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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    CAN_APPTYPES_IRRECEIVER
  12. #define APP_VERSION 0x0002
  13.  
  14. #define STATE_IDLE      0
  15. #define STATE_IR_REPEAT 1
  16.  
  17.  
  18. // A simple message "queue", with space for one message only.
  19. // These are declared volatile to tell the compiler not to optimize away accesses.
  20. volatile Can_Message_t rxMsg; // Message storage
  21. volatile uint8_t rxMsgFull;   // Synchronization flag
  22.  
  23. // CAN message reception callback.
  24. // This function runs with interrupts disabled, keep it as short as possible.
  25. void can_receive(Can_Message_t *msg) {
  26.     if (!rxMsgFull) {
  27.         memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
  28.         rxMsgFull = 1;
  29.     }
  30. }
  31.  
  32. int main(void)
  33. {
  34.     // Enable interrupts as early as possible
  35.     sei();
  36.    
  37.     Timebase_Init();
  38.     //Serial_Init();
  39.     IrReceive_Init();
  40.    
  41.     Can_Message_t txMsg;
  42.     txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
  43.     txMsg.DataLength = 4;
  44.     txMsg.RemoteFlag = 0;
  45.     txMsg.ExtendedFlag = 1;
  46.     txMsg.Data.words[0] = APP_TYPE;
  47.     txMsg.Data.words[1] = APP_VERSION;
  48.    
  49.     // Set up callback for CAN reception, this is optional if only sending is required.
  50.     BIOS_CanCallback = &can_receive;
  51.     // Send CAN_NMT_APP_START
  52.     BIOS_CanSend(&txMsg);
  53.  
  54.     txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_IR << CAN_SHIFT_SNS_TYPE) | (NODE_ID << CAN_SHIFT_SNS_SID));
  55.    
  56.     unsigned long time = Timebase_CurrentTime();
  57.     unsigned long irTimeoutTime = 100;
  58.    
  59.     uint8_t ir_protocol, ir_address, ir_command;
  60.     uint16_t ir_timeout;
  61.     uint8_t state = STATE_IDLE;
  62.  
  63.     while (1) {
  64.         time = Timebase_CurrentTime();
  65.         if (state == STATE_IDLE) {
  66.             if (IrReceive_CheckIR(&ir_protocol, &ir_address, &ir_command, &ir_timeout) == IR_OK) {
  67.                 txMsg.Data.bytes[0] = 0x00;
  68.                 txMsg.Data.bytes[1] = ir_protocol;
  69.                 txMsg.Data.bytes[2] = ir_address;
  70.                 txMsg.Data.bytes[3] = ir_command;
  71.                 txMsg.DataLength = 4;
  72.                 BIOS_CanSend(&txMsg);
  73.                 irTimeoutTime = Timebase_CurrentTime();
  74.                 state = STATE_IR_REPEAT;
  75.             }
  76.         } else if (state == STATE_IR_REPEAT) {
  77.             //kolla efter ny ir, om ingen ny ir och timeout så sätt state till IDLE
  78.             if (time - irTimeoutTime >= ir_timeout) {      
  79.                 state = STATE_IDLE;
  80.                 txMsg.Data.bytes[0] = 0x0f;
  81.                 BIOS_CanSend(&txMsg);
  82.             }
  83.             if (IrReceive_CheckIdle() == IR_OK) {
  84.                 irTimeoutTime = Timebase_CurrentTime();
  85.             }
  86.         }
  87.  
  88.        
  89.         if (rxMsgFull) {
  90.             // Flush the received message
  91.             rxMsgFull = 0; //  
  92.         }
  93.     }
  94.    
  95.     return 0;
  96. }
  97.