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  1. #include <inttypes.h>
  2. #include <avr/interrupt.h>
  3. #include <stdio.h>
  4. #include <string.h>
  5. #include <config.h> // All configuration parameters
  6. #include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
  7. //#include <drivers/uart/serial.h>
  8. #include <drivers/timer/timebase.h>
  9. #include <drivers/ir/receiver/irreceiver.h>
  10.  
  11. #define APP_TYPE    0xf010
  12. #define APP_VERSION 0x0001
  13.  
  14. #define CAN_IR 0x12
  15.  
  16. #define STATE_IDLE      0
  17. #define STATE_IR_REPEAT 1
  18.  
  19.  
  20. // A simple message "queue", with space for one message only.
  21. // These are declared volatile to tell the compiler not to optimize away accesses.
  22. volatile Can_Message_t rxMsg; // Message storage
  23. volatile uint8_t rxMsgFull;   // Synchronization flag
  24.  
  25. // CAN message reception callback.
  26. // This function runs with interrupts disabled, keep it as short as possible.
  27. void can_receive(Can_Message_t *msg) {
  28.     if (!rxMsgFull) {
  29.         memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
  30.         rxMsgFull = 1;
  31.     }
  32. }
  33.  
  34. int main(void)
  35. {
  36.     // Enable interrupts as early as possible
  37.     sei();
  38.    
  39.     Timebase_Init();
  40.     //Serial_Init();
  41.    
  42.     Can_Message_t txMsg;
  43.     txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
  44.     txMsg.DataLength = 4;
  45.     txMsg.RemoteFlag = 0;
  46.     txMsg.ExtendedFlag = 1;
  47.     txMsg.Data.words[0] = APP_TYPE;
  48.     txMsg.Data.words[1] = APP_VERSION;
  49.    
  50.     // Set up callback for CAN reception, this is optional if only sending is required.
  51.     BIOS_CanCallback = &can_receive;
  52.     // Send CAN_NMT_APP_START
  53.     BIOS_CanSend(&txMsg);
  54.  
  55.     txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_FUNCC_CAN_IR << CAN_SHIFT_SNS_FUNCC) | (NODE_ID << CAN_SHIFT_SNS_SID));
  56.        
  57.     //printf("AVR Test Application\n");
  58.     //printf("Using AVR BIOS version %x\n", BIOS_VERSION);
  59.  
  60.     //txMsg.Id = (CAN_SNS << CAN_SHIFT_CLASS) | ((CAN_IR & CAN_MASK_SNS_FUNCC) << CAN_SHIFT_SNS_FUNCC) | (NODE_ID << CAN_SHIFT_SNS_SID);
  61.     //txMsg.Data.dwords[0] = 0x01020304;
  62.     //txMsg.DataLength = 4;
  63.  
  64.     IRDDR &= ~(1<<IRBIT);
  65.  
  66.     unsigned long time = Timebase_CurrentTime();
  67.     unsigned long irTimeoutTime;
  68.    
  69.     uint8_t ir_protocol, ir_address, ir_command;
  70.     uint8_t state = STATE_IDLE;
  71.  
  72.     while (1) {
  73.         time = Timebase_CurrentTime();
  74.         if (state == STATE_IDLE) {
  75.             if (checkIr(&ir_protocol, &ir_address, &ir_command) == IR_OK) {
  76.                 txMsg.Data.bytes[0] = 0x00;
  77.                 txMsg.Data.bytes[1] = ir_protocol;
  78.                 txMsg.Data.bytes[2] = ir_address;
  79.                 txMsg.Data.bytes[3] = ir_command;
  80.                 txMsg.DataLength = 4;
  81.                 BIOS_CanSend(&txMsg);
  82.                 irTimeoutTime = Timebase_CurrentTime();
  83.                 state = STATE_IR_REPEAT;
  84.             }
  85.         } else if (state == STATE_IR_REPEAT) {
  86.             //kolla efter ny ir, om ingen ny ir och timeout så sätt state till IDLE
  87.             if (time - irTimeoutTime >= 105) {      //getLastProtoTimeout()
  88.                 state = STATE_IDLE;
  89.                 txMsg.Data.bytes[0] = 0x0f;
  90.                 BIOS_CanSend(&txMsg);
  91.             }
  92.             if (checkIrIdle() == IR_OK) {       //funktion som borde finnas i irreceiver.c
  93.                 irTimeoutTime = Timebase_CurrentTime();
  94.             }
  95.         }
  96.  
  97.        
  98.         if (rxMsgFull) {
  99.             // Flush the received message
  100.             rxMsgFull = 0; //  
  101.         }
  102.     }
  103.    
  104.     return 0;
  105. }
  106.