#include "act_pcaPWM.h"
#include "drivers/io/PCA9634.h"
static uint16_t setValue[8];
static uint16_t isValue[8];
#ifdef act_pcaPWM_USEEEPROM
#include "act_pcaPWM_eeprom.h"
struct eeprom_act_pcaPWM EEMEM eeprom_act_pcaPWM =
{
{
///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.
0x0000, // ch 1
0x0000, // ch 2
0x0000, // ch 3
0x0000, // ch 4
0x0000, // ch 5
0x0000, // ch 6
0x0000, // ch 7
0x0000 // ch 8
},
0 // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
};
#endif
void act_pcaPWM_Init(void)
{
#ifdef act_pcaPWM_USEEEPROM
if (EEDATA_OK)
{
setValue[0] = eeprom_read_word(EEDATA16.ch1);
setValue[1] = eeprom_read_word(EEDATA16.ch2);
setValue[2] = eeprom_read_word(EEDATA16.ch3);
setValue[3] = eeprom_read_word(EEDATA16.ch4);
setValue[4] = eeprom_read_word(EEDATA16.ch5);
setValue[5] = eeprom_read_word(EEDATA16.ch6);
setValue[6] = eeprom_read_word(EEDATA16.ch7);
setValue[7] = eeprom_read_word(EEDATA16.ch8);
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_word_crc(EEDATA16.ch1, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch2, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch3, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch4, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch5, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch6, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch7, 0x0000, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.ch8, 0x0000, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
#endif
pca9634_init(act_pcaPWM_I2C_ADDRESS);
for (uint8_t i=0; i<8; i++)
{
pca9634_setOpMode(i, PCA9634_OP_IND);
/* Set "current" value to something impossible to force an update at start */
isValue[i] = 10001;
}
#ifdef act_pcaPWM_OUTPUT_ENABLE_IO
gpio_set_out(act_pcaPWM_OUTPUT_ENABLE_IO);
gpio_clr_pin(act_pcaPWM_OUTPUT_ENABLE_IO);
#endif
#ifdef act_pcaPWM_LED_OVERRIDE_IO
gpio_set_out(act_pcaPWM_LED_OVERRIDE_IO);
gpio_clr_pin(act_pcaPWM_LED_OVERRIDE_IO);
#endif
}
void act_pcaPWM_Process(void)
{
for (uint8_t i=0; i < 8; i++)
{
if (setValue[i] != isValue[i])
{
isValue[i] = setValue[i];
pca9634_setDuty(i, isValue[i]*act_pcaPWM_FACT);
Timer_SetTimeout(act_pcaPWM_STORE_VALUE_TIMEOUT, act_pcaPWM_STORE_VALUE_TIMEOUT_TIME*1000, TimerTypeOneShot, 0);
}
}
if (Timer_Expired(act_pcaPWM_STORE_VALUE_TIMEOUT))
{
if (isValue[0] != eeprom_read_word(EEDATA16.ch1))
{
eeprom_write_word_crc(EEDATA16.ch1, isValue[0], WITH_CRC);
}
if (isValue[1] != eeprom_read_word(EEDATA16.ch2))
{
eeprom_write_word_crc(EEDATA16.ch2, isValue[1], WITH_CRC);
}
if (isValue[2] != eeprom_read_word(EEDATA16.ch3))
{
eeprom_write_word_crc(EEDATA16.ch3, isValue[2], WITH_CRC);
}
if (isValue[3] != eeprom_read_word(EEDATA16.ch4))
{
eeprom_write_word_crc(EEDATA16.ch4, isValue[3], WITH_CRC);
}
if (isValue[4] != eeprom_read_word(EEDATA16.ch5))
{
eeprom_write_word_crc(EEDATA16.ch5, isValue[4], WITH_CRC);
}
if (isValue[5] != eeprom_read_word(EEDATA16.ch6))
{
eeprom_write_word_crc(EEDATA16.ch6, isValue[5], WITH_CRC);
}
if (isValue[6] != eeprom_read_word(EEDATA16.ch7))
{
eeprom_write_word_crc(EEDATA16.ch7, isValue[6], WITH_CRC);
}
if (isValue[7] != eeprom_read_word(EEDATA16.ch8))
{
eeprom_write_word_crc(EEDATA16.ch8, isValue[7], WITH_CRC);
}
}
}
void act_pcaPWM_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_PCAPWM &&
rxMsg->Header.ModuleId == act_pcaPWM_ID)
{
uint8_t channel = 0;
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_PHYSICAL_PWM:
if (rxMsg->Length == 3) {
channel = rxMsg->Data[0];
setValue[channel] = (rxMsg->Data[1]<<8)+(rxMsg->Data[2]);
}
break;
}
}
}
void act_pcaPWM_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PCAPWM;
txMsg.Header.ModuleId = act_pcaPWM_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);
}