (count >= 15) {
if (c == UART_END_BYTE) {
PORTC ^= (1<<PC0);
#if USE_STDCAN == 0
Can_Send(&cm);
#else
StdCan_Put(&cm);
#endif
}
waitingMessage = 0;
return;
}
/* data */
else if (count >= 7) {
#if USE_STDCAN == 0
cm.Data.bytes[count-7] = c;
#else
cm.Data[count-7] = c;
#endif
count++;
return;
}
/* data length */
else if (count >= 6) {
#if USE_STDCAN == 0
cm.DataLength = c;
#else
cm.Length = c;
#endif
count++;
return;
}
/* remote request flag */
else if (count >= 5) {
#if USE_STDCAN == 0
cm.RemoteFlag = c;
#endif
count++;
return;
}
/* extended */
else if (count >= 4) {
#if USE_STDCAN == 0
cm.ExtendedFlag = c;
#endif
count++;
return;
}
/* ident */
else if (count >= 0) {
cm.Id += ((uint32_t)c << (count*8));
count++;
return;
}
}
if (c == UART_START_BYTE && !waitingMessage) {
waitingMessage = 1;
startTime = Timebase_CurrentTime();
count = 0;
cm.Id = 0;
return;
}
}
#if USE_STDCAN == 0
void Can_Process(Can_Message_t* msg) {
if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.
if (!rxMsgFull) {
memcpy((void*)&rxMsg
, msg
, sizeof(rxMsg
)); rxMsgFull = 1;
}
}
#endif
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
// For calibrating internal oscillator
// OSCCAL = eeprom_read_byte(0);
Timebase_Init();
Serial_Init();
#if USE_STDCAN == 0
Can_Init();
#else
StdCan_Init(0);
#endif
DDRC = 1<<PC1 | 1<<PC0;
PORTC = (1<<PC1) | (1<<PC0);
sei();
#if SENDTIMESTAMP == 1
#if USE_STDCAN == 0
Can_Message_t timeMsg;
#else
StdCan_Msg_t timeMsg;
#endif
uint32_t time = Timebase_CurrentTime
(); uint32_t unixtime = 0;
#endif
uint16_t rxByte;
uint8_t i = 0;
#if SENDTIMESTAMP == 1
#if USE_STDCAN == 0
timeMsg.ExtendedFlag = 1;
timeMsg.RemoteFlag = 0;
timeMsg.DataLength = 8;
#else
/* Jag orkar inte fixa in datan i paketen, sätter längd till 0 sålänge */
timeMsg.Length = 0;
#endif
timeMsg.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_TIME << CAN_SHIFT_NMT_TYPE);
//timeMsg.Id = 0; //Same thing, and lib's can.h is not updated.
#endif
#if USE_STDCAN == 1
StdCan_Msg_t rxMsg;
#endif
/* main loop */
while (1) {
/* any new CAN messages received? */
#if USE_STDCAN == 0
if (rxMsgFull) {
#else
if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) {
#endif
// Toggle activity LED
PORTC ^= (1<<PC1);
/* send message to CanWatcher */
uart_putc(UART_START_BYTE);
uart_putc((uint8_t)rxMsg.Id);
uart_putc((uint8_t)(rxMsg.Id>>8));
uart_putc((uint8_t)(rxMsg.Id>>16));
uart_putc((uint8_t)(rxMsg.Id>>24));
#if USE_STDCAN == 0
uart_putc(rxMsg.ExtendedFlag);
uart_putc(rxMsg.RemoteFlag);
uart_putc(rxMsg.DataLength);
for (i=0; i<8; i++) {
uart_putc(rxMsg.Data.bytes[i]);
}
#else
uart_putc(1);
uart_putc(0);
uart_putc(rxMsg.Length);
for (i=0; i<8; i++) {
uart_putc(rxMsg.Data[i]);
}
#endif
uart_putc(UART_END_BYTE);
#if USE_STDCAN == 0
rxMsgFull = 0;
#endif
}
/* any UART bytes received? */
rxByte = uart_getc();
while (rxByte != UART_NO_DATA) {
/* parse byte! */
UartParseByte((uint8_t)(rxByte & 0x00FF));
/* receive next */
rxByte = uart_getc();
}
#if SENDTIMESTAMP == 1
time1 = Timebase_CurrentTime();
if ((time1
- time) > 1000) { #if USE_STDCAN == 0
timeMsg.Data.dwords[0] = ++unixtime;
IncTime();
timeMsg.Data.dwords[1] = date.packed;
Can_Send(&timeMsg);
#else
/* Jag orkar inte fixa in datan i paketen, sätter längd till 0 sålänge */
StdCan_Put(&timeMsg);
#endif
}
#endif
}
return 0;
}