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#include "act_pcaPWM.h"
 2 
#include "act_pcaPWM.h"
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#include "drivers/io/PCA9634.h"
 3 
#include "drivers/io/PCA9634.h"
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 4 
 
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 5 
static uint16_t setValue[8];
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 6 
static uint16_t isValue[8];
4 
 
 7 
 
5 
#ifdef act_pcaPWM_USEEEPROM
 8 
#ifdef act_pcaPWM_USEEEPROM
6 
#include "act_pcaPWM_eeprom.h"
 9 
#include "act_pcaPWM_eeprom.h"
7 
struct eeprom_act_pcaPWM EEMEM eeprom_act_pcaPWM =
 10 
struct eeprom_act_pcaPWM EEMEM eeprom_act_pcaPWM =
8 
{
 11 
{
9 
    {
 12 
    {
10 
        ///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.
 13 
        ///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.
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 14 
        0x0000, // ch 1
11 
        0xAB,       // x
 15 
        0x0000, // ch 2
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        0x1234      // y
 16 
        0x0000, // ch 3
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 17 
        0x0000, // ch 4
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 18 
        0x0000, // ch 5
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 19 
        0x0000, // ch 6
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        0x12345678  // z
 20 
        0x0000, // ch 7
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 21 
        0x0000  // ch 8
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    },
 22 
    },
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    0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
 23 
    0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
16 
};
 24 
};
17 
#endif
 25 
#endif
18 
 
 26 
 
19 
void act_pcaPWM_Init(void)
 27 
void act_pcaPWM_Init(void)
20 
{
 28 
{
21 
#ifdef act_pcaPWM_USEEEPROM
 29 
#ifdef act_pcaPWM_USEEEPROM
22 
    if (EEDATA_OK)
 30 
    if (EEDATA_OK)
23 
    {
 31 
    {
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 32 
      setValue[0] = eeprom_read_word(EEDATA16.ch1);
24 
      ///TODO: Use stored data to set initial values for the module
 33 
      setValue[1] = eeprom_read_word(EEDATA16.ch2);
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      blablaX = eeprom_read_byte(EEDATA.x);
 34 
      setValue[2] = eeprom_read_word(EEDATA16.ch3);
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 35 
      setValue[3] = eeprom_read_word(EEDATA16.ch4);
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 36 
      setValue[4] = eeprom_read_word(EEDATA16.ch5);
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 37 
      setValue[5] = eeprom_read_word(EEDATA16.ch6);
26 
      blablaY = eeprom_read_word(EEDATA16.y);
 38 
      setValue[6] = eeprom_read_word(EEDATA16.ch7);
27 
      blablaZ = eeprom_read_dword(EEDATA32.y);
 39 
      setValue[7] = eeprom_read_word(EEDATA16.ch8);
28 
    } else
 40 
    } else
29 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
 41 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
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 42 
      eeprom_write_word_crc(EEDATA16.ch1, 0x0000, WITHOUT_CRC);
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 43 
      eeprom_write_word_crc(EEDATA16.ch2, 0x0000, WITHOUT_CRC);
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 44 
      eeprom_write_word_crc(EEDATA16.ch3, 0x0000, WITHOUT_CRC);
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      eeprom_write_byte_crc(EEDATA.x, 0xAB, WITHOUT_CRC);
 45 
      eeprom_write_word_crc(EEDATA16.ch4, 0x0000, WITHOUT_CRC);
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 46 
      eeprom_write_word_crc(EEDATA16.ch5, 0x0000, WITHOUT_CRC);
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 47 
      eeprom_write_word_crc(EEDATA16.ch6, 0x0000, WITHOUT_CRC);
31 
      eeprom_write_word_crc(EEDATA16.y, 0x1234, WITHOUT_CRC);
 48 
      eeprom_write_word_crc(EEDATA16.ch7, 0x0000, WITHOUT_CRC);
32 
      eeprom_write_dword_crc(EEDATA32.y, 0x12345678, WITHOUT_CRC);
 49 
      eeprom_write_word_crc(EEDATA16.ch8, 0x0000, WITHOUT_CRC);
33 
      EEDATA_UPDATE_CRC;
 50 
      EEDATA_UPDATE_CRC;
34 
    }
 51 
    }
35 
#endif
 52 
#endif
36 
    ///TODO: Initialize hardware etc here
 - 
 
37 
 
 53 
 
38 
    // to use PCINt lib, call this function: (the callback function look as a timer callback function)
 54 
    pca9634_init(act_pcaPWM_I2C_ADDRESS);
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 55 
    for (uint8_t i=0; i<8; i++)
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 56 
    {
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 57 
        pca9634_setOpMode(i, PCA9634_OP_IND);
39 
    // Pcint_SetCallbackPin(act_pcaPWM_PCINT, EXP_C , &act_pcaPWM_pcint_callback);
 58 
        /* Set "current" value to something impossible to force an update at start */
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 59 
        isValue[i] = 10001;
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 60 
    }
40 
 
 61 
   
- 
 
 62 
#ifdef act_pcaPWM_OUTPUT_ENABLE_IO
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 63 
    gpio_set_out(act_pcaPWM_OUTPUT_ENABLE_IO);
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 64 
    gpio_clr_pin(act_pcaPWM_OUTPUT_ENABLE_IO);
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 65 
#endif
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 66 
#ifdef act_pcaPWM_LED_OVERRIDE_IO
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 67 
    gpio_set_out(act_pcaPWM_LED_OVERRIDE_IO);
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 68 
    gpio_clr_pin(act_pcaPWM_LED_OVERRIDE_IO);
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 69 
#endif
41 
}
 70 
}
42 
 
 71 
 
43 
void act_pcaPWM_Process(void)
 72 
void act_pcaPWM_Process(void)
44 
{
 73 
{
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 74 
 
45 
    ///TODO: Stuff that needs doing is done here
 75 
    for (uint8_t i=0; i < 8; i++)
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 76 
    {
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 77 
        if (setValue[i] != isValue[i])
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 78 
        {
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 79 
            isValue[i] = setValue[i];
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 80 
            pca9634_setDuty(i, isValue[i]*act_pcaPWM_FACT);
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 81 
            Timer_SetTimeout(act_pcaPWM_STORE_VALUE_TIMEOUT, act_pcaPWM_STORE_VALUE_TIMEOUT_TIME*1000, TimerTypeOneShot, 0);
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 82 
        }
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 83 
    }
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 84 
 
- 
 
 85 
    if (Timer_Expired(act_pcaPWM_STORE_VALUE_TIMEOUT))
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 86 
    {
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 87 
        if (isValue[0] != eeprom_read_word(EEDATA16.ch1))
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 88 
        {
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 89 
            eeprom_write_word_crc(EEDATA16.ch1, isValue[0], WITH_CRC);
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 90 
        }
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 91 
        if (isValue[1] != eeprom_read_word(EEDATA16.ch2))
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 92 
        {
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 93 
            eeprom_write_word_crc(EEDATA16.ch2, isValue[1], WITH_CRC);
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 94 
        }
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 95 
        if (isValue[2] != eeprom_read_word(EEDATA16.ch3))
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 96 
        {
- 
 
 97 
            eeprom_write_word_crc(EEDATA16.ch3, isValue[2], WITH_CRC);
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 98 
        }
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 99 
        if (isValue[3] != eeprom_read_word(EEDATA16.ch4))
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 100 
        {
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 101 
            eeprom_write_word_crc(EEDATA16.ch4, isValue[3], WITH_CRC);
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 102 
        }
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 103 
        if (isValue[4] != eeprom_read_word(EEDATA16.ch5))
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 104 
        {
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 105 
            eeprom_write_word_crc(EEDATA16.ch5, isValue[4], WITH_CRC);
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 106 
        }
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 107 
        if (isValue[5] != eeprom_read_word(EEDATA16.ch6))
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 108 
        {
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 109 
            eeprom_write_word_crc(EEDATA16.ch6, isValue[5], WITH_CRC);
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 110 
        }
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 111 
        if (isValue[6] != eeprom_read_word(EEDATA16.ch7))
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 112 
        {
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 113 
            eeprom_write_word_crc(EEDATA16.ch7, isValue[6], WITH_CRC);
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 114 
        }
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 115 
        if (isValue[7] != eeprom_read_word(EEDATA16.ch8))
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 116 
        {
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 117 
            eeprom_write_word_crc(EEDATA16.ch8, isValue[7], WITH_CRC);
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 118 
        }
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 119 
    }
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 120 
 
46 
}
 121 
}
47 
 
 122 
 
48 
void act_pcaPWM_HandleMessage(StdCan_Msg_t *rxMsg)
 123 
void act_pcaPWM_HandleMessage(StdCan_Msg_t *rxMsg)
49 
{
 124 
{
50 
#if 0
 - 
 
51 
    if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_xyz && ///TODO: Change this to the actual class type
 125 
    if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
52 
        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
 126 
        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
53 
        rxMsg->Header.ModuleType == CAN_MODULE_TYPE_xyz && ///TODO: Change this to the actual module type
 127 
        rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_PCAPWM &&
54 
        rxMsg->Header.ModuleId == act_pcaPWM_ID)
 128 
        rxMsg->Header.ModuleId == act_pcaPWM_ID)
55 
    {
 129 
    {
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 130 
        uint8_t channel = 0;
56 
        switch (rxMsg->Header.Command)
 131 
        switch (rxMsg->Header.Command)
57 
        {
 132 
        {
58 
        case CAN_CMD_MODULE_DUMMY:
 133 
        case CAN_MODULE_CMD_PHYSICAL_PWM:
59 
        ///TODO: Do something dummy
 134 
            if (rxMsg->Length == 3) {
- 
 
 135 
                channel = rxMsg->Data[0];
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 136 
                setValue[channel] = (rxMsg->Data[1]<<8)+(rxMsg->Data[2]);
- 
 
 137 
            }
- 
 
 138 
           
60 
        break;
 139 
        break;
61 
        }
 140 
        }
62 
    }
 141 
    }
63 
#endif
 - 
 
64 
}
 142 
}
65 
 
 143 
 
66 
void act_pcaPWM_List(uint8_t ModuleSequenceNumber)
 144 
void act_pcaPWM_List(uint8_t ModuleSequenceNumber)
67 
{
 145 
{
68 
#if 0
 - 
 
69 
    StdCan_Msg_t txMsg;
 146 
    StdCan_Msg_t txMsg;
70 
 
 147 
 
71 
    StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_xyz); ///TODO: Change this to the actual class type
 148 
    StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
72 
    StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
 149 
    StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
73 
    txMsg.Header.ModuleType = CAN_MODULE_TYPE_xyz; ///TODO: Change this to the actual module type
 150 
    txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PCAPWM;
74 
    txMsg.Header.ModuleId = act_pcaPWM_ID;
 151 
    txMsg.Header.ModuleId = act_pcaPWM_ID;
75 
    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
 152 
    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
76 
    txMsg.Length = 6;
 153 
    txMsg.Length = 6;
77 
 
 154 
 
78 
    txMsg.Data[0] = NODE_HW_ID_BYTE0;
 155 
    txMsg.Data[0] = NODE_HW_ID_BYTE0;
Line 82... Line 159...
82 
 
 159 
 
83 
    txMsg.Data[4] = NUMBER_OF_MODULES;
 160 
    txMsg.Data[4] = NUMBER_OF_MODULES;
84 
    txMsg.Data[5] = ModuleSequenceNumber;
 161 
    txMsg.Data[5] = ModuleSequenceNumber;
85 
 
 162 
 
86 
    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
 163 
    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
87 
#endif
 - 
 
88 
}
 164 
}