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179 eqlazer 1 
/**
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 * CanCLCD.
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 * For HD44780- and KS0073-based LCD displays
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 * Prints sensor data and other interesting things.
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 *
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 * @date    2006-12-11
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 * @author  Erik Larsson
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 *
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 * TODO Fix more types of output: relay status, mail recieved etc.
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 *
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 */
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/*-----------------------------------------------------------------------------
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 * Includes
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 *---------------------------------------------------------------------------*/
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/* system files */
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <stdio.h>
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/* lib files */
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#include <bios.h>
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#include <lcd_HD44780.h>
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#include <clcd20x4.h>
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/* funcdefs */
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//#include <global_funcdefs.h>
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#include <eqlazer_funcdefs.h>
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/* defines */
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#define BUFFER_SIZE 20
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#define TRUE 1
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#define FALSE 0
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Can_Message_t rxMsg;
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uint8_t currentView = MAIN_VIEW,
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        msg_received = FALSE;
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uint8_t temperatureData[8],
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        servoPosition[4],
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        //relayStatus[4],
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        //dimmerStatus[4],
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        temperatureLength = 8,
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        servoLength = 0;
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        //, relayLength=0; //TODO mer generaliserat
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uint8_t rot_lastdir = 0,
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        rot_laststate = 0;
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ISR( PCINT2_vect ){
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    uint8_t rot_data = 0;
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    if(PIND&(1<<PD6)){
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        rot_data |= 0x01;
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    }
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    if(PIND&(1<<PD7)){
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        rot_data |= 0x02;
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    }
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    if( rot_data==3 && rot_laststate!=3 ){
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        if( rot_lastdir&0x01 ){
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            // Moving left
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            if(currentView>0){
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                currentView--;
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                msg_received = TRUE;
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            }
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        }else{
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            // Moving right
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            if(currentView<LAST_VIEW){
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                currentView++;
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                msg_received = TRUE;
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            }
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        }
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        rot_laststate=3;
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    }else if( rot_data==0 && rot_laststate!=0 ){
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        rot_laststate = 0;
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    }else if( rot_data==1 || rot_data==2 ){
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        rot_lastdir = rot_data;
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    }
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}
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void can_receive(Can_Message_t *msg){
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    uint8_t temp, m;
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    /* Check for incoming messages from IR-receiver node */
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    if( CLASS_SNS == ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) ){
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        /* FIXME detta är väldigt fult och borde fixas
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         * knapp 4 på fjärren bläddrar åt vänster
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         * knapp 6 åt höger
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         */
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        if( SNS_IR_RECEIVE == (msg->Id & TYPE_MASK)>>TYPE_MASK_BITS){
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            if(msg->Data.bytes[0] == 0 && msg->Data.bytes[1] == 0 && msg->Data.bytes[2] == 0){
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                if(msg->Data.bytes[3] == 4 && currentView>0){
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                    currentView--;
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                    msg_received = TRUE;
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                }else if(msg->Data.bytes[3] == 6 && currentView<LAST_VIEW){
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                    currentView++;
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                    msg_received = TRUE;
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                }
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            }
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        }
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        /* Other sensor messages should be placed here */
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        /* DS18S20 sensors */
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        if( SNS_TEMP_DS18S20 == (msg->Id & SNS_TYPE_MASK)>>SNS_TYPE_BITS ){
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            temp = (msg->Id & SNS_ID_MASK)>>SNS_ID_BITS;
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            temperatureData[ (temp-1)*2 ] = msg->Data.bytes[0];
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            temperatureData[ (temp-1)*2+1 ] = msg->Data.bytes[1];
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        }
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        /* Servo controllers */
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        if( SNS_ACT_STATUS_SERVO == (msg->Id & TYPE_MASK)>>TYPE_MASK_BITS ){ // TODO annan struktur på statusmeddelanden från servo
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            temp = msg->DataLength - 3;
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            for(m=0;m<temp;m++){
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                servoPosition[ m ] = msg->Data.bytes[m+3];
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            }
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            servoLength = temp;
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        }
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    }
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}
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/*-----------------------------------------------------------------------------
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 * Main Program
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 *---------------------------------------------------------------------------*/
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int main(void) {
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    char buffer[ BUFFER_SIZE ];
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    /*
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     * Initialize rotaryencoders and buttons
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     */
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    /* Set as input */
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    DDRD &= ~( (1<<DDD6)|(1<<DDD7) );
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    /* Enable IO-pin interrupt */
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    PCICR |= (1<<PCIE2);
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    /* Unmask PD6 and PD7 */
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    PCMSK2 |= (1<<PCINT22)|(1<<PCINT23);
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    sei();
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    bios->can_callback = &can_receive;
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    lcd_init( LCD_DISP_ON );
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    lcd_clrscr();
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    lcd_clrscr();
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    printLCDview( MAIN_VIEW );
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    /* main loop */
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    while(1){
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        /* check if any messages have been received */
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        if(msg_received){
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                /* Print views skeleton and if existing its data */
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            printLCDview( currentView );
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            if(currentView == TEMPSENS_VIEW){
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                printLCDviewData( TEMPSENS_VIEW, temperatureData, temperatureLength);
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            }else if(currentView == SERVO_VIEW){
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                printLCDviewData( SERVO_VIEW, servoPosition, servoLength);
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            }
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            msg_received = FALSE;
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        }
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    }
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}