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 <drivers/timer/timebase.h>
//#include <funcdefs.h>
 
/* defines */
#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
 
#define APP_TYPE    CAN_APPTYPES_RELAY
#define APP_VERSION 0x0001
 
/*-------------------------------------------------------------------------
 * Global variables
 * -----------------------------------------------------------------------*/
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
    if (!rxMsgFull) {
        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
        rxMsgFull = 1;
    }
}
 
/*----------------------------------------------------------------------------
 * 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;
 
    adcTemperatureInit();
 
    // Set up callback for CAN messages
    BIOS_CanCallback = &can_receive;
 
    sei();
   
    Timebase_Init();
 
    Can_Message_t txMsg;
    txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
    txMsg.DataLength = 4;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;
    txMsg.Data.words[0] = APP_TYPE;
    txMsg.Data.words[1] = APP_VERSION;
    BIOS_CanSend(&txMsg);
 
    // Turn relay off
    relayStatus = relayOff();
 
    // Main loop
    while (1) {
 
        temp = Timebase_CurrentTime();
        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 ){
                            // Turn relay on
                            relayStatus = relayOn();
           
                        } else if (rxMsg.Data.bytes[0] == RELAY_CMD_OFF ){
                            // Turn relay off
                            relayStatus = relayOff();
           
                        } else if (rxMsg.Data.bytes[0] == RELAY_CMD_TOGGLE ){
                                // Toggle relay
                                if(relayStatus == RELAY_OFF){
                                    relayStatus = relayOn();
                                }else{
                                    relayStatus = relayOff();
                                }
           
                        }else if(rxMsg.Data.bytes[0] == RELAY_CMD_STATUS ){
                            // Send relay status to CAN
                            sendStatus();
                        }
                    }
                }
            }
            rxMsgFull = 0; //  
 
        }
       
    }
    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 = ( 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 );
    }
}
 

Rev 483	Rev 486
1	/**	1	/**
2	* CAN Relay.	2	* CAN Relay.
3	*	3	*
4	*	4	*
5	* @date 2006-12-17	5	* @date 2006-12-17
6	* @author Erik Larsson	6	* @author Erik Larsson
7	*	7	*
8	* ADC=Vin*1024/Vref	8	* ADC=Vin*1024/Vref
9	* Vout=( 10 mV/C )( Temperature C ) + 500 mV	9	* Vout=( 10 mV/C )( Temperature C ) + 500 mV
10	*	10	*
11	* Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>	11	* Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>
12	*	12	*
13	*	13	*
14	*/	14	*/
15		15
16	#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */	16	#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
17		17
18	/*-----------------------------------------------------------------------------	18	/*-----------------------------------------------------------------------------
19	* Includes	19	* Includes
20	---------------------------------------------------------------------------/	20	---------------------------------------------------------------------------/
21	/* system files */	21	/* system files */
22	#include <avr/io.h>	22	#include <avr/io.h>
23	#include <avr/interrupt.h>	23	#include <avr/interrupt.h>
24	#include <stdio.h>	24	#include <stdio.h>
25	/* lib files */	25	/* lib files */
26	#include <config.h>	26	#include <config.h>
27	#include <bios.h>	27	#include <bios.h>
28	#include <drivers/timer/timebase.h>	28	#include <drivers/timer/timebase.h>
29	//#include <funcdefs.h>	29	//#include <funcdefs.h>
30		30
31	/* defines */	31	/* defines */
32	#define RELAY_OFF 0x01	32	#define RELAY_OFF 0x01
33	#define RELAY_ON 0x02	33	#define RELAY_ON 0x02
34	#define FAILSAFE_MODE 0x0F	34	#define FAILSAFE_MODE 0x0F
35	#define FAILSAFE_TRESHOLD 0xFF /* Degrees when nodeRelay goes into failsafe mode */	35	#define FAILSAFE_TRESHOLD 0xFF /* Degrees when nodeRelay goes into failsafe mode */
36		36
37	#define RELAY_CMD_ON 0x01	37	#define RELAY_CMD_ON 0x01
38	#define RELAY_CMD_OFF 0x02	38	#define RELAY_CMD_OFF 0x02
39	#define RELAY_CMD_TOGGLE 0x03	39	#define RELAY_CMD_TOGGLE 0x03
40	#define RELAY_CMD_STATUS 0x04	40	#define RELAY_CMD_STATUS 0x04
41	#define RELAY_CMD_RESET 0x05	41	#define RELAY_CMD_RESET 0x05
42	#define STATUS_SEND_PERIOD 10000UL /* milliseconds */	42	#define STATUS_SEND_PERIOD 10000UL /* milliseconds */
43	#define FAILSAFE_SEND_PERIOD 10000UL /* milliseconds */	43	#define FAILSAFE_SEND_PERIOD 10000UL /* milliseconds */
44	#define BOUNCE_TIME 10 /* milliseconds */	44	#define BOUNCE_TIME 10 /* milliseconds */
45	#define BUTTON1 1	45	#define BUTTON1 1
46	#define BUTTON2 2	46	#define BUTTON2 2
-		47
-		48	#define APP_TYPE CAN_APPTYPES_RELAY
-		49	#define APP_VERSION 0x0001
47		50
48	/*-------------------------------------------------------------------------	51	/*-------------------------------------------------------------------------
49	* Global variables	52	* Global variables
50	* -----------------------------------------------------------------------*/	53	* -----------------------------------------------------------------------*/
51	uint8_t relayStatus, failsafe_flag = 0;	54	uint8_t relayStatus, failsafe_flag = 0;
52	uint32_t boardTemperature = 0;	55	uint32_t boardTemperature = 0;
53		56
54	volatile Can_Message_t rxMsg; // Message storage	57	volatile Can_Message_t rxMsg; // Message storage
55	volatile uint8_t rxMsgFull; // Synchronization flag	58	volatile uint8_t rxMsgFull; // Synchronization flag
56		59
57		60
58	/*----------------------------------------------------------------------------	61	/*----------------------------------------------------------------------------
59	* Functions	62	* Functions
60	* -------------------------------------------------------------------------*/	63	* -------------------------------------------------------------------------*/
61	uint8_t relayOff();	64	uint8_t relayOff();
62	uint8_t relayOn();	65	uint8_t relayOn();
63	void relayFailsafe();	66	void relayFailsafe();
64	void sendStatus();	67	void sendStatus();
65		68
66	void can_receive(Can_Message_t *msg)	69	void can_receive(Can_Message_t *msg)
67	{ // CAN callback function	70	{ // CAN callback function
68	if (!rxMsgFull) {	71	if (!rxMsgFull) {
69	memcpy((void*)&rxMsg, msg, sizeof(rxMsg));	72	memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
70	rxMsgFull = 1;	73	rxMsgFull = 1;
71	}	74	}
72	}	75	}
73		76
74	/*----------------------------------------------------------------------------	77	/*----------------------------------------------------------------------------
75	* Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder	78	* Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
76	* -------------------------------------------------------------------------*/	79	* -------------------------------------------------------------------------*/
77	#if TWO_BUTTON_MODE	80	#if TWO_BUTTON_MODE
78	ISR( PCINT2_vect )	81	ISR( PCINT2_vect )
79	{	82	{
80		83
81	}	84	}
82	#endif	85	#endif
83		86
84	/*-----------------------------------------------------------------------------	87	/*-----------------------------------------------------------------------------
85	* Main Program	88	* Main Program
86	---------------------------------------------------------------------------/	89	---------------------------------------------------------------------------/
87	int main(void) {	90	int main(void) {
88		91
89	uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;	92	uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;
90		93
91	adcTemperatureInit();	94	adcTemperatureInit();
92		95
93	// Set up callback for CAN messages	96	// Set up callback for CAN messages
94	BIOS_CanCallback = &can_receive;	97	BIOS_CanCallback = &can_receive;
95		98
96	sei();	99	sei();
97		100
98	Timebase_Init();	101	Timebase_Init();
-		102
-		103	Can_Message_t txMsg;
-		104	txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) \| (NODE_ID << CAN_SHIFT_NMT_SID);
-		105	txMsg.DataLength = 4;
-		106	txMsg.RemoteFlag = 0;
-		107	txMsg.ExtendedFlag = 1;
-		108	txMsg.Data.words[0] = APP_TYPE;
-		109	txMsg.Data.words[1] = APP_VERSION;
-		110	BIOS_CanSend(&txMsg);
99		111
100	// Turn relay off	112	// Turn relay off
101	relayStatus = relayOff();	113	relayStatus = relayOff();
102		114
103	// Main loop	115	// Main loop
104	while (1) {	116	while (1) {
105		117
106	temp = Timebase_CurrentTime();	118	temp = Timebase_CurrentTime();
107	if( temp - timeStamp >= STATUS_SEND_PERIOD ){	119	if( temp - timeStamp >= STATUS_SEND_PERIOD ){
108	timeStamp = temp;	120	timeStamp = temp;
109	// Send relay status to CAN	121	// Send relay status to CAN
110	sendStatus();	122	sendStatus();
111	}	123	}
112		124
113	if (rxMsgFull) {	125	if (rxMsgFull) {
114	uint8_t acttype;	126	uint8_t acttype;
115	uint16_t servoid;	127	uint16_t servoid;
116		128
117	if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){	129	if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){
118	// Actuator package	130	// Actuator package
119	acttype =(uint8_t)((rxMsg.Id & CAN_MASK_ACT_FUNCC) >> CAN_SHIFT_ACT_FUNCC);	131	acttype =(uint8_t)((rxMsg.Id & CAN_MASK_ACT_FUNCC) >> CAN_SHIFT_ACT_FUNCC);
120	servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_NID) >> CAN_SHIFT_ACT_NID);	132	servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_NID) >> CAN_SHIFT_ACT_NID);
121		133
122	if ((acttype == ACT_FUNCC_RELAY) && (servoid == NODE_ID)) {	134	if ((acttype == ACT_FUNCC_RELAY) && (servoid == NODE_ID)) {
123	// This is a message for this relay	135	// This is a message for this relay
124	if (rxMsg.Data.bytes[0] == RELAY_CMD_RESET) {	136	if (rxMsg.Data.bytes[0] == RELAY_CMD_RESET) {
125	// Return to normal operation	137	// Return to normal operation
126	failsafe_flag = 0;	138	failsafe_flag = 0;
127	}	139	}
128		140
129	if (!failsafe_flag) {	141	if (!failsafe_flag) {
130	if (rxMsg.Data.bytes[0] == RELAY_CMD_ON ){	142	if (rxMsg.Data.bytes[0] == RELAY_CMD_ON ){
131	// Turn relay on	143	// Turn relay on
132	relayStatus = relayOn();	144	relayStatus = relayOn();
133		145
134	} else if (rxMsg.Data.bytes[0] == RELAY_CMD_OFF ){	146	} else if (rxMsg.Data.bytes[0] == RELAY_CMD_OFF ){
135	// Turn relay off	147	// Turn relay off
136	relayStatus = relayOff();	148	relayStatus = relayOff();
137		149
138	} else if (rxMsg.Data.bytes[0] == RELAY_CMD_TOGGLE ){	150	} else if (rxMsg.Data.bytes[0] == RELAY_CMD_TOGGLE ){
139	// Toggle relay	151	// Toggle relay
140	if(relayStatus == RELAY_OFF){	152	if(relayStatus == RELAY_OFF){
141	relayStatus = relayOn();	153	relayStatus = relayOn();
142	}else{	154	}else{
143	relayStatus = relayOff();	155	relayStatus = relayOff();
144	}	156	}
145		157
146	}else if(rxMsg.Data.bytes[0] == RELAY_CMD_STATUS ){	158	}else if(rxMsg.Data.bytes[0] == RELAY_CMD_STATUS ){
147	// Send relay status to CAN	159	// Send relay status to CAN
148	sendStatus();	160	sendStatus();
149	}	161	}
150	}	162	}
151	}	163	}
152	}	164	}
153	rxMsgFull = 0; //	165	rxMsgFull = 0; //
154		166
155	}	167	}
156		168
157	}	169	}
158	return 0;	170	return 0;
159	}	171	}
160		172
161	uint8_t relayOff()	173	uint8_t relayOff()
162	{	174	{
163	// Turn off relay	175	// Turn off relay
164	PORTC &= ~(1<<PC1);	176	PORTC &= ~(1<<PC1);
165	DDRC \|= (1<<DDC1);	177	DDRC \|= (1<<DDC1);
166		178
167	return RELAY_OFF;	179	return RELAY_OFF;
168	}	180	}
169		181
170	uint8_t relayOn()	182	uint8_t relayOn()
171	{	183	{
172	// Turn on relay	184	// Turn on relay
173	DDRC &= ~(1<<DDC1);	185	DDRC &= ~(1<<DDC1);
174	PORTC \|= (1<<PC1);	186	PORTC \|= (1<<PC1);
175		187
176	return RELAY_ON;	188	return RELAY_ON;
177	}	189	}
178		190
179	void relayFailsafe()	191	void relayFailsafe()
180	{	192	{
181	uint32_t failsafe_timeStamp, temp;	193	uint32_t failsafe_timeStamp, temp;
182	relayStatus = relayOff();	194	relayStatus = relayOff();
183	failsafe_flag = 1;	195	failsafe_flag = 1;
184		196
185	while(1){	197	while(1){
186		198
187	if( !failsafe_flag ){	199	if( !failsafe_flag ){
188	// Return from failsafe mode	200	// Return from failsafe mode
189	return;	201	return;
190	}	202	}
191	// TODO skicka med period	203	// TODO skicka med period
192	sendStatus( );	204	sendStatus( );
193	}	205	}
194	}	206	}
195		207
196	void sendStatus()	208	void sendStatus()
197	{	209	{
198	uint32_t temperature;	210	uint32_t temperature;
199	Can_Message_t statusMsg;	211	Can_Message_t statusMsg;
200	statusMsg.RemoteFlag = 0;	212	statusMsg.RemoteFlag = 0;
201	statusMsg.ExtendedFlag = 1;	213	statusMsg.ExtendedFlag = 1;
202	statusMsg.DataLength = 4;	214	statusMsg.DataLength = 4;
203	statusMsg.Id = ( CAN_SNS<<CAN_SHIFT_CLASS )\|( SNS_FUNCC_RELAY_STATUS<<CAN_SHIFT_ACT_FUNCC )\|( NODE_ID<<CAN_SHIFT_SNS_SID );	215	statusMsg.Id = ( CAN_SNS<<CAN_SHIFT_CLASS )\|( SNS_FUNCC_RELAY_STATUS<<CAN_SHIFT_ACT_FUNCC )\|( NODE_ID<<CAN_SHIFT_SNS_SID );
204		216
205	temperature = getTC1047temperature();	217	temperature = getTC1047temperature();
206	if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){	218	if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
207	// Goto failsafe mode	219	// Goto failsafe mode
208	relayFailsafe();	220	relayFailsafe();
209	}else{	221	}else{
210	// Transmitt node status	222	// Transmitt node status
211	statusMsg.Data.bytes[0] = temperature & 0x00FF;	223	statusMsg.Data.bytes[0] = temperature & 0x00FF;
212	statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;	224	statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
213	statusMsg.Data.bytes[2] = relayStatus;	225	statusMsg.Data.bytes[2] = relayStatus;
214	statusMsg.Data.bytes[3] = failsafe_flag;	226	statusMsg.Data.bytes[3] = failsafe_flag;
215		227
216	BIOS_CanSend( &statusMsg );	228	BIOS_CanSend( &statusMsg );
217	}	229	}
218	}	230	}
219		231

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