WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/Can2Serial/main.c


/**
 * CAN test program.
 *
 * @target  AVR
 * @date    2006-10-29
 * @author  Jimmy Myhrman
 *  
 */
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <stdio.h>
/* lib files */
#include <can.h>
#include <uart.h>
#include <timebase.h>
 
 
/*-----------------------------------------------------------------------------
 * Defines
 *---------------------------------------------------------------------------*/
#define UART_START_BYTE 253
#define UART_END_BYTE 250
 
 
/*-----------------------------------------------------------------------------
 * 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) {
    static CanMessage_t cm;
    static uint8_t waitingMessage = 0;
    static uint32_t startTime = 0;
    static int8_t count = 0;
   
    /* 50ms timeout */
    if (waitingMessage && TimebasePassedTimeMS(startTime) > 50) {
        waitingMessage = 0;
    }
   
    if (waitingMessage) {
        /* save start time */
        startTime = TimebaseCurrentTime();
        /* UART END */
        if (count >= 15) {
            if (c == UART_END_BYTE) {
                PORTC ^= (1<<PC0);
                CanSend(&cm);
            }
            waitingMessage = 0;
            return;
        }
        /* data */
        else if (count >= 7) {
            cm.Data.bytes[count-7] = c;
            count++;
            return;
        }
        /* data length */
        else if (count >= 6) {
            cm.DataLength = c;
            count++;
            return;
        }
        /* remote request flag */
        else if (count >= 5) {
            cm.RemoteFlag = c;
            count++;
            return;
        }
        /* extended */
        else if (count >= 4) {
            cm.ExtendedFlag = c;
            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 = TimebaseCurrentTime();
        count = 0;
        cm.Id = 0;
        return;
    }
}
 
 
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
    TimebaseInit();
    UartInit();
    CanInit(CAN_BITRATE_1M);
   
    DDRC = 1<<PC1 | 1<<PC0;
    PORTC = (1<<PC1) | (1<<PC0);
   
    sei();
   
    CanMessage_t rxMsg;
    uint16_t rxByte;
    uint8_t i = 0;
   
    /* main loop */
    while (1) {
        /* any new CAN messages received? */
        if (CanReceive(&rxMsg) == CAN_OK) {
            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));
            uart_putc(rxMsg.ExtendedFlag);
            uart_putc(rxMsg.RemoteFlag);
            uart_putc(rxMsg.DataLength);
            for (i=0; i<8; i++) {
                uart_putc(rxMsg.Data.bytes[i]);
            }
            uart_putc(UART_END_BYTE);
        }
       
        /* any UART bytes received? */
        rxByte = uart_getc();
        while (rxByte != UART_NO_DATA) {
            /* parse byte! */
            UartParseByte((uint8_t)(rxByte & 0x00FF));
            /* receive next */
            rxByte = uart_getc();
        }
    }
   
    return 0;
}
 

Rev 69	Rev 73
1	/**	1	/**
2	* CAN test program.	2	* CAN test program.
3	*	3	*
4	* @target AVR	4	* @target AVR
5	* @date 2006-10-29	5	* @date 2006-10-29
6	* @author Jimmy Myhrman	6	* @author Jimmy Myhrman
7	*	7	*
8	*/	8	*/
9		9
10	/*-----------------------------------------------------------------------------	10	/*-----------------------------------------------------------------------------
11	* Includes	11	* Includes
12	---------------------------------------------------------------------------/	12	---------------------------------------------------------------------------/
13	/* system files */	13	/* system files */
14	#include <avr/io.h>	14	#include <avr/io.h>
15	#include <avr/interrupt.h>	15	#include <avr/interrupt.h>
16	#include <avr/wdt.h>	16	#include <avr/wdt.h>
17	#include <stdio.h>	17	#include <stdio.h>
18	/* lib files */	18	/* lib files */
19	#include <can.h>	19	#include <can.h>
20	#include <uart.h>	20	#include <uart.h>
21	#include <timebase.h>	21	#include <timebase.h>
22		22
23		23
24	/*-----------------------------------------------------------------------------	24	/*-----------------------------------------------------------------------------
25	* Defines	25	* Defines
26	---------------------------------------------------------------------------/	26	---------------------------------------------------------------------------/
27	#define UART_START_BYTE 253	27	#define UART_START_BYTE 253
28	#define UART_END_BYTE 250	28	#define UART_END_BYTE 250
29		29
30		30
31	/*-----------------------------------------------------------------------------	31	/*-----------------------------------------------------------------------------
32	* Functions	32	* Functions
33	---------------------------------------------------------------------------/	33	---------------------------------------------------------------------------/
34	/**	34	/**
35	* Parses an incoming UART byte by maintaining a state machine. The UART	35	* Parses an incoming UART byte by maintaining a state machine. The UART
36	* bytes will build up a CAN message according to the protocol described here:	36	* bytes will build up a CAN message according to the protocol described here:
37	*	37	*
38	* http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara	38	* http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara
39	*	39	*
40	* @param c	40	* @param c
41	* The received UART byte.	41	* The received UART byte.
42	*/	42	*/
43	void UartParseByte(uint8_t c) {	43	void UartParseByte(uint8_t c) {
44	static CanMessage_t cm;	44	static CanMessage_t cm;
45	static uint8_t waitingMessage = 0;	45	static uint8_t waitingMessage = 0;
46	static uint32_t startTime = 0;	46	static uint32_t startTime = 0;
47	static int8_t count = 0;	47	static int8_t count = 0;
48		48
49	/* 50ms timeout */	49	/* 50ms timeout */
50	if (waitingMessage && TimebasePassedTimeMS(startTime) > 50) {	50	if (waitingMessage && TimebasePassedTimeMS(startTime) > 50) {
51	waitingMessage = 0;	51	waitingMessage = 0;
52	}	52	}
53		53
54	if (waitingMessage) {	54	if (waitingMessage) {
55	/* save start time */	55	/* save start time */
56	startTime = TimebaseCurrentTime();	56	startTime = TimebaseCurrentTime();
57	/* UART END */	57	/* UART END */
58	if (count >= 15) {	58	if (count >= 15) {
59	if (c == UART_END_BYTE) {	59	if (c == UART_END_BYTE) {
60	PORTC ^= (1<<PC0);	60	PORTC ^= (1<<PC0);
61	CanSend(&cm);	61	CanSend(&cm);
62	}	62	}
63	waitingMessage = 0;	63	waitingMessage = 0;
64	return;	64	return;
65	}	65	}
66	/* data */	66	/* data */
67	else if (count >= 7) {	67	else if (count >= 7) {
68	cm.Data.bytes[count-7] = c;	68	cm.Data.bytes[count-7] = c;
69	count++;	69	count++;
70	return;	70	return;
71	}	71	}
72	/* data length */	72	/* data length */
73	else if (count >= 6) {	73	else if (count >= 6) {
74	cm.DataLength = c;	74	cm.DataLength = c;
75	count++;	75	count++;
76	return;	76	return;
77	}	77	}
78	/* remote request flag */	78	/* remote request flag */
79	else if (count >= 5) {	79	else if (count >= 5) {
80	cm.RemoteFlag = c;	80	cm.RemoteFlag = c;
81	count++;	81	count++;
82	return;	82	return;
83	}	83	}
84	/* extended */	84	/* extended */
85	else if (count >= 4) {	85	else if (count >= 4) {
86	cm.ExtendedFlag = c;	86	cm.ExtendedFlag = c;
87	count++;	87	count++;
88	return;	88	return;
89	}	89	}
90	/* ident */	90	/* ident */
91	else if (count >= 0) {	91	else if (count >= 0) {
92	cm.Id += ((uint32_t)c << (count*8));	92	cm.Id += ((uint32_t)c << (count*8));
93	count++;	93	count++;
94	return;	94	return;
95	}	95	}
96	}	96	}
97		97
98	if (c == UART_START_BYTE && !waitingMessage) {	98	if (c == UART_START_BYTE && !waitingMessage) {
99	waitingMessage = 1;	99	waitingMessage = 1;
100	startTime = TimebaseCurrentTime();	100	startTime = TimebaseCurrentTime();
101	count = 0;	101	count = 0;
102	cm.Id = 0;	102	cm.Id = 0;
103	return;	103	return;
104	}	104	}
105	}	105	}
106		106
107		107
108	/*-----------------------------------------------------------------------------	108	/*-----------------------------------------------------------------------------
109	* Main Program	109	* Main Program
110	---------------------------------------------------------------------------/	110	---------------------------------------------------------------------------/
111	int main(void) {	111	int main(void) {
112	TimebaseInit();	112	TimebaseInit();
113	UartInit();	113	UartInit();
114	CanInit(CAN_BITRATE_1M);	114	CanInit(CAN_BITRATE_1M);
115		115
116	DDRC = 1<<PC1 \| 1<<PC0;	116	DDRC = 1<<PC1 \| 1<<PC0;
117	PORTC = (1<<PC1) \| (1<<PC0);	117	PORTC = (1<<PC1) \| (1<<PC0);
118		118
119	sei();	119	sei();
120		120
121	CanMessage_t rxMsg;	121	CanMessage_t rxMsg;
122	uint16_t rxByte;	122	uint16_t rxByte;
123	uint8_t i = 0;	123	uint8_t i = 0;
124		124
125	/* main loop */	125	/* main loop */
126	while (1) {	126	while (1) {
127	/* any new CAN messages received? */	127	/* any new CAN messages received? */
128	if (CanReceive(&rxMsg) == CAN_OK) {	128	if (CanReceive(&rxMsg) == CAN_OK) {
129	PORTC ^= (1<<PC1);	129	PORTC ^= (1<<PC1);
130	/* send message to CanWatcher */	130	/* send message to CanWatcher */
131	uart_putc(UART_START_BYTE);	131	uart_putc(UART_START_BYTE);
132	uart_putc((uint8_t)rxMsg.Id);	132	uart_putc((uint8_t)rxMsg.Id);
133	uart_putc((uint8_t)(rxMsg.Id>>8));	133	uart_putc((uint8_t)(rxMsg.Id>>8));
134	uart_putc((uint8_t)(rxMsg.Id>>16));	134	uart_putc((uint8_t)(rxMsg.Id>>16));
135	uart_putc((uint8_t)(rxMsg.Id>>24));	135	uart_putc((uint8_t)(rxMsg.Id>>24));
136	uart_putc(rxMsg.ExtendedFlag);	136	uart_putc(rxMsg.ExtendedFlag);
137	uart_putc(rxMsg.RemoteFlag);	137	uart_putc(rxMsg.RemoteFlag);
138	uart_putc(rxMsg.DataLength);	138	uart_putc(rxMsg.DataLength);
139	for (i=0; i<8; i++) {	139	for (i=0; i<8; i++) {
140	uart_putc(rxMsg.Data.bytes[i]);	140	uart_putc(rxMsg.Data.bytes[i]);
141	}	141	}
142	uart_putc(UART_END_BYTE);	142	uart_putc(UART_END_BYTE);
143	}	143	}
144		144
145	/* any UART bytes received? */	145	/* any UART bytes received? */
146	rxByte = uart_getc();	146	rxByte = uart_getc();
147	while (rxByte != UART_NO_DATA) {	147	while (rxByte != UART_NO_DATA) {
148	/* parse byte! */	148	/* parse byte! */
149	UartParseByte((uint8_t)(rxByte & 0x00FF));	149	UartParseByte((uint8_t)(rxByte & 0x00FF));
150	/* receive next */	150	/* receive next */
151	rxByte = uart_getc();	151	rxByte = uart_getc();
152	}	152	}
153	}	153	}
154		154
155	return 0;	155	return 0;
156	}	156	}
157		157

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/Can2Serial/main.c @ 73 – Rev 69 → 73