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/**

 * CAN Relay.

 *

 *

 * @date    2006-12-17

 * @author  Erik Larsson

 *

 *   Observera! Applikationen är endast testad på labplatta med m88, pot och lysdiod

 *

 *   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 DEBUG   0 /* Prints debug messages to uart */

/*-----------------------------------------------------------------------------

 * Includes

 *---------------------------------------------------------------------------*/

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <stdio.h>

/* lib files */

#include <can.h>

#include <serial.h>

#include <timebase.h>

#include <tc1047.h>

/* defines */

#define RELAY_OFF           0x01

#define RELAY_ON            0x02

#define FAILSAFE_MODE       0x0F

#define FAILSAFE_TRESHOLD   60  /* Degrees when nodeRelay goes into failsafe mode */

#define RELAY_CMD_GET       0x1200

#define RELAY_CMD_SEND      0x1201

#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  10000 /* milliseconds */

#define FAILSAFE_SEND_PERIOD  10000 /* milliseconds */

/*----------------------------------------------------------------------------

 * Functions

 * -------------------------------------------------------------------------*/

uint8_t relayOff();

uint8_t relayOn();

void relayFailsafe();

/*-----------------------------------------------------------------------------

 * Main Program

 *---------------------------------------------------------------------------*/

int main(void) {

    uint8_t relayStatus;

    uint32_t boardTemperature = 0;

    adcTemperatureInit();

    Timebase_Init();

#if DEBUG

    Serial_Init();

#endif

    sei();

    /* Turn relay off */

    relayStatus = relayOff();

#if DEBUG

    printf("\n------------------------------------------------------------\n");

    printf(  "   CAN: Relay\n");

    printf(  "------------------------------------------------------------\n");

    printf("CanInit...");

    if (Can_Init() != CAN_OK) {

        printf("FAILED!\n");

    }else{

        printf("OK!\n");

    }

#else

    Can_Init();

#endif

    uint32_t timeStamp = 0;

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    txMsg.Id = RELAY_CMD_SEND;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 3;

    /* main loop */

    while (1) {

        /* service the CAN routines */

        Can_Service();

        /* check if any messages have been received */

        while (Can_Receive(&rxMsg) == CAN_OK) {

            /* This relay is adressed*/

            if( rxMsg.Id == RELAY_CMD_GET ){

                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 */

                    boardTemperature = getTC1047temperature();

                    if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

                        relayFailsafe();

                    }else{

                        txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

                        txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

                        txMsg.Data.bytes[2] = relayStatus;

                        Can_Send( &txMsg );

                    }

                }

            }

        }

        if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){

            timeStamp = Timebase_CurrentTime();

            /* Send relay status to CAN */

            boardTemperature = getTC1047temperature();

            if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

                relayFailsafe();

            }else{

                txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

                txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

                txMsg.Data.bytes[2] = relayStatus;

                Can_Send( &txMsg );

#if DEBUG

                printf("Periodic message sent...\n");

                printf("Temperature: %d\nRelay status: %u\n", boardTemperature, relayStatus);

#endif

            }

        }

    }

    return 0;

}

uint8_t relayOff()

{

    /* Set as output and sink */

    PORTC &= ~(1<<PC1);

    DDRC |= (1<<DDC1);

#if DEBUG

    printf("relay turned off\n");

#endif

    return RELAY_OFF;

}

uint8_t relayOn()

{

    /* Set as input and enable pull-up */

    DDRC &= ~(1<<DDC1);

    PORTC |= (1<<PC1);

#if DEBUG

    printf("relay turned on\n");

#endif

    return RELAY_ON;

}

void relayFailsafe()

{

    uint8_t relayStatus;

    uint32_t boardTemperature = 0, timeStamp = 0;

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    txMsg.Id = RELAY_CMD_SEND;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 4;

    relayStatus = relayOff();

    while(1){

        /* service the CAN routines */

        Can_Service();

        /* check if any messages have been received */

        while (Can_Receive(&rxMsg) == CAN_OK) {

            /* This relay is adressed*/

            if( rxMsg.Id == RELAY_CMD_GET ){

                if( rxMsg.Data.bytes[0] == RELAY_CMD_RESET ){

                    /* Return from failsafe mode */

                    return 0;

                }

            }

        }

        if( Timebase_PassedTimeMillis(timeStamp) >= FAILSAFE_SEND_PERIOD ){

            timeStamp = Timebase_CurrentTime();

            /* Send relay status to CAN */

#if DEBUG

            printf("Failsafe mode!\n");

#endif

            boardTemperature = getTC1047temperature();

            txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

            txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

            txMsg.Data.bytes[2] = relayStatus;

            txMsg.Data.bytes[3] = FAILSAFE_MODE;

            Can_Send( &txMsg );

        }

    }

}