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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 217 | arune | 1 | /** |
| 2 | * Description |
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| 3 | * |
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| 4 | * @date 2007-01-06 |
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| 5 | * @author Anders Runeson |
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| 6 | * |
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| 7 | */ |
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| 8 | |||
| 9 | /*----------------------------------------------------------------------------- |
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| 10 | * Includes |
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| 11 | *---------------------------------------------------------------------------*/ |
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| 12 | /* system files */ |
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| 13 | #include <avr/io.h> |
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| 14 | #include <avr/interrupt.h> |
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| 15 | #include <avr/wdt.h> |
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| 16 | #include <stdio.h> |
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| 17 | /* lib files */ |
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| 18 | #include <can.h> |
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| 19 | #include <serial.h> |
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| 20 | #include <timebase.h> |
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| 21 | |||
| 22 | /* |
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| 23 | * De få signaler som man behöver koppla in från MT8870 är |
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| 24 | * StD, Q1, Q2, Q3 och Q4 |
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| 25 | */ |
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| 26 | |||
| 27 | #define MT_StD_PIN PIND |
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| 28 | #define MT_StD_DDR DDRD |
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| 29 | #define MT_StD_BIT PD4 |
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| 30 | |||
| 31 | #define MT_Q1_PIN PIND |
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| 32 | #define MT_Q1_DDR DDRD |
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| 33 | #define MT_Q1_BIT PD5 |
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| 34 | |||
| 35 | #define MT_Q2_PIN PIND |
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| 36 | #define MT_Q2_DDR DDRD |
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| 37 | #define MT_Q2_BIT PD6 |
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| 38 | |||
| 39 | #define MT_Q3_PIN PINB |
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| 40 | #define MT_Q3_DDR DDRB |
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| 41 | #define MT_Q3_BIT PB0 |
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| 42 | |||
| 43 | #define MT_Q4_PIN PINB |
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| 44 | #define MT_Q4_DDR DDRB |
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| 45 | #define MT_Q4_BIT PB1 |
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| 46 | |||
| 47 | |||
| 48 | /*----------------------------------------------------------------------------- |
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| 49 | * Main Program |
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| 50 | *---------------------------------------------------------------------------*/ |
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| 51 | int main(void) { |
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| 52 | |||
| 53 | Mcu_Init(); |
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| 54 | Timebase_Init(); |
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| 55 | Serial_Init(); |
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| 56 | |||
| 57 | sei(); |
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| 58 | |||
| 59 | printf("CanInit..."); |
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| 60 | if (Can_Init() != CAN_OK) { |
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| 61 | printf("FAILED!\n"); |
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| 62 | } |
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| 63 | else { |
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| 64 | printf("OK!\n"); |
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| 65 | } |
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| 66 | |||
| 67 | uint32_t timeStamp = 0; |
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| 68 | uint32_t lastToneTimeStamp = 0; |
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| 69 | uint8_t timerOn = 0; |
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| 70 | |||
| 71 | Can_Message_t txMsg; |
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| 72 | Can_Message_t rxMsg; |
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| 73 | txMsg.Id = 4; |
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| 74 | txMsg.DataLength = 0; |
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| 75 | txMsg.RemoteFlag = 0; |
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| 76 | txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set. |
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| 77 | |||
| 78 | //set ports to input |
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| 79 | MT_StD_DDR &= ~(1<<MT_StD_BIT); |
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| 80 | MT_Q1_DDR &= ~(1<<MT_Q1_BIT); |
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| 81 | MT_Q2_DDR &= ~(1<<MT_Q2_BIT); |
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| 82 | MT_Q3_DDR &= ~(1<<MT_Q3_BIT); |
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| 83 | MT_Q4_DDR &= ~(1<<MT_Q4_BIT); |
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| 84 | |||
| 85 | uint8_t receviercounter = 0; |
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| 86 | |||
| 87 | /* main loop */ |
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| 88 | while (1) { |
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| 89 | /* service the CAN routines */ |
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| 90 | Can_Service(); |
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| 91 | |||
| 92 | if ((MT_StD_PIN & (1<<MT_StD_BIT)) != 0) { |
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| 93 | //här ska det egentligen vara en en kort delay innan man kollar |
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| 94 | //om std är hög igen |
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| 95 | |||
| 96 | if ((MT_StD_PIN & (1<<MT_StD_BIT)) != 0) { |
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| 97 | //testa om receviercounter har blivit för stor, error error |
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| 98 | if (receviercounter >= 16) { |
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| 99 | receviercounter = 0; //kasta paket |
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| 100 | } else { |
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| 101 | //nu finns data tillgänglig på Qx |
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| 102 | uint8_t datain = 0; |
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| 103 | datain |= ((MT_Q1_PIN >> MT_Q1_BIT) & 0x1); |
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| 104 | datain |= (((MT_Q2_PIN >> MT_Q2_BIT) & 0x1)<<1); |
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| 105 | datain |= (((MT_Q3_PIN >> MT_Q3_BIT) & 0x1)<<2); |
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| 106 | datain |= (((MT_Q4_PIN >> MT_Q4_BIT) & 0x1)<<3); |
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| 107 | if (datain == 0) { datain = 0x1d; } //DTMF0 = D //this is temporary |
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| 108 | if (datain == 11) { datain = 0x1e; } //DTMF12 = * //this is temporary |
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| 109 | if (datain == 12) { datain = 0x1f; } //DTMF11 = # //this is temporary |
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| 110 | if (datain == 15) { datain = 0xc; } //DTMF11 = C |
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| 111 | if (datain == 10) { datain = 0; } //DTMF10 = number 0 |
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| 112 | if (datain == 13) { datain = 0xa; } //DTMF13 = A |
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| 113 | if (datain == 14) { datain = 0xb; } //DTMF14 = B |
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| 114 | if (datain == 0x1d) { datain = 0xd; } //DTMF0 = D //now permanent |
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| 115 | if (datain == 0x1e) { datain = 0xe; } //DTMF12 = * //now permanent |
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| 116 | if (datain == 0x1f) { datain = 0xf; } //DTMF11 = # //now permanent |
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| 117 | |||
| 118 | if ((receviercounter & 0x1) == 0) { |
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| 119 | txMsg.Data.bytes[(receviercounter>>1)] = (datain<<4); |
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| 120 | } else { |
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| 121 | txMsg.Data.bytes[(receviercounter>>1)] |= datain; |
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| 122 | } |
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| 123 | |||
| 124 | receviercounter++; |
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| 125 | |||
| 126 | timerOn = 1; |
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| 127 | } |
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| 128 | while ((MT_StD_PIN & (1<<MT_StD_BIT)) != 0) {} |
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| 129 | lastToneTimeStamp = Timebase_CurrentTime(); |
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| 130 | } |
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| 131 | } |
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| 132 | |||
| 133 | if (timerOn ==1 && Timebase_PassedTimeMillis(lastToneTimeStamp) >= 1800) { |
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| 134 | timerOn = 0; |
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| 135 | if ((receviercounter & 0x1) == 0) { |
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| 136 | txMsg.DataLength = (receviercounter>>1); |
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| 137 | } else { |
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| 138 | txMsg.DataLength = (receviercounter>>1)+1; |
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| 139 | } |
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| 140 | |||
| 141 | receviercounter = 0; |
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| 142 | Can_Send(&txMsg); |
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| 143 | } |
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| 144 | |||
| 145 | /* send CAN message and check for CAN errors once every second */ |
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| 146 | if (Timebase_PassedTimeMillis(timeStamp) >= 2000) { |
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| 147 | timeStamp = Timebase_CurrentTime(); |
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| 148 | /* send txMsg */ |
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| 149 | //txMsg.Id++; |
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| 150 | //Can_Send(&txMsg); |
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| 151 | } |
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| 152 | |||
| 153 | /* check if any messages have been received */ |
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| 154 | while (Can_Receive(&rxMsg) == CAN_OK) { |
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| 155 | /*printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag)); |
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| 156 | printf("data={ "); |
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| 157 | for (uint8_t i=0; i<rxMsg.DataLength; i++) { |
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| 158 | printf("%x ", rxMsg.Data.bytes[i]); |
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| 159 | } |
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| 160 | printf("}\n");*/ |
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| 161 | } |
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| 162 | } |
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| 163 | |||
| 164 | return 0; |
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| 165 | } |