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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 351 | eqlazer | 1 | /** |
| 2 | * CAN Relay. |
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| 3 | * |
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| 4 | * |
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| 5 | * @date 2006-12-17 |
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| 6 | * @author Erik Larsson |
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| 7 | * |
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| 8 | * ADC=Vin*1024/Vref |
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| 9 | * Vout=( 10 mV/C )( Temperature C ) + 500 mV |
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| 10 | * |
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| 11 | * Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode> |
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| 12 | * |
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| 13 | * |
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| 14 | */ |
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| 15 | |||
| 16 | #define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */ |
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| 17 | |||
| 18 | /*----------------------------------------------------------------------------- |
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| 19 | * Includes |
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| 20 | *---------------------------------------------------------------------------*/ |
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| 21 | /* system files */ |
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| 22 | #include <avr/io.h> |
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| 23 | #include <avr/interrupt.h> |
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| 24 | #include <stdio.h> |
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| 25 | /* lib files */ |
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| 26 | #include <bios.h> |
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| 27 | #include <tc1047.h> |
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| 28 | #include <funcdefs.h> |
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| 29 | |||
| 30 | /* defines */ |
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| 31 | #define GROUP_ID 0x01 |
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| 32 | |||
| 33 | #define RELAY_OFF 0x01 |
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| 34 | #define RELAY_ON 0x02 |
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| 35 | #define FAILSAFE_MODE 0x0F |
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| 36 | #define FAILSAFE_TRESHOLD 60 /* Degrees when nodeRelay goes into failsafe mode */ |
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| 37 | |||
| 38 | #define RELAY_CMD_ON 0x01 |
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| 39 | #define RELAY_CMD_OFF 0x02 |
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| 40 | #define RELAY_CMD_TOGGLE 0x03 |
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| 41 | #define RELAY_CMD_STATUS 0x04 |
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| 42 | #define RELAY_CMD_RESET 0x05 |
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| 43 | #define STATUS_SEND_PERIOD 10000 /* milliseconds */ |
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| 44 | #define FAILSAFE_SEND_PERIOD 10000 /* milliseconds */ |
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| 45 | #define BOUNCE_TIME 10 /* milliseconds */ |
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| 46 | #define BUTTON1 1 |
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| 47 | #define BUTTON2 2 |
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| 48 | |||
| 49 | /*------------------------------------------------------------------------- |
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| 50 | * Global variables |
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| 51 | * -----------------------------------------------------------------------*/ |
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| 52 | #if TWO_BUTTON_MODE |
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| 53 | Can_Message_t txMsg_Button; |
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| 54 | #endif |
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| 55 | |||
| 56 | uint8_t relayStatus, failsafe_flag; |
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| 57 | uint32_t boardTemperature = 0; |
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| 58 | Can_Message_t txMsg; |
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| 59 | |||
| 60 | /*---------------------------------------------------------------------------- |
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| 61 | * Functions |
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| 62 | * -------------------------------------------------------------------------*/ |
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| 63 | uint8_t relayOff(); |
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| 64 | uint8_t relayOn(); |
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| 65 | void relayFailsafe(); |
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| 66 | |||
| 67 | void can_receive(Can_Message_t *msg){ |
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| 68 | uint32_t act; |
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| 69 | uint8_t m, act_type, group, node; |
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| 70 | |||
| 71 | if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){ |
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| 72 | |||
| 73 | act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS; |
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| 74 | act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS; |
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| 75 | group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS; |
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| 76 | node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS; |
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| 77 | |||
| 78 | if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){ |
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| 79 | if(msg->Data.bytes[0] == RELAY_CMD_ON){ |
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| 80 | // Turn relay on |
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| 81 | relayStatus = relayOn(); |
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| 82 | |||
| 83 | }else if(msg->Data.bytes[0] == RELAY_CMD_OFF){ |
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| 84 | // Turn relay off |
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| 85 | relayStatus = relayOff(); |
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| 86 | |||
| 87 | }else if(msg->Data.bytes[0] == RELAY_CMD_TOGGLE ){ |
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| 88 | // Toggle relay |
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| 89 | if(relayStatus == RELAY_OFF){ |
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| 90 | relayStatus = relayOn(); |
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| 91 | }else{ |
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| 92 | relayStatus = relayOff(); |
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| 93 | } |
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| 94 | |||
| 95 | }else if(msg->Data.bytes[0] == RELAY_CMD_STATUS){ |
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| 96 | // Send relay status to CAN |
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| 97 | boardTemperature = getTC1047temperature(); |
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| 98 | |||
| 99 | if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){ |
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| 100 | // Goto failsafe mode |
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| 101 | relayFailsafe(); |
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| 102 | }else{ |
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| 103 | // Transmitt node status |
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| 104 | txMsg.Data.bytes[0] = boardTemperature & 0x00FF; |
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| 105 | txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8; |
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| 106 | txMsg.Data.bytes[2] = relayStatus; |
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| 107 | txMsg.DataLength = 3; |
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| 108 | bios->can_send( &txMsg ); |
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| 109 | } |
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| 110 | }else if(msg->Data.bytes[0] == RELAY_CMD_RESET){ |
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| 111 | // Return to normal operation |
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| 112 | failsafe_flag = 1; |
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| 113 | } |
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| 114 | } |
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| 115 | } |
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| 116 | } |
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| 117 | |||
| 118 | /*---------------------------------------------------------------------------- |
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| 119 | * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder |
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| 120 | * -------------------------------------------------------------------------*/ |
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| 121 | #if TWO_BUTTON_MODE |
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| 122 | ISR( PCINT2_vect ) |
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| 123 | { |
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| 124 | /* |
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| 125 | * Auxiliary button pressed and released |
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| 126 | * Check time between press and release to eliminate bounces |
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| 127 | */ |
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| 128 | static uint32_t buttonTime[2]; |
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| 129 | |||
| 130 | txMsg_Button.RemoteFlag = 0; |
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| 131 | txMsg_Button.ExtendedFlag = 1; |
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| 132 | |||
| 133 | if( (PIND & (1<<PD6)) == 0){ |
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| 134 | /* Button pressed */ |
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| 135 | buttonTime[0] = Timebase_CurrentTime(); |
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| 136 | }else if( (PIND & (1<<PD6)) == 1){ |
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| 137 | if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){ |
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| 138 | /* No bounce, send message */ |
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| 139 | txMsg_Button.Id = BUTTON_ID; |
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| 140 | txMsg_Button.DataLength = 1; |
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| 141 | txMsg_Button.Data.bytes[0] = BUTTON1; |
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| 142 | return; |
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| 143 | }else{ |
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| 144 | /* Just bounces, ignore it */ |
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| 145 | return; |
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| 146 | } |
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| 147 | } |
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| 148 | if( (PIND & (1<<PD7)) == 0){ |
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| 149 | /* Button pressed */ |
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| 150 | buttonTime[1] = Timebase_CurrentTime(); |
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| 151 | }else if( (PIND & (1<<PD7)) == 1){ |
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| 152 | if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){ |
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| 153 | /* No bounce, send message */ |
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| 154 | txMsg_Button.Id = BUTTON_ID; |
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| 155 | txMsg_Button.DataLength = 1; |
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| 156 | txMsg_Button.Data.bytes[0] = BUTTON2; |
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| 157 | return; |
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| 158 | }else{ |
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| 159 | /* Just bounces, ignore it */ |
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| 160 | return; |
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| 161 | } |
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| 162 | } |
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| 163 | } |
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| 164 | #endif |
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| 165 | |||
| 166 | /*----------------------------------------------------------------------------- |
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| 167 | * Main Program |
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| 168 | *---------------------------------------------------------------------------*/ |
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| 169 | int main(void) { |
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| 170 | |||
| 171 | adcTemperatureInit(); |
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| 172 | |||
| 173 | #if TWO_BUTTON_MODE |
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| 174 | #error two button mode not yet tested |
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| 175 | /* |
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| 176 | * Initialize buttons |
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| 177 | * It is possible to use ie. sensors instead |
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| 178 | * but then change this |
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| 179 | */ |
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| 180 | // Set as input and enable pull-up |
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| 181 | DDRD &= ~( (1<<DDD6)|(1<<DDD7) ); |
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| 182 | PORTD |= (1<<PD6)|(1<<PD7); |
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| 183 | |||
| 184 | // Enable IO-pin interrupt |
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| 185 | PCICR |= (1<<PCIE1); |
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| 186 | // Unmask PD6 and PD7 |
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| 187 | PCMSK2 |= (1<<PCINT22) | (1<<PCINT23); |
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| 188 | #endif |
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| 189 | |||
| 190 | // Control channel for relay |
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| 191 | DDRC |= (1<<DDC1); |
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| 192 | |||
| 193 | // Set up callback for CAN messages |
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| 194 | bios->can_callback = &can_receive; |
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| 195 | |||
| 196 | sei(); |
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| 197 | |||
| 198 | // Turn relay off |
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| 199 | relayStatus = relayOff(); |
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| 200 | |||
| 201 | uint32_t timeStamp = 0; |
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| 202 | |||
| 203 | txMsg.RemoteFlag = 0; |
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| 204 | txMsg.ExtendedFlag = 1; |
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| 205 | txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID); |
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| 206 | |||
| 207 | // Main loop |
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| 208 | while (1) { |
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| 209 | |||
| 210 | if( bios->timebase_get() - timeStamp >= STATUS_SEND_PERIOD ){ |
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| 211 | timeStamp = bios->timebase_get(); |
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| 212 | // Send relay status to CAN |
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| 213 | |||
| 214 | boardTemperature = getTC1047temperature(); |
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| 215 | |||
| 216 | if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){ |
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| 217 | relayFailsafe(); |
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| 218 | }else{ |
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| 219 | txMsg.Data.bytes[0] = boardTemperature & 0x00FF; |
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| 220 | txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8; |
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| 221 | txMsg.Data.bytes[2] = relayStatus; |
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| 222 | txMsg.DataLength = 3; |
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| 223 | bios->can_send( &txMsg ); |
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| 224 | } |
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| 225 | } |
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| 226 | } |
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| 227 | return 0; |
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| 228 | } |
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| 229 | |||
| 230 | uint8_t relayOff() |
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| 231 | { |
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| 232 | // Turn off relay |
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| 233 | PORTC &= ~(1<<PC1); |
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| 234 | |||
| 235 | return RELAY_OFF; |
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| 236 | } |
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| 237 | |||
| 238 | uint8_t relayOn() |
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| 239 | { |
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| 240 | // Turn on relay |
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| 241 | PORTC |= (1<<PC1); |
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| 242 | |||
| 243 | return RELAY_ON; |
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| 244 | } |
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| 245 | |||
| 246 | void relayFailsafe() |
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| 247 | { |
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| 248 | uint32_t timeStamp = 0; |
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| 249 | |||
| 250 | relayStatus = relayOff(); |
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| 251 | failsafe_flag = 0; |
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| 252 | |||
| 253 | while(1){ |
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| 254 | |||
| 255 | if( failsafe_flag ){ |
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| 256 | // Return from failsafe mode |
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| 257 | return; |
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| 258 | } |
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| 259 | |||
| 260 | if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){ |
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| 261 | timeStamp = bios->timebase_get(); |
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| 262 | // Send relay status to CAN |
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| 263 | boardTemperature = getTC1047temperature(); |
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| 264 | |||
| 265 | txMsg.Data.bytes[0] = boardTemperature & 0x00FF; |
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| 266 | txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8; |
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| 267 | txMsg.Data.bytes[2] = relayStatus; |
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| 268 | txMsg.Data.bytes[3] = FAILSAFE_MODE; |
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| 269 | |||
| 270 | bios->can_send( &txMsg ); |
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| 271 | } |
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| 272 | } |
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| 273 | } |
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| 274 |