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


/**
 * CAN Relay.
 *
 *
 * @date    2006-12-17
 * @author  Erik Larsson
 *
 *   ADC=Vin*1024/Vref
 *   Vout=( 10 mV/C )( Temperature C ) + 500 mV
 *
 *  Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>
 *
 *
 */
 
#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
/* lib files */
#include <bios.h>
#include <config.h>
#include <drivers/timer/timebase.h>
#include <tc1047.h>
#include <funcdefs.h>
 
/* defines */
#define GROUP_ID        0x01UL
 
#define RELAY_OFF           0x01
#define RELAY_ON            0x02
#define FAILSAFE_MODE       0x0F
#define FAILSAFE_TRESHOLD   0xFF  /* Degrees when nodeRelay goes into failsafe mode */
 
#define RELAY_CMD_ON        0x01
#define RELAY_CMD_OFF       0x02
#define RELAY_CMD_TOGGLE    0x03
#define RELAY_CMD_STATUS    0x04
#define RELAY_CMD_RESET     0x05
#define STATUS_SEND_PERIOD  10000UL /* milliseconds */
#define FAILSAFE_SEND_PERIOD    10000UL /* milliseconds */
#define BOUNCE_TIME         10 /* milliseconds */
#define BUTTON1             1
#define BUTTON2             2
 
 
 
 
/*-------------------------------------------------------------------------
 * Global variables
 * -----------------------------------------------------------------------*/
uint8_t relayStatus, failsafe_flag = 0, rxMsg_Data_bytes[8], msg_received = 0;
uint32_t boardTemperature = 0;
 
 
/*----------------------------------------------------------------------------
 * Functions
 * -------------------------------------------------------------------------*/
uint8_t relayOff();
uint8_t relayOn();
void relayFailsafe();
void sendStatus();
 
void can_receive(Can_Message_t *msg)
{ // CAN callback function
    uint32_t act;
    uint8_t m, act_type, group, node;
 
    if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
        // Actuator package
        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
        act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);
        group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);
        node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);
 
        if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
            // This is a message for this node
 
            if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){
                // Return to normal operation
                failsafe_flag = 0;
            }
 
            for(m=0;m<(msg->DataLength);m++){
                rxMsg_Data_bytes[m] = msg->Data.bytes[m];
            }
            msg_received = 1; // Tell application that message has arrived
        }
    }
}
 
/*----------------------------------------------------------------------------
 * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
 * -------------------------------------------------------------------------*/
#if TWO_BUTTON_MODE
ISR( PCINT2_vect )
{
 
}
#endif
 
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
 
    uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;
 
    Can_Message_t txMsg;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;
    txMsg.DataLength = 4;
 
    adcTemperatureInit();
 
    // Set up callback for CAN messages
    BIOS_CanCallback = &can_receive;
 
    sei();
   
    Timebase_Init();
 
    // Turn relay off
    relayStatus = relayOff();
//  txMsg.Id = 0x8000110; // FIXME
//  bios->can_send(&txMsg);
 
    // Main loop
    while (1) {
 
        if(msg_received && !failsafe_flag ){
 
            if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){
                // Turn relay on
                relayStatus = relayOn();
 
            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){
                // Turn relay off
                relayStatus = relayOff();
 
            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){
                    // Toggle relay
                    if(relayStatus == RELAY_OFF){
                        relayStatus = relayOn();
                    }else{
                        relayStatus = relayOff();
                    }
 
            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){
                // Send relay status to CAN
                sendStatus();
            }
            msg_received = 0;
        }
 
        temp = Timebase_CurrentTime();
        if( temp - timeStamp >= STATUS_SEND_PERIOD ){
            timeStamp = temp;
/*          txMsg.Id = 0x8000111;
            txMsg.Data.bytes[0] = timeStamp & 0x000000FF;
            txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;
            txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;
            txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;
            bios->can_send(&txMsg);
*/          // Send relay status to CAN
            sendStatus();
        }
    }
    return 0;
}
 
uint8_t relayOff()
{
    // Turn off relay
    PORTC &= ~(1<<PC1);
    DDRC |= (1<<DDC1);
 
    return RELAY_OFF;
}
 
uint8_t relayOn()
{
    // Turn on relay
    DDRC &= ~(1<<DDC1);
    PORTC |= (1<<PC1);
 
    return RELAY_ON;
}
 
void relayFailsafe()
{
    uint32_t failsafe_timeStamp, temp;
    relayStatus = relayOff();
    failsafe_flag = 1;
 
    while(1){
 
        if( !failsafe_flag ){
            // Return from failsafe mode
            return;
        }
// TODO skicka med period
        sendStatus( );
    }
}
 
void sendStatus()
{
    uint32_t temperature;
    Can_Message_t statusMsg;
    statusMsg.RemoteFlag = 0;
    statusMsg.ExtendedFlag = 1;
    statusMsg.DataLength = 4;
    statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
 
    temperature = getTC1047temperature();
    if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
        // Goto failsafe mode
        relayFailsafe();
    }else{
        // Transmitt node status
        statusMsg.Data.bytes[0] = temperature & 0x00FF;
        statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
        statusMsg.Data.bytes[2] = relayStatus;
        statusMsg.Data.bytes[3] = failsafe_flag;
 
        BIOS_CanSend( &statusMsg );
    }
}
 

Rev 360	Rev 391
1	/**	1	/**
2	* CAN Relay.	2	* CAN Relay.
3	*	3	*
4	*	4	*
5	* @date 2006-12-17	5	* @date 2006-12-17
6	* @author Erik Larsson	6	* @author Erik Larsson
7	*	7	*
8	* ADC=Vin*1024/Vref	8	* ADC=Vin*1024/Vref
9	* Vout=( 10 mV/C )( Temperature C ) + 500 mV	9	* Vout=( 10 mV/C )( Temperature C ) + 500 mV
10	*	10	*
11	* Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>	11	* Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>
12	*	12	*
13	*	13	*
14	*/	14	*/
15		15
16	#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */	16	#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
17		17
18	/*-----------------------------------------------------------------------------	18	/*-----------------------------------------------------------------------------
19	* Includes	19	* Includes
20	---------------------------------------------------------------------------/	20	---------------------------------------------------------------------------/
21	/* system files */	21	/* system files */
22	#include <avr/io.h>	22	#include <avr/io.h>
23	#include <avr/interrupt.h>	23	#include <avr/interrupt.h>
24	#include <stdio.h>	24	#include <stdio.h>
25	/* lib files */	25	/* lib files */
26	#include <bios.h>	26	#include <bios.h>
-		27	#include <config.h>
-		28	#include <drivers/timer/timebase.h>
27	#include <tc1047.h>	29	#include <tc1047.h>
28	#include <funcdefs.h>	30	#include <funcdefs.h>
29		31
30	/* defines */	32	/* defines */
31	#define GROUP_ID 0x01UL	33	#define GROUP_ID 0x01UL
32		34
33	#define RELAY_OFF 0x01	35	#define RELAY_OFF 0x01
34	#define RELAY_ON 0x02	36	#define RELAY_ON 0x02
35	#define FAILSAFE_MODE 0x0F	37	#define FAILSAFE_MODE 0x0F
36	#define FAILSAFE_TRESHOLD 60 /* Degrees when nodeRelay goes into failsafe mode */	38	#define FAILSAFE_TRESHOLD 0xFF /* Degrees when nodeRelay goes into failsafe mode */
37		39
38	#define RELAY_CMD_ON 0x01	40	#define RELAY_CMD_ON 0x01
39	#define RELAY_CMD_OFF 0x02	41	#define RELAY_CMD_OFF 0x02
40	#define RELAY_CMD_TOGGLE 0x03	42	#define RELAY_CMD_TOGGLE 0x03
41	#define RELAY_CMD_STATUS 0x04	43	#define RELAY_CMD_STATUS 0x04
42	#define RELAY_CMD_RESET 0x05	44	#define RELAY_CMD_RESET 0x05
43	#define STATUS_SEND_PERIOD 10000UL /* milliseconds */	45	#define STATUS_SEND_PERIOD 10000UL /* milliseconds */
44	#define FAILSAFE_SEND_PERIOD 10000UL /* milliseconds */	46	#define FAILSAFE_SEND_PERIOD 10000UL /* milliseconds */
45	#define BOUNCE_TIME 10 /* milliseconds */	47	#define BOUNCE_TIME 10 /* milliseconds */
46	#define BUTTON1 1	48	#define BUTTON1 1
47	#define BUTTON2 2	49	#define BUTTON2 2
48		-
49	#define TRUE 1	-
50	#define FALSE 0	-
51		50
52	/*-------------------------------------------------------------------------	51	/*-------------------------------------------------------------------------
53	* Global variables	52	* Global variables
54	* -----------------------------------------------------------------------*/	53	* -----------------------------------------------------------------------*/
55	uint8_t relayStatus, failsafe_flag = ~~FALSE,~~ rxMsg_Data_bytes[8], msg_received = ~~FALSE~~;	54	uint8_t relayStatus, failsafe_flag = 0, rxMsg_Data_bytes[8], msg_received = 0;
56	uint32_t boardTemperature = 0;	55	uint32_t boardTemperature = 0;
57		56
58		57
59	/*----------------------------------------------------------------------------	58	/*----------------------------------------------------------------------------
60	* Functions	59	* Functions
61	* -------------------------------------------------------------------------*/	60	* -------------------------------------------------------------------------*/
62	uint8_t relayOff();	61	uint8_t relayOff();
63	uint8_t relayOn();	62	uint8_t relayOn();
64	void relayFailsafe();	63	void relayFailsafe();
65	void sendStatus();	64	void sendStatus();
66		65
67	void can_receive(Can_Message_t *msg)	66	void can_receive(Can_Message_t *msg)
68	{ // CAN callback function	67	{ // CAN callback function
69	uint32_t act;	68	uint32_t act;
70	uint8_t m, act_type, group, node;	69	uint8_t m, act_type, group, node;
71		70
72	if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){	71	if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
73	// Actuator package	72	// Actuator package
74	act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;	73	act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
75	act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);	74	act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);
76	group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);	75	group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);
77	node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);	76	node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);
78		77
79	if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID \|\| node == NODE_ID) ){	78	if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID \|\| node == NODE_ID) ){
80	// This is a message for this node	79	// This is a message for this node
81		80
82	if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){	81	if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){
83	// Return to normal operation	82	// Return to normal operation
84	failsafe_flag = 0;	83	failsafe_flag = 0;
85	}	84	}
86		85
87	for(m=0;m<(msg->DataLength);m++){	86	for(m=0;m<(msg->DataLength);m++){
88	rxMsg_Data_bytes[m] = msg->Data.bytes[m];	87	rxMsg_Data_bytes[m] = msg->Data.bytes[m];
89	}	88	}
90	msg_received = ~~TRUE~~; // Tell application that message has arrived	89	msg_received = 1; // Tell application that message has arrived
91	}	90	}
92	}	91	}
93	}	92	}
94		93
95	/*----------------------------------------------------------------------------	94	/*----------------------------------------------------------------------------
96	* Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder	95	* Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
97	* -------------------------------------------------------------------------*/	96	* -------------------------------------------------------------------------*/
98	#if TWO_BUTTON_MODE	97	#if TWO_BUTTON_MODE
99	ISR( PCINT2_vect )	98	ISR( PCINT2_vect )
100	{	99	{
101		100
102	}	101	}
103	#endif	102	#endif
104		103
105	/*-----------------------------------------------------------------------------	104	/*-----------------------------------------------------------------------------
106	* Main Program	105	* Main Program
107	---------------------------------------------------------------------------/	106	---------------------------------------------------------------------------/
108	int main(void) {	107	int main(void) {
109		108
110	uint32_t timeStamp = ~~bios->timebase_get~~(), temp = timeStamp;	109	uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;
111		110
112	Can_Message_t txMsg;	111	Can_Message_t txMsg;
113	txMsg.RemoteFlag = 0;	112	txMsg.RemoteFlag = 0;
114	txMsg.ExtendedFlag = 1;	113	txMsg.ExtendedFlag = 1;
115	txMsg.DataLength = 4;	114	txMsg.DataLength = 4;
116		115
117	adcTemperatureInit();	116	adcTemperatureInit();
118		117
119	// Set up callback for CAN messages	118	// Set up callback for CAN messages
120	~~bios->can_callback~~ = &can_receive;	119	BIOS_CanCallback = &can_receive;
121		120
122	sei();	121	sei();
-		122
-		123	Timebase_Init();
123		124
124	// Turn relay off	125	// Turn relay off
125	relayStatus = relayOff();	126	relayStatus = relayOff();
126	// txMsg.Id = 0x8000110; // FIXME	127	// txMsg.Id = 0x8000110; // FIXME
127	// bios->can_send(&txMsg);	128	// bios->can_send(&txMsg);
128		129
129	// Main loop	130	// Main loop
130	while (1) {	131	while (1) {
131		132
132	if(msg_received && !failsafe_flag ){	133	if(msg_received && !failsafe_flag ){
133		134
134	if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){	135	if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){
135	// Turn relay on	136	// Turn relay on
136	relayStatus = relayOn();	137	relayStatus = relayOn();
137		138
138	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){	139	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){
139	// Turn relay off	140	// Turn relay off
140	relayStatus = relayOff();	141	relayStatus = relayOff();
141		142
142	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){	143	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){
143	// Toggle relay	144	// Toggle relay
144	if(relayStatus == RELAY_OFF){	145	if(relayStatus == RELAY_OFF){
145	relayStatus = relayOn();	146	relayStatus = relayOn();
146	}else{	147	}else{
147	relayStatus = relayOff();	148	relayStatus = relayOff();
148	}	149	}
149		150
150	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){	151	}else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){
151	// Send relay status to CAN	152	// Send relay status to CAN
152	sendStatus();	153	sendStatus();
153	}	154	}
154	msg_received = ~~FALSE~~;	155	msg_received = 0;
155	}	156	}
156		157
157	temp = ~~bios->timebase_get~~();	158	temp = Timebase_CurrentTime();
158	if( temp - timeStamp >= STATUS_SEND_PERIOD ){	159	if( temp - timeStamp >= STATUS_SEND_PERIOD ){
159	timeStamp = temp;	160	timeStamp = temp;
160	/* txMsg.Id = 0x8000111;	161	/* txMsg.Id = 0x8000111;
161	txMsg.Data.bytes[0] = timeStamp & 0x000000FF;	162	txMsg.Data.bytes[0] = timeStamp & 0x000000FF;
162	txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;	163	txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;
163	txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;	164	txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;
164	txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;	165	txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;
165	bios->can_send(&txMsg);	166	bios->can_send(&txMsg);
166	*/ // Send relay status to CAN	167	*/ // Send relay status to CAN
167	sendStatus();	168	sendStatus();
168	}	169	}
169	}	170	}
170	return 0;	171	return 0;
171	}	172	}
172		173
173	uint8_t relayOff()	174	uint8_t relayOff()
174	{	175	{
175	// Turn off relay	176	// Turn off relay
176	PORTC &= ~(1<<PC1);	177	PORTC &= ~(1<<PC1);
177	DDRC \|= (1<<DDC1);	178	DDRC \|= (1<<DDC1);
178		179
179	return RELAY_OFF;	180	return RELAY_OFF;
180	}	181	}
181		182
182	uint8_t relayOn()	183	uint8_t relayOn()
183	{	184	{
184	// Turn on relay	185	// Turn on relay
185	DDRC &= ~(1<<DDC1);	186	DDRC &= ~(1<<DDC1);
186	PORTC \|= (1<<PC1);	187	PORTC \|= (1<<PC1);
187		188
188	return RELAY_ON;	189	return RELAY_ON;
189	}	190	}
190		191
191	void relayFailsafe()	192	void relayFailsafe()
192	{	193	{
193	uint32_t failsafe_timeStamp, temp;	194	uint32_t failsafe_timeStamp, temp;
194	relayStatus = relayOff();	195	relayStatus = relayOff();
195	failsafe_flag = 1;	196	failsafe_flag = 1;
196		197
197	while(1){	198	while(1){
198		199
199	if( !failsafe_flag ){	200	if( !failsafe_flag ){
200	// Return from failsafe mode	201	// Return from failsafe mode
201	return;	202	return;
202	}	203	}
203	// TODO skicka med period	204	// TODO skicka med period
204	sendStatus( );	205	sendStatus( );
205	}	206	}
206	}	207	}
207		208
208	void sendStatus()	209	void sendStatus()
209	{	210	{
210	uint32_t temperature;	211	uint32_t temperature;
211	Can_Message_t statusMsg;	212	Can_Message_t statusMsg;
212	statusMsg.RemoteFlag = 0;	213	statusMsg.RemoteFlag = 0;
213	statusMsg.ExtendedFlag = 1;	214	statusMsg.ExtendedFlag = 1;
214	statusMsg.DataLength = 4;	215	statusMsg.DataLength = 4;
215	statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )\|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )\|(NODE_ID);	216	statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )\|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )\|(NODE_ID);
216		217
217	temperature = getTC1047temperature();	218	temperature = getTC1047temperature();
218	if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){	219	if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
219	// Goto failsafe mode	220	// Goto failsafe mode
220	relayFailsafe();	221	relayFailsafe();
221	}else{	222	}else{
222	// Transmitt node status	223	// Transmitt node status
223	statusMsg.Data.bytes[0] = temperature & 0x00FF;	224	statusMsg.Data.bytes[0] = temperature & 0x00FF;
224	statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;	225	statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
225	statusMsg.Data.bytes[2] = relayStatus;	226	statusMsg.Data.bytes[2] = relayStatus;
226	statusMsg.Data.bytes[3] = failsafe_flag;	227	statusMsg.Data.bytes[3] = failsafe_flag;
227		228
228	~~bios->can_send~~( &statusMsg );	229	BIOS_CanSend( &statusMsg );
229	}	230	}
230	}	231	}
231		232

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/CanRelay/main.c @ 391 – Rev 360 → 391