WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/application/RGBLED/main.c

 /**
  * CAN RGB LED. This application is used to control a RGB LED.
  * Still under heavy development
+ *
  * @date    2007-02-10
  * @author  Martin Nordén
+ *
  * TODO: Better CAN Integration, Failsafe mode, Tempsensors etc.
  * Also, check current/destination intensity better when in a program?
+ *
  * A little comment here :)
 /* system files */
 #include <avr/interrupt.h>
 #include <inttypes.h>
 #include <stdio.h>
 #include <avr/pgmspace.h> //To allow read/write from flash
 #include <drivers/timer/timebase.h>
 #include <config.h> // All configuration parameters
 #include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
+#include <string.h> //for memcpy
 /* lib files */
 #include <bios.h>
-#include <funcdefs/funcdefs.h>
+//#include <funcdefs/funcdefs.h>
+#include <settings.h>
 /*----------------------------------------------------------------------------
  * Defines
  * -------------------------------------------------------------------------*/
 #define RGBLED_CMD_SETPROGRAM       0x03  /* Set program */
 #define RGBLED_CMD_SETFADESPEED     0x04  /* Set fadespeed */
 #define RGBLED_CMD_SETDIMSPEED      0x05  /* Set dimspeed */
 #define RGBLED_CMD_SETINTENS        0x10  /* Set intensity */
-#define APP_TYPE    0xf001
+#define APP_TYPE    CAN_APPTYPES_RGBLED
 #define APP_VERSION 0x0001
 #define GROUP_ID    0x01L // FIXME
 #define TRUE 1
 #define FALSE !TRUE
 Color* programs[] PROGMEM = {
 (Color*)pgm1,
 (Color*)pgm2,
 (Color*)pgm3
 };
 /*-----------------------------------------------------------------------------
  * Global variables
  *---------------------------------------------------------------------------*/
 uint32_t timeStamp; //TimeStamp to keep track of time
 uint32_t dimStamp;  //Timestamp to keep track of dimmer changes
 Color currColor;    //Current color
 Color destColor;    //Destination color
 uint16_t fadeSpeed; //Fadingspeed. 16bit for reaaaally slow fading. Sets the speed of colorchange.
 uint8_t dimSpeed;       //Dimmer speed. Sets the speed of intensitychange.
 uint8_t currProgram;    //This variable keeps track of what program is currently running.
 uint8_t programMode;    //This keeps track of what mode we are currently using. 0: the program obeyes the current brightness, 1: the program is allowed to set it's own brightness
-uint8_t msg_received = FALSE;
+Can_Message_t txMsg;    //Transmit message storage
-Can_Message_t txMsg;
+volatile Can_Message_t rxMsg; // Message storage
-Can_Message_t rxMsg;
+volatile uint8_t rxMsgFull;   // Synchronization flag
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
-void updateLED();
+void updateLED(void);
 void reformatRGB(uint8_t R, uint8_t G, uint8_t B, uint8_t setBright);
 void changeColor(int8_t amount, uint8_t* color);
 void fade(uint8_t* current, uint8_t* destination);
-/* Takes care about incoming messages and parses them if this node is adressed */
+/* Takes care of incoming messages and parses them if this node is adressed */
-void can_receive(Can_Message_t *msg){
+void can_receive(Can_Message_t *msg)
-    uint32_t act;
-    uint8_t m, act_type, group, node;
+{ // CAN callback function
-    if( ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) == CLASS_ACT ){
-        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
-        act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
-        group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;
-        node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;
-        /* Check if it is command to control this servo */
-        if(act_type == ACT_TYPE_RGBLED){
-            if(group == GROUP_ID || node == NODE_ID){
-                for(m=0;m<msg->DataLength;m++){
+    if (!rxMsgFull) {
-                    rxMsg.Data.bytes[m] = msg->Data.bytes[m];
+        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
-                }
-                msg_received = TRUE;
+        rxMsgFull = 1;
-            }
-        }
+    }
+}
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
+            }
+        }
-        /* check if any messages have been received */
+        /* Check if any messages has been recieved */
-        if(msg_received){
+        if (rxMsgFull) {
-            /* This node that controls a RGB LED is adressed */
-            if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETPROGRAM ){
-                /* Set a program! */
+            uint16_t acttype;
-                currProgram = rxMsg.Data.bytes[1];
-                temp_adress = pgm_read_word(&programs[currProgram-1]);
-            }else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETINTENS ){
-                /* Set intensity! */
+            uint8_t rgbledid;
-                if (rxMsg.Data.bytes[1] == TRUE){
-                    currColor.Intens = rxMsg.Data.bytes[2];
-                }
-                destColor.Intens = rxMsg.Data.bytes[2];
-                if (rxMsg.Data.bytes[3] != 0){
-                    dimSpeed = rxMsg.Data.bytes[3];
-                }
-                currProgram = rxMsg.Data.bytes[1];
-                temp_adress = pgm_read_word(&programs[currProgram-1]);
-            } else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETRGB) {
+            if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){
-                /* Set RGB-triplet! */
+                // Actuator package
-                reformatRGB(rxMsg.Data.bytes[2],rxMsg.Data.bytes[3],rxMsg.Data.bytes[4],0);
+                acttype =(uint16_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
-                if (rxMsg.Data.bytes[5] != 0){
-                    destColor.Intens = rxMsg.Data.bytes[5];
-                }
-                if (rxMsg.Data.bytes[1] == TRUE){
-                    currColor = destColor;
-                }
-                if (rxMsg.Data.bytes[7] != 0){
-                    fadeSpeed = rxMsg.Data.bytes[6] * 255 + rxMsg.Data.bytes[7];
+                rgbledid = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
-                }
-                currProgram = 0;
+                if ((acttype == ACT_TYPE_RGBLED) && (rgbledid == THISRGBLEDID)) {
+                    // This is a message for this rgbled
+                    if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETPROGRAM ){
+                        /* Set a program! */
+                        currProgram = rxMsg.Data.bytes[1];
+                        temp_adress = pgm_read_word(&programs[currProgram-1]);
+                    } else if ( rxMsg.Data.bytes[0] == RGBLED_CMD_SETINTENS ){
+                        /* Set intensity! */
+                        if (rxMsg.Data.bytes[1] == TRUE){
+                            currColor.Intens = rxMsg.Data.bytes[2];
+                        }
+                        destColor.Intens = rxMsg.Data.bytes[2];
+                        if (rxMsg.Data.bytes[3] != 0){
+                            dimSpeed = rxMsg.Data.bytes[3];
+                        }
+                        currProgram = rxMsg.Data.bytes[1];
+                        temp_adress = pgm_read_word(&programs[currProgram-1]);
+                    } else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETRGB) {
+                        /* Set RGB-triplet! */
+                        reformatRGB(rxMsg.Data.bytes[2],rxMsg.Data.bytes[3],rxMsg.Data.bytes[4],0);
+                        if (rxMsg.Data.bytes[5] != 0){
+                            destColor.Intens = rxMsg.Data.bytes[5];
+                        }
+                        if (rxMsg.Data.bytes[1] == TRUE){
+                            currColor = destColor;
+                        }
+                        if (rxMsg.Data.bytes[7] != 0){
+                            fadeSpeed = rxMsg.Data.bytes[6] * 255 + rxMsg.Data.bytes[7];
+                        }
+                        currProgram = 0;
+                    }
+                }
+            }
-            msg_received = FALSE; //Let's clear the flag yes.
+            rxMsgFull = 0; //
+        }
+        /* Done checking incoming packages */
+    }
     return 0;
+}
 /************************************************************************************************
  *     updateLED updates the PWM counter values and thus changes the color of the RGBLED.       *
  *     It doesn't reculculate anything, except the values to write to the PWM registers.        *
- *     TODO: Get rid of the tempcontainer!                                  *
+ *     TODO: Get rid of the tempcontainer!                                                      *
  ************************************************************************************************/
 void updateLED(){
     uint8_t tempcontainer;
     tempcontainer = currColor.R * currColor.Intens / 255;   //I really want to skip this, don't know how yet though.
     OCR1A = tempcontainer;
       OCR0A = currColor.G * currColor.Intens / 255;
     OCR0B = currColor.B * currColor.Intens / 255;
     //Bara för debugcrap
     Can_Message_t txMsg;
     txMsg.Id = 0x55;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
     txMsg.DataLength = 4;
 /************************************************************************************************
  *     reformatRGB sets a new target RGB triplet to fade to. It reformats it so that            *
  *     the highest color always gets 0xff. Brightness is recalculated.                          *
- *     if setBright is set to 0, the brightness will not be updated.                    *
+ *     if setBright is set to 0, the brightness will not be updated.                            *
- *     TODO: Smarter 16-bit arithmetics would be nice.                          *
+ *     TODO: Smarter 16-bit arithmetics would be nice.                                          *
  ************************************************************************************************/
 void reformatRGB(uint8_t R, uint8_t G, uint8_t B, uint8_t setBright){
     uint8_t maxvalue;
     uint16_t tempcontainer;
+    }
+}
 /************************************************************************************************
- *     fade takes two pointers, current and destination and fades current               *
+ *     fade takes two pointers, current and destination and fades current                       *
- *     one tick closer to destination.                                                        *
+ *     one tick closer to destination.                                                          *
  ************************************************************************************************/
 void fade(uint8_t* current, uint8_t* destination){
     if (*current > *destination){
         *current = *current - 1;
     } else if (*current < *destination){
  *     changeColor changes a color accord to amount. -127>127.                                  *
  *     color is either dest och curr R,G,B.                                                     *
  *     Maybe TODO: If red is already 255 and we want to increase it, decrease the other ones.   *
  ************************************************************************************************/
 void changeColor(int8_t amount, uint8_t* color){
     if ( ((amount > 0)&(*color < 255)) || ((amount < 0)&(*color > 0)) ) //Se till att vi inte slår över *color
     *color = *color + amount;
+}

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(root)/trunk/EmbeddedSoftware/AVR/application/RGBLED/main.c – Rev 413 → 546