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Line 12... Line 12...
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static uint8_t avgIndex = 0;
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static uint8_t avgIndex = 0;
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void sns_PIR_Init(void)
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void sns_PIR_Init(void)
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{
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{
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    ADC_Init();
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    ltc2450_init();
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    ltc2450_init();
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    Timer_SetTimeout(sns_PIR_SAMPLE_TIMER,  sns_PIR_SAMPLE_PERIOD,  TimerTypeFreeRunning, 0);
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    Timer_SetTimeout(sns_PIR_BRIGHT_TIMER, 40, TimerTypeFreeRunning, 0);
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    Timer_SetTimeout(sns_PIR_SEND_TIMER,    sns_PIR_SEND_PERIOD,    TimerTypeFreeRunning, 0);
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}
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}
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void sns_PIR_Process(void)
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void sns_PIR_Process(void)
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{
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{
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    static uint8_t printCounter = 0;
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    uint8_t motionDetect;
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    uint16_t brightness;
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    if (Timer_Expired(sns_PIR_BRIGHT_TIMER)) {
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    if (Timer_Expired(sns_PIR_SAMPLE_TIMER)) {
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        /**
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         * Read PIR sensor (via external ADC)
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         */
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        uint16_t pirValue;
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        uint16_t pirValue;
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        do {
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        do {
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            // if ADC is busy, returned value is 0xFFFF
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            // if ADC is busy, returned value is 0xFFFF
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            pirValue = ltc2450_read();
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            pirValue = ltc2450_read();
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        } while (pirValue >= 0xFFFF);
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        } while (pirValue >= 0xFFFF);
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        // first time?
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        // first time?
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        if (zeroOffset == 0) {
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        if (zeroOffset == 0) {
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            zeroOffset = pirValue;
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            zeroOffset = pirValue;
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        }
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        }
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        else {
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        else {
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            zeroOffset = (zeroOffset*4 + (uint32_t)pirValue)/5;
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            zeroOffset = (zeroOffset*4 + (uint32_t)pirValue)/5;
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        }
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        }
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        int8_t test = (int8_t)((int32_t)pirValue - (int32_t)zeroOffset);
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        int8_t test = (int8_t)((int32_t)pirValue - (int32_t)zeroOffset);
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        avgValues[avgIndex++] = test;
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        avgValues[avgIndex++] = test;
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        if (avgIndex >= NR_AVG_VALUES) {
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        if (avgIndex >= NR_AVG_VALUES) {
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            avgIndex = 0;
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            avgIndex = 0;
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        }
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        }
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        uint16_t avgValue = 0;
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        uint16_t avgValue = 0;
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        for (uint8_t i=0; i<NR_AVG_VALUES; i++) {
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        for (uint8_t i=0; i<NR_AVG_VALUES; i++) {
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            avgValue += ABS(avgValues[i]);
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            avgValue += ABS(avgValues[i]);
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        }
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        }
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        // TODO: keep motiondetect==1 true for at least one CAN send period, so detections are never lost
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        uint8_t motionDetect = (avgValue >= 80);
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        motionDetect = (avgValue >= 80);
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        /**
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        if (printCounter++ >= 200/40) {
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         * Read brightness sensor (via internal ADC).
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            printCounter = 0;
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         */
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            //printf("AD:%u\n", pirValue);
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        brightness = ADC_Get(sns_PIR_BRIGHTNESS_AD);
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    }
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    else if (Timer_Expired(sns_PIR_SEND_TIMER)) {
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        /**
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            printf("Motion: %u\n", motionDetect);
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         * Time to send CAN message.
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         */
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            /*StdCan_Msg_t txMsg;
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        StdCan_Msg_t txMsg;
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            StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
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        StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
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            StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
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        StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
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            txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_PIR;
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        txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_PIR;
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            txMsg.Header.ModuleId = sns_PIR_ID;
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        txMsg.Header.ModuleId = sns_PIR_ID;
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            txMsg.Header.Command = CAN_MODULE_CMD_PIR_MOTION;
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        txMsg.Header.Command = CAN_MODULE_CMD_PIR_MOTION;
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            txMsg.Length = 3;
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        txMsg.Length = 4;
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            txMsg.Data[0] = 0;
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        txMsg.Data[0] = 0;
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            txMsg.Data[1] = (uint8_t)((pirValue & 0xFF00) >> 2);
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        txMsg.Data[1] = (uint8_t)((brightness&0xFF00) >> 8);
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            txMsg.Data[2] = (uint8_t)((pirValue & 0x00FF) >> 0);
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        txMsg.Data[2] = (uint8_t)((brightness&0x00FF) >> 0);
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        txMsg.Data[3] = motionDetect;
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            StdCan_Put(&txMsg);*/
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        StdCan_Put(&txMsg);
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        }
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        // also print data to debug
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        printf("M:%u,B:%d\n", motionDetect, brightness);
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    }
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    }
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}
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}
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void sns_PIR_HandleMessage(StdCan_Msg_t *rxMsg)
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void sns_PIR_HandleMessage(StdCan_Msg_t *rxMsg)
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{
 83 
{