/**
* 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 THISRELAYID NODE_ID /* application software should not depend on the id of the physical node
but for now lets do it like this */
#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 relayid;
if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT){
// Actuator package
acttype =(uint8_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
relayid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
if ((acttype == ACT_TYPE_RELAY) && (relayid == THISRELAYID)) {
// 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_TYPE_RELAY_STATUS<<CAN_SHIFT_ACT_TYPE )|( 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 );
}
}