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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <stdio.h>
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#include <stdio.h>
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/* lib files */
 20 
/* lib files */
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#include <bios.h>
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#include <bios.h>
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#include <lcd_HD44780.h>
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#include <lcd_HD44780.h>
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#include <clcd20x4.h>
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24 
/* funcdefs */
 23 
/* funcdefs */
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//#include <global_funcdefs.h>
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#include <eqlazer_funcdefs.h>
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//#include <eqlazer_funcdefs.h>
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 25 
 
28 
/* defines */
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/* defines */
- 
 
 27 
#define SIZE_X  20
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#define SIZE_Y  4
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 29 
 
29 
#define BUFFER_SIZE 20
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//#define BUFFER_SIZE 20
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#define TRUE 1
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#define TRUE 1
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#define FALSE 0
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#define FALSE 0
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 33 
 
- 
 
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#define LEFT    0x01
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#define RIGHT   0x02
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 36 
 
33 
Can_Message_t rxMsg;
 37 
Can_Message_t rxMsg;
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 38 
Can_Message_t txMsg;
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 39 
 
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 40 
 
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uint8_t     msg_received = FALSE;
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 42 
 
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uint8_t rot_lastdir = 0,
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        rot_laststate = 0;
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 45 
 
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 46 
 
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 47 
void can_receive(Can_Message_t *msg){
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// FIXME
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 49 
}
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 50 
 
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uint8_t currentView = MAIN_VIEW,
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        msg_received = FALSE;
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uint8_t temperatureData[8],
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        servoPosition[4],
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        //relayStatus[4],
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        //dimmerStatus[4],
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        temperatureLength = 8,
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        servoLength = 0;
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44 
        //, relayLength=0; //TODO mer generaliserat
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45 
 
 51 
 
46 
uint8_t rot_lastdir = 0,
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ISR( PCINT0_vect ){ // For ROTENC_A and ROTENC_B
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        rot_laststate = 0;
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    uint8_t rot_data = 0;
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 54 
 
49 
ISR( PCINT2_vect ){
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    txMsg.Id=0xA000000;
50 
    uint8_t rot_data = 0;
 56 
    txMsg.DataLength=2;
51 
 
 57 
 
52 
    if(PIND&(1<<PD6)){
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    if(PINB&(1<<PB7)){
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        rot_data |= 0x01;
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        rot_data |= 0x01;
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    }
 60 
    }
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    if(PIND&(1<<PD7)){
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    if(PINB&(1<<PB0)){
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        rot_data |= 0x02;
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        rot_data |= 0x02;
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    }
 63 
    }
58 
 
 64 
 
- 
 
 65 
    if( rot_data==0 || rot_data==3 ){
59 
    if( rot_data==3 && rot_laststate!=3 ){
 66 
        if( rot_data==0 && rot_laststate!=rot_data ){
60 
        if( rot_lastdir&0x01 ){
 67 
            if( rot_lastdir&0x01 ){
61 
            // Moving left
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            if(currentView>0){
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63 
                currentView--;
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64 
                msg_received = TRUE;
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65 
            }
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66 
        }else{
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            // Moving right
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                // Moving right
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            if(currentView<LAST_VIEW){
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                txMsg.Data.bytes[0]=RIGHT;
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                txMsg.Data.bytes[1] = (PIND&(1<<PD2))?0:1;
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 71 
                bios->can_send(&txMsg);
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 72 
            }else{
69 
                currentView++;
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                // Moving left
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                txMsg.Data.bytes[0]=LEFT;
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                txMsg.Data.bytes[1] = (PIND&(1<<PD2))?0:1;
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                msg_received = TRUE;
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                bios->can_send(&txMsg);
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            }
 77 
            }
72 
        }
 78 
        }
73 
        rot_laststate=3;
 79 
        rot_laststate = rot_data;
74 
    }else if( rot_data==0 && rot_laststate!=0 ){
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75 
        rot_laststate = 0;
 80 
    }else{
76 
    }else if( rot_data==1 || rot_data==2 ){
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77 
        rot_lastdir = rot_data;
 81 
        rot_lastdir = rot_data;
78 
    }
 82 
    }
79 
}
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80 
 
 - 
 
81 
void can_receive(Can_Message_t *msg){
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82 
    uint8_t temp, m;
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83 
    /* Check for incoming messages from IR-receiver node */
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84 
    if( CLASS_SNS == ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) ){
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85 
        /* FIXME detta är väldigt fult och borde fixas
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         * knapp 4 på fjärren bläddrar åt vänster
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         * knapp 6 åt höger
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88 
         */
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        if( SNS_IR_RECEIVE == (msg->Id & TYPE_MASK)>>TYPE_MASK_BITS){
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            if(msg->Data.bytes[0] == 0 && msg->Data.bytes[1] == 0 && msg->Data.bytes[2] == 0){
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91 
                if(msg->Data.bytes[3] == 4 && currentView>0){
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92 
                    currentView--;
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93 
                    msg_received = TRUE;
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94 
                }else if(msg->Data.bytes[3] == 6 && currentView<LAST_VIEW){
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95 
                    currentView++;
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96 
                    msg_received = TRUE;
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97 
                }
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98 
            }
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99 
        }
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100 
        /* Other sensor messages should be placed here */
 - 
 
101 
 
 - 
 
102 
        /* DS18S20 sensors */
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103 
        if( SNS_TEMP_DS18S20 == (msg->Id & SNS_TYPE_MASK)>>SNS_TYPE_BITS ){
 - 
 
104 
            temp = (msg->Id & SNS_ID_MASK)>>SNS_ID_BITS;
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105 
            temperatureData[ (temp-1)*2 ] = msg->Data.bytes[0];
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106 
            temperatureData[ (temp-1)*2+1 ] = msg->Data.bytes[1];
 - 
 
107 
        }
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108 
 
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        /* Servo controllers */
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110 
        if( SNS_ACT_STATUS_SERVO == (msg->Id & TYPE_MASK)>>TYPE_MASK_BITS ){ // TODO annan struktur på statusmeddelanden från servo
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111 
            temp = msg->DataLength - 3;
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112 
            for(m=0;m<temp;m++){
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113 
                servoPosition[ m ] = msg->Data.bytes[m+3];
 - 
 
114 
            }
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115 
            servoLength = temp;
 - 
 
116 
        }
 83 
}
117 
 
 84 
 
- 
 
 85 
ISR( PCINT2_vect ){ // For ROTENC_BTN
118 
    }
 86 
    lcd_puts("a");
119 
}
 87 
}
120 
 
 88 
 
- 
 
 89 
    void send_dimensions();
121 
 
 90 
 
122 
/*-----------------------------------------------------------------------------
 91 
/*-----------------------------------------------------------------------------
123 
 * Main Program
 92 
 * Main Program
124 
 *---------------------------------------------------------------------------*/
 93 
 *---------------------------------------------------------------------------*/
125 
int main(void) {
 94 
int main(void) {
126 
 
 95 
 
127 
    char buffer[ BUFFER_SIZE ];
 96 
//    char buffer[ BUFFER_SIZE ];
128 
    /*
 97 
    /*
129 
     * Initialize rotaryencoders and buttons
 98 
     * Initialize rotaryencoders and buttons
130 
     */
 99 
     */
131 
    /* Set as input */
 100 
    /* Set as input */
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 101 
    DDRD &= ~(1<<DDD2);
132 
    DDRD &= ~( (1<<DDD6)|(1<<DDD7) );
 102 
    DDRB &= ~((1<<DDB7)|(1<<DDB0));
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 103 
    /* Enable pull-up */
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 104 
    PORTD |= (1<<PD2);
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 105 
    PORTB |= (1<<PB7)|(1<<PB0);
133 
    /* Enable IO-pin interrupt */
 106 
    /* Enable IO-pin interrupt */
134 
    PCICR |= (1<<PCIE2);
 107 
    PCICR |= (1<<PCIE2)|(1<<PCIE0);
135 
    /* Unmask PD6 and PD7 */
 108 
    /* Unmask PB7, PB0 and PD2 */
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 109 
    PCMSK2 |= (1<<PCINT18);
136 
    PCMSK2 |= (1<<PCINT22)|(1<<PCINT23);
 110 
    PCMSK0 |= (1<<PCINT7)|(1<<PCINT0);
- 
 
 111 
 
- 
 
 112 
    txMsg.ExtendedFlag=1;
- 
 
 113 
    txMsg.RemoteFlag=0;
137 
 
 114 
 
138 
    sei();
 115 
    sei();
139 
    bios->can_callback = &can_receive;
 116 
    bios->can_callback = &can_receive;
140 
 
 117 
 
141 
    lcd_init( LCD_DISP_ON );
 118 
    lcd_init( LCD_DISP_ON );
142 
    lcd_clrscr();
 119 
    lcd_clrscr();
143 
 
 120 
 
144 
    lcd_clrscr();
 121 
    send_dimensions();
145 
    printLCDview( MAIN_VIEW );
 - 
 
146 
 
 122 
 
147 
    /* main loop */
 123 
    /* main loop */
148 
    while(1){
 124 
    while(1){
149 
        /* check if any messages have been received */
 125 
        /* check if any messages have been received */
150 
        if(msg_received){
 126 
        if(msg_received){
151 
                /* Print views skeleton and if existing its data */
 - 
 
152 
            printLCDview( currentView );
 - 
 
153 
            if(currentView == TEMPSENS_VIEW){
 - 
 
154 
                printLCDviewData( TEMPSENS_VIEW, temperatureData, temperatureLength);
 - 
 
155 
            }else if(currentView == SERVO_VIEW){
 - 
 
156 
                printLCDviewData( SERVO_VIEW, servoPosition, servoLength);
 - 
 
157 
            }
 127 
 
158 
            msg_received = FALSE;
 128 
            msg_received = FALSE;
159 
        }
 129 
        }
160 
    }
 130 
    }
- 
 
 131 
}
- 
 
 132 
 
- 
 
 133 
void send_dimensions(){
- 
 
 134 
    txMsg.Id=0xA000001;
- 
 
 135 
    txMsg.Data.bytes[0] = SIZE_X;
- 
 
 136 
    txMsg.Data.bytes[1] = SIZE_Y;
- 
 
 137 
    txMsg.DataLength = 2;
- 
 
 138 
    bios->can_send(&txMsg);
161 
}
 139 
}