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
  * -------------------------------------------------------------------------*/
 //Working on implementing all of these...
 #define RGBLED_CMD_STATUS           0x00    /* Get status */
 #define RGBLED_CMD_SETRGB           0x01    /* Set RGB Triplet */
 #define RGBLED_CMD_CHANGERGB        0x02    /* Change RGB +/- */
 #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
 /*----------------------------------------------------------------------------
  * Ehm, struct?
  * -------------------------------------------------------------------------*/
 typedef struct
+{
     uint8_t R;
     uint8_t G;
     uint8_t B;
 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;
-            }
-        }
+    }
+}
 /*-----------------------------------------------------------------------------
         /* Time to fade intensity? */
         if (Timebase_CurrentTime() - dimStamp >= dimSpeed) {
             fade(&currColor.Intens, &destColor.Intens);
             dimStamp = Timebase_CurrentTime();
             updateLED();
         }
         /* Program management */
         if (currProgram != 0) { //Check if a program is currently running
             if ((currColor.R == destColor.R)&(currColor.G == destColor.G)&(currColor.B == destColor.B)&(currColor.Intens == destColor.Intens)){//Is the current sequence finished?
                 if ((pgm_read_byte(temp_adress)==0)&(pgm_read_byte(temp_adress+1)==0)&(pgm_read_byte(temp_adress+2)==0)){
                     //The program has ended! Shall we loop it?
                     if (pgm_read_byte(temp_adress+3)==0){
                         //Yes, let's loop it
                         temp_adress = pgm_read_word(&programs[currProgram-1]);
                     } else {
                         //No, halt!
                         currProgram = 0;
+                    }
                 } else {
                     //The program has not ended, let's get the next RGB-triplet!
                     if (programMode == 1){
                         destColor.Intens = pgm_read_byte(temp_adress + 3);
+                    }
                     temp_adress = temp_adress + 4;
                 }
             }
         }
-        /* check if any messages have been received */
+        /* Check if any messages has been recieved */
-        if(msg_received){
+        if (rxMsgFull) {
+            uint16_t acttype;
+            uint8_t rgbledid;
+            if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){
+                // Actuator package
+                acttype =(uint16_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
+                rgbledid = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
+                if ((acttype == ACT_TYPE_RGBLED) && (rgbledid == THISRGBLEDID)) {
-            /* This node that controls a RGB LED is adressed */
+                    // This is a message for this rgbled
-            if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETPROGRAM ){
+                    if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETPROGRAM ){
-                /* Set a program! */
+                        /* Set a program! */
-                currProgram = rxMsg.Data.bytes[1];
+                        currProgram = rxMsg.Data.bytes[1];
-                temp_adress = pgm_read_word(&programs[currProgram-1]);
+                        temp_adress = pgm_read_word(&programs[currProgram-1]);
-            }else if( rxMsg.Data.bytes[0] == RGBLED_CMD_SETINTENS ){
+                    } else if ( rxMsg.Data.bytes[0] == RGBLED_CMD_SETINTENS ){
-                /* Set intensity! */
+                        /* Set intensity! */
-                if (rxMsg.Data.bytes[1] == TRUE){
+                        if (rxMsg.Data.bytes[1] == TRUE){
-                    currColor.Intens = rxMsg.Data.bytes[2];
+                            currColor.Intens = rxMsg.Data.bytes[2];
+                        }
-                if (rxMsg.Data.bytes[5] != 0){
+                        if (rxMsg.Data.bytes[5] != 0){
-                    destColor.Intens = rxMsg.Data.bytes[5];
+                            destColor.Intens = rxMsg.Data.bytes[5];
+                        }
-                if (rxMsg.Data.bytes[1] == TRUE){
+                        if (rxMsg.Data.bytes[1] == TRUE){
-                    currColor = destColor;
+                            currColor = destColor;
-                }
+                        }
-                if (rxMsg.Data.bytes[7] != 0){
+                        if (rxMsg.Data.bytes[7] != 0){
-                    fadeSpeed = rxMsg.Data.bytes[6] * 255 + rxMsg.Data.bytes[7];
+                            fadeSpeed = rxMsg.Data.bytes[6] * 255 + rxMsg.Data.bytes[7];
-                }
+                        }
-                currProgram = 0;
+                        currProgram = 0;
+                    }
+                }
+            }
-            msg_received = FALSE; //Let's clear the flag yes.
+            rxMsgFull = 0; //
+        }
+        /* Done checking incoming packages */
+    }
     return 0;
+}
     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;
  *     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