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

  * CAN Relay.
+ *
+ *
  * @date    2006-12-17
  * @author  Erik Larsson
- *
- *   Observera! Applikationen är endast testad på labplatta med m88, pot och lysdiod
+ *
  *   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 DEBUG           1 /* Prints debug messages to uart */
-#define TWO_BUTTON_MODE 1 /* If using two (or just one but nothing more) auxiliary buttons */
+#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 <avr/wdt.h>
 #include <stdio.h>
 /* lib files */
-#include <can.h>
+#include <bios.h>
-#include <serial.h>
-#include <timebase.h>
 #include <tc1047.h>
+#include <funcdefs.h>
 /* defines */
+#define GROUP_ID        0x01
 #define RELAY_OFF           0x01
-#define RELAY_ON            0x02
+#define RELAY_ON            0x02
 #define FAILSAFE_MODE       0x0F
 #define FAILSAFE_TRESHOLD   60  /* Degrees when nodeRelay goes into failsafe mode */
-#define RELAY_CMD_GET       0x1200
-#define RELAY_CMD_SEND      0x1201
-#define RELAY_CMD_ON        0x01
+#define RELAY_CMD_ON        0x01
 #define RELAY_CMD_OFF       0x02
-#define RELAY_CMD_TOGGLE    0x03
+#define RELAY_CMD_TOGGLE    0x03
-#define RELAY_CMD_STATUS    0x04
+#define RELAY_CMD_STATUS    0x04
 #define RELAY_CMD_RESET     0x05
-#define STATUS_SEND_PERIOD  10000 /* milliseconds */
+#define STATUS_SEND_PERIOD  10000 /* milliseconds */
-#define FAILSAFE_SEND_PERIOD    10000 /* milliseconds */
+#define FAILSAFE_SEND_PERIOD    10000 /* milliseconds */
 #define BOUNCE_TIME         10 /* milliseconds */
-#define BUTTON_ID           0x1202
 #define BUTTON1             1
 #define BUTTON2             2
 /*-------------------------------------------------------------------------
  * Global variables
  * -----------------------------------------------------------------------*/
 #if TWO_BUTTON_MODE
 Can_Message_t txMsg_Button;
 #endif
+uint8_t relayStatus, failsafe_flag;
+uint32_t boardTemperature = 0;
+Can_Message_t txMsg;
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
 uint8_t relayOff();
 uint8_t relayOn();
 void relayFailsafe();
+void can_receive(Can_Message_t *msg){
+    uint32_t act;
+    uint8_t m, act_type, group, node;
+    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;
+        if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
+            if(msg->Data.bytes[0] == RELAY_CMD_ON){
+                // Turn relay on
+                relayStatus = relayOn();
+            }else if(msg->Data.bytes[0] == RELAY_CMD_OFF){
+                // Turn relay off
+                relayStatus = relayOff();
+            }else if(msg->Data.bytes[0] == RELAY_CMD_TOGGLE ){
+                    // Toggle relay
+                    if(relayStatus == RELAY_OFF){
+                        relayStatus = relayOn();
+                    }else{
+                        relayStatus = relayOff();
+                    }
+            }else if(msg->Data.bytes[0] == RELAY_CMD_STATUS){
+                // Send relay status to CAN
+                boardTemperature = getTC1047temperature();
+                if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
+                    // Goto failsafe mode
+                    relayFailsafe();
+                }else{
+                    // Transmitt node status
+                    txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
+                    txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
+                    txMsg.Data.bytes[2] = relayStatus;
+                    txMsg.DataLength = 3;
+                    bios->can_send( &txMsg );
+                }
+            }else if(msg->Data.bytes[0] == RELAY_CMD_RESET){
+                // Return to normal operation
+                failsafe_flag = 1;
+            }
+        }
+    }
+}
 /*----------------------------------------------------------------------------
- * Interrupt routines
+ * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
  * -------------------------------------------------------------------------*/
 #if TWO_BUTTON_MODE
 ISR( PCINT2_vect )
+{
     /*
     txMsg_Button.ExtendedFlag = 1;
     if( (PIND & (1<<PD6)) == 0){
         /* Button pressed */
         buttonTime[0] = Timebase_CurrentTime();
-#if DEBUG
-        printf("Button 1 pressed\n");
-#endif
     }else if( (PIND & (1<<PD6)) == 1){
         if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){
             /* No bounce, send message */
             txMsg_Button.Id = BUTTON_ID;
             txMsg_Button.DataLength = 1;
             txMsg_Button.Data.bytes[0] = BUTTON1;
-#if DEBUG
-            printf("Button 1 pressed: message sent\n");
-#endif
             return;
         }else{
             /* Just bounces, ignore it */
-#if DEBUG
-            printf("Button 1 just bounced\n");
-#endif
             return;
+        }
+    }
     if( (PIND & (1<<PD7)) == 0){
         /* Button pressed */
         buttonTime[1] = Timebase_CurrentTime();
-#if DEBUG
-        printf("Button 2 pressed\n");
-#endif
     }else if( (PIND & (1<<PD7)) == 1){
         if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){
             /* No bounce, send message */
             txMsg_Button.Id = BUTTON_ID;
             txMsg_Button.DataLength = 1;
             txMsg_Button.Data.bytes[0] = BUTTON2;
-#if DEBUG
-            printf("Button 2 pressed: message sent\n");
-#endif
             return;
         }else{
             /* Just bounces, ignore it */
-#if DEBUG
-            printf("Button 2 just bounced\n");
-#endif
             return;
         }
     }
 }
 #endif
-//ISR( ADC_vect )
-//{
-    /*
-     * ADC conversion completed
-     */
-    // TODO använd denna rutin för att läsa värde när omvandlingen är klar
-//}
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
-    uint8_t relayStatus;
-    uint32_t boardTemperature = 0;
     adcTemperatureInit();
-    Timebase_Init();
-#if DEBUG
-    Serial_Init();
-#endif
 #if TWO_BUTTON_MODE
+#error two button mode not yet tested
     /*
      * Initialize buttons
      * It is possible to use ie. sensors instead
      * but then change this
      */
-    /* Set as input and enable pull-up */
+    // Set as input and enable pull-up
     DDRD &= ~( (1<<DDD6)|(1<<DDD7) );
     PORTD |= (1<<PD6)|(1<<PD7);
-    /* Enable IO-pin interrupt */
+    // Enable IO-pin interrupt
     PCICR |= (1<<PCIE1);
-    /* Unmask PD6 and PD7 */
+    // Unmask PD6 and PD7
     PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);
 #endif
+    // Control channel for relay
+    DDRC |= (1<<DDC1);
+    // Set up callback for CAN messages
+    bios->can_callback = &can_receive;
     sei();
-    /* Turn relay off */
+    // Turn relay off
     relayStatus = relayOff();
-#if DEBUG
-    printf("\n------------------------------------------------------------\n");
-    printf(  "   CAN: Relay\n");
-    printf(  "------------------------------------------------------------\n");
-    printf("CanInit...");
-    if (Can_Init() != CAN_OK) {
-        printf("FAILED!\n");
-    }else{
-        printf("OK!\n");
-    }
-#else
-    Can_Init();
-#endif
     uint32_t timeStamp = 0;
-    Can_Message_t txMsg;
-    Can_Message_t rxMsg;
-    txMsg.Id = RELAY_CMD_SEND;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
-    txMsg.DataLength = 3;
+    txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
-    /* main loop */
+    // Main loop
     while (1) {
-        /* service the CAN routines */
-        Can_Service();
-        /* check if any messages have been received */
-        while (Can_Receive(&rxMsg) == CAN_OK) {
-            /* This relay is adressed*/
-            if( rxMsg.Id == RELAY_CMD_GET ){
-                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 */
-                    boardTemperature = getTC1047temperature();
-                    if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
-                        relayFailsafe();
-                    }else{
-                        txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
-                        txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
-                        txMsg.Data.bytes[2] = relayStatus;
-                        Can_Send( &txMsg );
-                    }
-                }
-            }
-        }
-        if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){
+        if( bios->timebase_get() - timeStamp >= STATUS_SEND_PERIOD ){
-            timeStamp = Timebase_CurrentTime();
+            timeStamp = bios->timebase_get();
-            /* Send relay status to CAN */
+            // Send relay status to CAN
             boardTemperature = getTC1047temperature();
             if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
                 relayFailsafe();
             }else{
                 txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
                 txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
                 txMsg.Data.bytes[2] = relayStatus;
-                Can_Send( &txMsg );
+                txMsg.DataLength = 3;
-#if DEBUG
-                printf("Periodic message sent...\n");
+                bios->can_send( &txMsg );
-                printf("Temperature: %d\nRelay status: %u\n", boardTemperature, relayStatus);
-#endif
+            }
-            }
         }
     }
     return 0;
 }
 uint8_t relayOff()
+{
-    /* Set as output and sink */
+    // Turn off relay
     PORTC &= ~(1<<PC1);
-    DDRC |= (1<<DDC1);
-#if DEBUG
-    printf("relay turned off\n");
-#endif
     return RELAY_OFF;
 }
 uint8_t relayOn()
+{
-    /* Set as input and enable pull-up */
-    DDRC &= ~(1<<DDC1);
+    // Turn on relay
     PORTC |= (1<<PC1);
-#if DEBUG
-    printf("relay turned on\n");
-#endif
     return RELAY_ON;
 }
 void relayFailsafe()
+{
-    uint8_t relayStatus;
-    uint32_t boardTemperature = 0, timeStamp = 0;
-    Can_Message_t txMsg;
-    Can_Message_t rxMsg;
-    txMsg.Id = RELAY_CMD_SEND;
-    txMsg.RemoteFlag = 0;
+    uint32_t timeStamp = 0;
-    txMsg.ExtendedFlag = 1;
-    txMsg.DataLength = 4;
     relayStatus = relayOff();
+    failsafe_flag = 0;
     while(1){
-        /* service the CAN routines */
-        Can_Service();
-        /* check if any messages have been received */
-        while (Can_Receive(&rxMsg) == CAN_OK) {
-            /* This relay is adressed*/
-            if( rxMsg.Id == RELAY_CMD_GET ){
+        if( failsafe_flag ){
-                if( rxMsg.Data.bytes[0] == RELAY_CMD_RESET ){
-                    /* Return from failsafe mode */
+            // Return from failsafe mode
-                    return;
+            return;
-                }
-            }
+        }
-        if( Timebase_PassedTimeMillis(timeStamp) >= FAILSAFE_SEND_PERIOD ){
+        if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){
-            timeStamp = Timebase_CurrentTime();
+            timeStamp = bios->timebase_get();
-            /* Send relay status to CAN */
+            // Send relay status to CAN
-#if DEBUG
-            printf("Failsafe mode!\n");
-#endif
             boardTemperature = getTC1047temperature();
             txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
             txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
             txMsg.Data.bytes[2] = relayStatus;
             txMsg.Data.bytes[3] = FAILSAFE_MODE;
-            Can_Send( &txMsg );
+            bios->can_send( &txMsg );
+        }
+    }
+}

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