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Line 1... Line 1...
1 
 
 1 
 
2 
#include "act_softPWM.h"
 2 
#include "act_softPWM.h"
3 
uint16_t currentTimer = 0;
 3 
uint16_t currentTimer = 0;
4 
uint16_t maxTimer = 10;
 4 
uint16_t maxTimer = 10;
5 
uint8_t resolution = 1;
 5 
uint8_t resolution = 1;
- 
 
 6 
uint8_t pwmDefaultState,pwmDefaultStartState,act_softPWM_ReportInterval;
- 
 
 7 
uint16_t pwmDefaultValue;
- 
 
 8 
uint16_t pwmPeriod;
- 
 
 9 
uint8_t pwmStatus;
- 
 
 10 
uint8_t currentSendChannelId = 0;
6 
 
 11 
 
7 
#ifdef act_softPWM_USEEEPROM
 12 
#ifdef act_softPWM_USEEEPROM
8 
#include "act_softPWM_eeprom.h"
 13 
#include "act_softPWM_eeprom.h"
9 
struct eeprom_act_softPWM EEMEM eeprom_act_softPWM =
 14 
struct eeprom_act_softPWM EEMEM eeprom_act_softPWM =
10 
{
 15 
{
11 
    {
 16 
    {
12 
        ///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.
17 
        ///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 
        0xAB,   // x
 18 
        0xABcd, // x
14 
        0x1234  // y
 19 
        0x1234, // y
- 
 
 20 
        0x00,
- 
 
 21 
        0x14    //Reportinteval 20 sec.
15 
    },
 22 
    },
16 
    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
17 
};
 24 
};
18 
#endif
 25 
#endif
- 
 
 26 
#define NUMBEROFCHANNELS 0
19 
#ifdef PIN_0
 27 
#ifdef PIN_0
20 
    uint16_t PIN_0_timer=0;
 28 
    #define PIN_0_ID NUMBEROFCHANNELS
- 
 
 29 
    #undefine NUMBEROFCHANNELS
- 
 
 30 
    #define NUMBEROFCHANNELS PIN_0_ID + 1
21 
#endif
 31 
#endif
22 
#ifdef PIN_1
 32 
#ifdef PIN_1
23 
    uint16_t PIN_1_timer=0;
 33 
    #define PIN_1_ID NUMBEROFCHANNELS
- 
 
 34 
    #undefine NUMBEROFCHANNELS
- 
 
 35 
    #define NUMBEROFCHANNELS PIN_1_ID + 1
24 
#endif
 36 
#endif
25 
#ifdef PIN_2
 37 
#ifdef PIN_2
26 
    uint16_t PIN_2_timer=0;
 38 
    #define PIN_2_ID NUMBEROFCHANNELS
- 
 
 39 
    #undefine NUMBEROFCHANNELS
- 
 
 40 
    #define NUMBEROFCHANNELS PIN_2_ID + 1
27 
#endif
 41 
#endif
28 
#ifdef PIN_3
 42 
#ifdef PIN_3
29 
    uint16_t PIN_3_timer=0;
 43 
    #define PIN_3_ID NUMBEROFCHANNELS
- 
 
 44 
    #undefine NUMBEROFCHANNELS
- 
 
 45 
    #define NUMBEROFCHANNELS PIN_3_ID + 1
30 
#endif
 46 
#endif
31 
#ifdef PIN_4
 47 
#ifdef PIN_4
32 
    uint16_t PIN_4_timer=0;
 48 
    #define PIN_4_ID NUMBEROFCHANNELS
- 
 
 49 
    #undefine NUMBEROFCHANNELS
- 
 
 50 
    #define NUMBEROFCHANNELS PIN_4_ID + 1
33 
#endif
 51 
#endif
34 
#ifdef PIN_5
 52 
#ifdef PIN_5
35 
    uint16_t PIN_5_timer=0;
 53 
    #define PIN_5_ID NUMBEROFCHANNELS
- 
 
 54 
    #undefine NUMBEROFCHANNELS
- 
 
 55 
    #define NUMBEROFCHANNELS PIN_5_ID + 1
36 
#endif
 56 
#endif
37 
#ifdef PIN_6
 57 
#ifdef PIN_6
38 
    uint16_t PIN_6_timer=0;
 58 
    #define PIN_6_ID NUMBEROFCHANNELS
- 
 
 59 
    #undefine NUMBEROFCHANNELS
- 
 
 60 
    #define NUMBEROFCHANNELS PIN_6_ID + 1
39 
#endif
 61 
#endif
40 
#ifdef PIN_7
 62 
#ifdef PIN_7
41 
    uint16_t PIN_7_timer=0;
 63 
    #define PIN_7_ID NUMBEROFCHANNELS
- 
 
 64 
    #undefine NUMBEROFCHANNELS
- 
 
 65 
    #define NUMBEROFCHANNELS PIN_7_ID + 1
42 
#endif
 66 
#endif
- 
 
 67 
uint16_t pwmValue[NUMBEROFCHANNELS];
43 
 
 68 
 
44 
void act_softPWM_Init(void)
 69 
void act_softPWM_Init(void)
45 
{
 70 
{
46 
#ifdef act_softPWM_USEEEPROM
 71 
#ifdef act_softPWM_USEEEPROM
47 
    if (EEDATA_OK)
 72 
    if (EEDATA_OK)
48 
    {
 73 
    {
49 
      ///TODO: Use stored data to set initial values for the module
 - 
 
50 
      blablaX = eeprom_read_byte(EEDATA.x);
 - 
 
51 
      blablaY = eeprom_read_word(EEDATA.y);
 74 
      ;
52 
    } else
 75 
    } else
53 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
 76 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
- 
 
 77 
        eeprom_write_word_crc(EEDATA16.PwmPeriod, DEFAULT_PWM_PERIOD , WITHOUT_CRC);
- 
 
 78 
        eeprom_write_word_crc(EEDATA16.defaultPwmValue, DEFAULT_PWM_VALUE , WITHOUT_CRC);
54 
      eeprom_write_byte_crc(EEDATA.x, 0xAB, WITHOUT_CRC);
 79 
        eeprom_write_byte_crc(EEDATA.defaultStates, 0xa0 , WITHOUT_CRC);
55 
      eeprom_write_word_crc(EEDATA.y, 0x1234, WITHOUT_CRC);
 80 
        eeprom_write_byte_crc(EEDATA.ReportInterval, 0x14 , WITHOUT_CRC);
56 
      EEDATA_UPDATE_CRC;
 81 
        EEDATA_UPDATE_CRC;
57 
    }
 82 
    }
- 
 
 83 
    pwmDefaultValue = eeprom_read_word(EEDATA16.defaultPwmValue);
- 
 
 84 
    pwmPeriod = eeprom_read_word(EEDATA16.PwmPeriod);
- 
 
 85 
    pwmDefaultState = (eeprom_read_byte(EEDATA.defaultStates)>>6) & 0x03;
- 
 
 86 
    pwmDefaultStartState = ((eeprom_read_byte(EEDATA.defaultStates)>>5) & 0x01);
- 
 
 87 
    act_softPWM_ReportInterval = (eeprom_read_byte(EEDATA.ReportInterval));
- 
 
 88 
    Timer_SetTimeout(act_softPWM_SEND_TIMER, act_softPWM_ReportInterval*1000 , TimerTypeFreeRunning, 0);
58 
#endif  
 89 
#endif  
59 
    ///TODO: Initialize hardware etc here
 90 
    ///TODO: Initialize hardware etc here
60 
#ifdef PIN_0
 91 
#ifdef PIN_0
61 
    gpio_set_out(PIN_0);
 92 
    gpio_set_out(PIN_0);
62 
    gpio_clr_pin(PIN_0);
 93 
    gpio_clr_pin(PIN_0);
Line 126... Line 157...
126 
            #ifdef PIN_7
157 
            #ifdef PIN_7
127 
                gpio_set_pin(PIN_7);
 158 
                gpio_set_pin(PIN_7);
128 
            #endif
 159 
            #endif
129 
        }
 160 
        }
130 
        #ifdef PIN_0
 161 
        #ifdef PIN_0
131 
        if (currentTimer >= PIN_0_timer) {
 162 
        if (currentTimer >= pwmValue[PIN_0_ID]) {
132 
            gpio_clr_pin(PIN_0);
 163 
            gpio_clr_pin(PIN_0);
133 
        }
 164 
        }
134 
        #endif
 165 
        #endif
135 
        #ifdef PIN_1
 166 
        #ifdef PIN_1
136 
        if (currentTimer >= PIN_1_timer) {
 167 
        if (currentTimer >= pwmValue[PIN_1_ID]) {
137 
            gpio_clr_pin(PIN_1);
 168 
            gpio_clr_pin(PIN_1);
138 
        }
 169 
        }
139 
        #endif
 170 
        #endif
140 
        #ifdef PIN_2
 171 
        #ifdef PIN_2
141 
        if (currentTimer >= PIN_2_timer) {
 172 
        if (currentTimer >= pwmValue[PIN_2_ID]) {
142 
            gpio_clr_pin(PIN_2);
 173 
            gpio_clr_pin(PIN_2);
143 
        }
 174 
        }
144 
        #endif
 175 
        #endif
145 
        #ifdef PIN_3
 176 
        #ifdef PIN_3
146 
        if (currentTimer >= PIN_3_timer) {
 177 
        if (currentTimer >= pwmValue[PIN_3_ID]) {
147 
            gpio_clr_pin(PIN_3);
 178 
            gpio_clr_pin(PIN_3);
148 
        }
 179 
        }
149 
        #endif
 180 
        #endif
150 
        #ifdef PIN_4
 181 
        #ifdef PIN_4
151 
        if (currentTimer >= PIN_4_timer) {
 182 
        if (currentTimer >= pwmValue[PIN_4_ID]) {
152 
            gpio_clr_pin(PIN_4);
 183 
            gpio_clr_pin(PIN_4);
153 
        }
 184 
        }
154 
        #endif
 185 
        #endif
155 
        #ifdef PIN_5
 186 
        #ifdef PIN_5
156 
        if (currentTimer >= PIN_5_timer) {
 187 
        if (currentTimer >= pwmValue[PIN_5_ID]) {
157 
            gpio_clr_pin(PIN_5);
 188 
            gpio_clr_pin(PIN_5);
158 
        }
 189 
        }
159 
        #endif
 190 
        #endif
160 
        #ifdef PIN_6
 191 
        #ifdef PIN_6
161 
        if (currentTimer >= PIN_6_timer) {
 192 
        if (currentTimer >= pwmValue[PIN_6_ID]) {
162 
            gpio_clr_pin(PIN_6);
 193 
            gpio_clr_pin(PIN_6);
163 
        }
 194 
        }
164 
        #endif
 195 
        #endif
165 
        #ifdef PIN_7
 196 
        #ifdef PIN_7
166 
        if (currentTimer >= PIN_7_timer) {
 197 
        if (currentTimer >= pwmValue[PIN_7_ID]) {
167 
            gpio_clr_pin(PIN_7);
 198 
            gpio_clr_pin(PIN_7);
168 
        }
 199 
        }
169 
        #endif
 200 
        #endif
170 
    }
 201 
    }
- 
 
 202 
    if (Timer_Expired(act_softPWM_SEND_TIMER)) {
- 
 
 203 
        StdCan_Msg_t txMsg;
- 
 
 204 
        StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
- 
 
 205 
        StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
- 
 
 206 
        txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SOFTPWM;
- 
 
 207 
        txMsg.Header.ModuleId = act_softPWM_ID;
- 
 
 208 
        txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
- 
 
 209 
        txMsg.Length = 3;
- 
 
 210 
        txMsg.Data[0] = currentSendChannelId;
- 
 
 211 
        txMsg.Data[1] = (pwmValue[currentSendChannelId]>>8)&0xff;
- 
 
 212 
        txMsg.Data[2] = (pwmValue[currentSendChannelId])&0xff;
- 
 
 213 
        StdCan_Put(&txMsg);
- 
 
 214 
        currentSendChannelId++;
- 
 
 215 
        if (currentSendChannelId >= NUMBEROFCHANNELS)
- 
 
 216 
            currentSendChannelId=0;
171 
}
 217 
    }
- 
 
 218 
}
- 
 
 219 
 
- 
 
 220 
 
172 
 
 221 
 
173 
void act_softPWM_HandleMessage(StdCan_Msg_t *rxMsg)
 222 
void act_softPWM_HandleMessage(StdCan_Msg_t *rxMsg)
174 
{
 223 
{
175 
    if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
 224 
    if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
176 
        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
 225 
        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
177 
        rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_SOFTPWM &&
 226 
        rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_SOFTPWM &&
178 
        rxMsg->Header.ModuleId == act_softPWM_ID)
 227 
        rxMsg->Header.ModuleId == act_softPWM_ID)
179 
    {
 228 
    {
180 
        switch (rxMsg->Header.Command)
 229 
        switch (rxMsg->Header.Command)
181 
        {
 230 
        {
182 
        case CAN_MODULE_CMD_PHYSICAL_PWM:
 231 
        case CAN_MODULE_CMD_PHYSICAL_PWM:
183 
            if ((((uint16_t)rxMsg->Data[1])<8) + rxMsg->Data[2] > maxTimer)
 232 
            if ((((uint16_t)rxMsg->Data[1])<8) + rxMsg->Data[2] > maxTimer)
184 
            {
 233 
            {
Line 187... Line 236...
187 
            }
 236 
            }
188 
            switch (rxMsg->Data[0])
 237 
            switch (rxMsg->Data[0])
189 
            {
 238 
            {
190 
            #ifdef PIN_0
 239 
            #ifdef PIN_0
191 
            case 0:
 240 
            case 0:
192 
                PIN_0_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 241 
                pwmValue[PIN_0_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
193 
                break;
 242 
                break;
194 
            #endif
 243 
            #endif
195 
            #ifdef PIN_1
 244 
            #ifdef PIN_1
196 
            case 1:
 245 
            case 1:
197 
                PIN_1_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 246 
                pwmValue[PIN_1_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
198 
                break;
 247 
                break;
199 
            #endif
 248 
            #endif
200 
            #ifdef PIN_2
 249 
            #ifdef PIN_2
201 
            case 2:
 250 
            case 2:
202 
                PIN_2_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 251 
                pwmValue[PIN_2_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
203 
                break;
 252 
                break;
204 
            #endif
 253 
            #endif
205 
            #ifdef PIN_3
 254 
            #ifdef PIN_3
206 
            case 3:
 255 
            case 3:
207 
                PIN_3_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 256 
                pwmValue[PIN_3_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
208 
                break;
 257 
                break;
209 
            #endif
 258 
            #endif
210 
            #ifdef PIN_4
 259 
            #ifdef PIN_4
211 
            case 4:
 260 
            case 4:
212 
                PIN_4_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 261 
                pwmValue[PIN_4_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
213 
                break;
 262 
                break;
214 
            #endif
 263 
            #endif
215 
            #ifdef PIN_5
 264 
            #ifdef PIN_5
216 
            case 5:
 265 
            case 5:
217 
                PIN_5_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 266 
                pwmValue[PIN_5_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
218 
                break;
 267 
                break;
219 
            #endif
 268 
            #endif
220 
            #ifdef PIN_6
 269 
            #ifdef PIN_6
221 
            case 6:
 270 
            case 6:
222 
                PIN_6_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 271 
                pwmValue[PIN_6_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
223 
                break;
 272 
                break;
224 
            #endif
 273 
            #endif
225 
            #ifdef PIN_7
 274 
            #ifdef PIN_7
226 
            case 7:
 275 
            case 7:
227 
                PIN_7_timer = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
 276 
                pwmValue[PIN_7_ID] = (((uint16_t)rxMsg->Data[1])<<8) + rxMsg->Data[2];
228 
                break;
 277 
                break;
229 
            #endif
 278 
            #endif
230 
            }
 279 
            }
231 
            break;
 280 
            break;
232 
        case CAN_MODULE_CMD_SOFTPWM_CONFIG:
 281 
        case CAN_MODULE_CMD_SOFTPWM_CONFIG:
233 
            maxTimer = (((uint16_t)rxMsg->Data[0])<<8) + rxMsg->Data[1];
 282 
            maxTimer = (((uint16_t)rxMsg->Data[0])<<8) + rxMsg->Data[1];
234 
            resolution = rxMsg->Data[2];
 283 
            resolution = rxMsg->Data[2];
235 
            Timer_SetTimeout(act_softPWM_TIMER, resolution, TimerTypeFreeRunning, NULL);
 284 
            Timer_SetTimeout(act_softPWM_TIMER, resolution, TimerTypeFreeRunning, NULL);
236 
            break;
 285 
            break;
- 
 
 286 
        case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
- 
 
 287 
            if (rxMsg->Length > 0)
- 
 
 288 
            {
- 
 
 289 
                act_softPWM_ReportInterval = rxMsg->Data[0];
- 
 
 290 
                eeprom_write_byte_crc(EEDATA.ReportInterval, act_softPWM_ReportInterval , WITH_CRC);
- 
 
 291 
                Timer_SetTimeout(act_softPWM_SEND_TIMER, act_softPWM_ReportInterval*1000 , TimerTypeFreeRunning, 0);
- 
 
 292 
            }
- 
 
 293 
 
- 
 
 294 
            StdCan_Msg_t txMsg;
237 
 
 295 
 
- 
 
 296 
            StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
- 
 
 297 
            StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
- 
 
 298 
            txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SOFTPWM;
- 
 
 299 
            txMsg.Header.ModuleId = act_softPWM_ID;
- 
 
 300 
            txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
- 
 
 301 
            txMsg.Length = 1;
- 
 
 302 
            txMsg.Data[0] = act_softPWM_ReportInterval;
- 
 
 303 
            StdCan_Put(&txMsg);
- 
 
 304 
            break;
238 
        }
 305 
        }
239 
    }
 306 
    }
240 
}
 307 
}
241 
 
 308 
 
242 
void act_softPWM_List(uint8_t ModuleSequenceNumber)
 309 
void act_softPWM_List(uint8_t ModuleSequenceNumber)