#include "act_SlowPWM.h"
#ifdef act_SlowPWM_USEEEPROM
#include "act_SlowPWM_eeprom.h"
struct eeprom_act_SlowPWM EEMEM eeprom_act_SlowPWM =
{
{
///TODO: Define initialization values on the EEPROM variables here, this will generate a *.eep file that can be used to store this values to the node, can in future be done with a EEPROM module and the make-scrips. Write the values in the exact same order as the struct is defined in the *.h file.
0xABcd, // x
0x1234, // y
0x00
},
0 // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
};
#endif
uint8_t pwmDefaultState,pwmDefaultStartState;
uint16_t pwmDefaultValue;
uint16_t pwmPeriod, pwmValue;
uint8_t pwmStatus;
#define PWM_LOW 0
#define PWM_HIGH 1
#define PWM_OFF 2
void updatePWM_callback(uint8_t timer) {
//pwmValue = DEFAULT_PWM_VALUE;
if (pwmStatus == PWM_HIGH) { //Pwm output is low
gpio_clr_pin(PWM_PIN); //Sets low
pwmStatus = 1;
Timer_SetTimeout(act_SlowPWM_TIMER, pwmValue, TimerTypeOneShot, &updatePWM_callback);
} else if (pwmStatus == PWM_LOW){ //Pwm output is high
gpio_set_pin(PWM_PIN); //Sets high
pwmStatus = 0;
Timer_SetTimeout(act_SlowPWM_TIMER, pwmPeriod - pwmValue, TimerTypeOneShot, &updatePWM_callback);
} else //PWM_OFF
{
if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_LOW)
{
gpio_set_out(PWM_PIN);
gpio_clr_pin(PWM_PIN);
} else if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_HIGH)
{
gpio_set_out(PWM_PIN);
gpio_set_pin(PWM_PIN);
} else if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_TRISTATE)
{
gpio_set_in(PWM_PIN);
gpio_clr_pin(PWM_PIN);
}
}
}
void pwmInit(void) {
if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_LOW)
{
gpio_set_out(PWM_PIN);
gpio_clr_pin(PWM_PIN);
} else if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_HIGH)
{
gpio_set_out(PWM_PIN);
gpio_set_pin(PWM_PIN);
} else if (pwmDefaultState == CAN_MODULE_ENUM_SLOWPWM_CONFIG_DEFAULTSTATE_TRISTATE)
{
gpio_set_in(PWM_PIN);
gpio_clr_pin(PWM_PIN);
}
pwmValue = pwmDefaultValue;
pwmStatus = PWM_OFF;
if (pwmDefaultStartState==CAN_MODULE_ENUM_SLOWPWM_CONFIG_STARTUPSTATE_ON) {
Timer_SetTimeout(act_SlowPWM_TIMER, pwmValue, TimerTypeOneShot, &updatePWM_callback);
pwmStatus = PWM_LOW;
gpio_set_out(PWM_PIN);
gpio_clr_pin(PWM_PIN);
}
}
void act_SlowPWM_Init(void)
{
#ifdef act_SlowPWM_USEEEPROM
if (EEDATA_OK)
{
;
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_word_crc(EEDATA16.PwmPeriod, DEFAULT_PWM_PERIOD , WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.defaultPwmValue, DEFAULT_PWM_VALUE , WITHOUT_CRC);
eeprom_write_byte_crc(EEDATA.defaultStates, 0xa0 , WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
pwmDefaultValue = eeprom_read_word(EEDATA16.defaultPwmValue);
pwmPeriod = eeprom_read_word(EEDATA16.PwmPeriod);
pwmDefaultState = (eeprom_read_byte(EEDATA.defaultStates)>>6) & 0x03;
pwmDefaultStartState = ((eeprom_read_byte(EEDATA.defaultStates)>>5) & 0x01);
#endif
///TODO: Initialize hardware etc here
pwmInit();
}
void act_SlowPWM_Process(void)
{
///TODO: Stuff that needs doing is done here
}
void act_SlowPWM_HandleMessage(StdCan_Msg_t *rxMsg)
{
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_SLOWPWM &&
rxMsg->Header.ModuleId == act_SlowPWM_ID)
{
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_PHYSICAL_SLOWPWM:
if (rxMsg->Data[0] == PWMSENSORID)
{
if (rxMsg->Length == 3)
{
pwmValue= (rxMsg->Data[1]<<8) + rxMsg->Data[2];
if (pwmValue > pwmPeriod)
pwmValue = pwmPeriod;
} else
{
rxMsg->Data[1] = (pwmValue>>8)&0xff;
rxMsg->Data[2] = (pwmValue)&0xff;
StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
rxMsg->Length = 3;
while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
}
}
break;
case CAN_MODULE_CMD_SLOWPWM_CONFIG:
if (rxMsg->Length == 5)
{
eeprom_write_word_crc(EEDATA16.PwmPeriod, (rxMsg->Data[0]<<8) + rxMsg->Data[1] , WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.defaultPwmValue, (rxMsg->Data[2]<<8) + rxMsg->Data[3] , WITHOUT_CRC);
eeprom_write_byte_crc(EEDATA.defaultStates, rxMsg->Data[2] , WITH_CRC);
pwmDefaultValue = eeprom_read_word(EEDATA16.defaultPwmValue);
pwmPeriod = eeprom_read_word(EEDATA16.PwmPeriod);
pwmDefaultState = (eeprom_read_byte(EEDATA.defaultStates)>>6) & 0x03;
pwmDefaultStartState = ((eeprom_read_byte(EEDATA.defaultStates)>>5) & 0x01);
} else
{
rxMsg->Data[0] = (eeprom_read_word(EEDATA16.PwmPeriod)>>8)&0xff;
rxMsg->Data[1] = (eeprom_read_word(EEDATA16.PwmPeriod))&0xff;
rxMsg->Data[2] = (eeprom_read_word(EEDATA16.defaultPwmValue)>>8)&0xff;
rxMsg->Data[3] = (eeprom_read_word(EEDATA16.defaultPwmValue))&0xff;
rxMsg->Data[4] = eeprom_read_byte(EEDATA.defaultStates);
StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
rxMsg->Length = 5;
while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
}
break;
}
}
}
void act_SlowPWM_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SLOWPWM; ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = act_SlowPWM_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
txMsg.Data[0] = NODE_HW_ID_BYTE0;
txMsg.Data[1] = NODE_HW_ID_BYTE1;
txMsg.Data[2] = NODE_HW_ID_BYTE2;
txMsg.Data[3] = NODE_HW_ID_BYTE3;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}