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

 /**
  * CAN Relay.
+ *
+ *
  * @date    2006-12-17
  * @author  Erik Larsson
+ *
  *   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 TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
 /*-----------------------------------------------------------------------------
  * Includes
  *---------------------------------------------------------------------------*/
 /* system files */
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <stdio.h>
 /* lib files */
+#include <config.h>
 #include <bios.h>
-#include <config.h>
 #include <drivers/timer/timebase.h>
-#include <tc1047.h>
-#include <funcdefs.h>
+//#include <funcdefs.h>
 /* defines */
-#define GROUP_ID        0x01UL
 #define RELAY_OFF           0x01
 #define RELAY_ON            0x02
 #define FAILSAFE_MODE       0x0F
 #define FAILSAFE_TRESHOLD   0xFF  /* Degrees when nodeRelay goes into failsafe mode */
 #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  10000UL /* milliseconds */
 #define FAILSAFE_SEND_PERIOD    10000UL /* milliseconds */
 #define BOUNCE_TIME         10 /* milliseconds */
 #define BUTTON1             1
 #define BUTTON2             2
 /*-------------------------------------------------------------------------
  * Global variables
  * -----------------------------------------------------------------------*/
-uint8_t relayStatus, failsafe_flag = 0, rxMsg_Data_bytes[8], msg_received = 0;
+uint8_t relayStatus, failsafe_flag = 0;
 uint32_t boardTemperature = 0;
+volatile Can_Message_t rxMsg; // Message storage
+volatile uint8_t rxMsgFull;   // Synchronization flag
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
 uint8_t relayOff();
 uint8_t relayOn();
 void relayFailsafe();
 void sendStatus();
 void can_receive(Can_Message_t *msg)
 { // CAN callback function
-    uint32_t act;
-    uint8_t m, act_type, group, node;
-    if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
-        // Actuator package
+    if (!rxMsgFull) {
-        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
-        act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);
-        group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);
-        node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);
-        if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
-            // This is a message for this node
+        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
-            if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){
-                // Return to normal operation
-                failsafe_flag = 0;
+        rxMsgFull = 1;
-            }
-            for(m=0;m<(msg->DataLength);m++){
-                rxMsg_Data_bytes[m] = msg->Data.bytes[m];
-            }
-            msg_received = 1; // Tell application that message has arrived
-        }
+    }
+}
 /*----------------------------------------------------------------------------
  * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
  * -------------------------------------------------------------------------*/
 #if TWO_BUTTON_MODE
 ISR( PCINT2_vect )
+{
+}
 #endif
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
     uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;
-    Can_Message_t txMsg;
-    txMsg.RemoteFlag = 0;
-    txMsg.ExtendedFlag = 1;
-    txMsg.DataLength = 4;
     adcTemperatureInit();
     // Set up callback for CAN messages
     BIOS_CanCallback = &can_receive;
     sei();
     Timebase_Init();
     // Turn relay off
     relayStatus = relayOff();
-//  txMsg.Id = 0x8000110; // FIXME
-//  bios->can_send(&txMsg);
     // Main loop
     while (1) {
+        temp = Timebase_CurrentTime();
-        if(msg_received && !failsafe_flag ){
+        if( temp - timeStamp >= STATUS_SEND_PERIOD ){
+            timeStamp = temp;
+            // Send relay status to CAN
+            sendStatus();
+        }
+        if (rxMsgFull) {
+            uint8_t acttype;
+            uint16_t servoid;
+            if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){
+                // Actuator package
+                acttype =(uint8_t)((rxMsg.Id & CAN_MASK_ACT_FUNCC) >> CAN_SHIFT_ACT_FUNCC);
+                servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_NID) >> CAN_SHIFT_ACT_NID);
+                if ((acttype == ACT_FUNCC_RELAY) && (servoid == NODE_ID)) {
+                    // This is a message for this relay
+                    if (rxMsg.Data.bytes[0] == RELAY_CMD_RESET) {
+                        // Return to normal operation
+                        failsafe_flag = 0;
+                    }
+                    if (!failsafe_flag) {
-            if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){
+                        if (rxMsg.Data.bytes[0] == RELAY_CMD_ON ){
-                // Turn relay on
+                            // Turn relay on
-                relayStatus = relayOn();
+                            relayStatus = relayOn();
-            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){
+                        } else if (rxMsg.Data.bytes[0] == RELAY_CMD_OFF ){
-                // Turn relay off
+                            // Turn relay off
-                relayStatus = relayOff();
+                            relayStatus = relayOff();
-            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){
+                        } else if (rxMsg.Data.bytes[0] == RELAY_CMD_TOGGLE ){
-                    // Toggle relay
+                                // Toggle relay
-                    if(relayStatus == RELAY_OFF){
+                                if(relayStatus == RELAY_OFF){
-                        relayStatus = relayOn();
+                                    relayStatus = relayOn();
-                    }else{
+                                }else{
-                        relayStatus = relayOff();
+                                    relayStatus = relayOff();
+                                }
-            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){
+                        }else if(rxMsg.Data.bytes[0] == RELAY_CMD_STATUS ){
-                // Send relay status to CAN
+                            // Send relay status to CAN
-                sendStatus();
+                            sendStatus();
+                        }
-            msg_received = 0;
+                    }
+                }
+            }
+            rxMsgFull = 0; //
-        temp = Timebase_CurrentTime();
-        if( temp - timeStamp >= STATUS_SEND_PERIOD ){
-            timeStamp = temp;
-/*          txMsg.Id = 0x8000111;
-            txMsg.Data.bytes[0] = timeStamp & 0x000000FF;
-            txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;
-            txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;
-            txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;
-            bios->can_send(&txMsg);
-*/          // Send relay status to CAN
-            sendStatus();
+        }
+    }
     return 0;
+}
 uint8_t relayOff()
+{
     // Turn off relay
     PORTC &= ~(1<<PC1);
     DDRC |= (1<<DDC1);
     return RELAY_OFF;
+}
 uint8_t relayOn()
+{
     // Turn on relay
     DDRC &= ~(1<<DDC1);
     PORTC |= (1<<PC1);
     return RELAY_ON;
+}
 void relayFailsafe()
+{
     uint32_t failsafe_timeStamp, temp;
     relayStatus = relayOff();
     failsafe_flag = 1;
     while(1){
         if( !failsafe_flag ){
             // Return from failsafe mode
             return;
+        }
 // TODO skicka med period
         sendStatus( );
+    }
+}
 void sendStatus()
+{
     uint32_t temperature;
     Can_Message_t statusMsg;
     statusMsg.RemoteFlag = 0;
     statusMsg.ExtendedFlag = 1;
     statusMsg.DataLength = 4;
-    statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
+    statusMsg.Id = ( CAN_SNS<<CAN_SHIFT_CLASS )|( SNS_FUNCC_RELAY_STATUS<<CAN_SHIFT_ACT_FUNCC )|( NODE_ID<<CAN_SHIFT_SNS_SID );
     temperature = getTC1047temperature();
     if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
         // Goto failsafe mode
         relayFailsafe();
     }else{
         // Transmitt node status
         statusMsg.Data.bytes[0] = temperature & 0x00FF;
         statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
         statusMsg.Data.bytes[2] = relayStatus;
         statusMsg.Data.bytes[3] = failsafe_flag;
         BIOS_CanSend( &statusMsg );
+    }
+}

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