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  1.  
  2. #include "sns_Serial.h"
  3.  
  4. #ifdef sns_Serial_USEEEPROM
  5. #include "sns_Serial_eeprom.h"
  6. struct eeprom_sns_Serial EEMEM eeprom_sns_Serial =
  7. {
  8.     {
  9.         ///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.
  10.         0xAB,   // x
  11.         0x1234  // y
  12.     },
  13.     0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
  14. };
  15. #endif
  16.  
  17. // internal variables
  18. static uint32_t baudRate = 9600;
  19. static uint16_t format = CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_LOOPBACK;
  20.  
  21. // prepare a new message, in case new data is available
  22. static StdCan_Msg_t msg;
  23.  
  24. #define sns_Serial_DEBUG 0
  25.  
  26.  
  27.  
  28. uint8_t sns_Serial_setSettings(void)
  29. {
  30.     uint8_t returnval = 1;
  31.    
  32.     if (format == CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_RS232)
  33.     {
  34. #if sns_Serial_DEBUG==1
  35.         printf("RS232\n");
  36. #endif
  37.         gpio_clr_pin(sns_Serial_485_CONNECT);   // disable RS485_CONNECT
  38.         gpio_clr_pin(sns_Serial_TERM_EN);       // disable termination
  39.         gpio_clr_pin(sns_Serial_485_232);       // RS232 mode
  40.         gpio_set_pin(sns_Serial_RXEN);          // enable RX
  41.         gpio_set_pin(sns_Serial_ON);            // enable charge pump
  42.     }
  43.     else if (format == CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_RS485FULLDUPLEX)
  44.     {
  45. #if sns_Serial_DEBUG==1
  46.         printf("RS485FD\n");
  47. #endif
  48.         gpio_clr_pin(sns_Serial_485_CONNECT);   // disable RS485_CONNECT
  49.         gpio_clr_pin(sns_Serial_TERM_EN);       // disable termination
  50.         gpio_set_pin(sns_Serial_485_232);       // RS485 mode
  51.         gpio_set_pin(sns_Serial_RXEN);          // enable RX
  52.         gpio_set_pin(sns_Serial_TXEN);          // enable TX
  53.         gpio_set_pin(sns_Serial_ON);            // enable charge pump
  54.     }
  55.     else if (format == CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_RS485HALFDUPLEX)
  56.     {
  57. #if sns_Serial_DEBUG==1
  58.         printf("RS485HD\n");
  59. #endif
  60.         gpio_set_pin(sns_Serial_485_CONNECT);   // enable RS485_CONNECT
  61.         gpio_clr_pin(sns_Serial_TERM_EN);       // disable termination
  62.         gpio_set_pin(sns_Serial_485_232);       // RS485 mode
  63.         gpio_set_pin(sns_Serial_RXEN);          // enable RX
  64.     /* TODO shoud the TX really be enabled in half duplex? */
  65.         gpio_set_pin(sns_Serial_TXEN);          // enable TX
  66.         gpio_set_pin(sns_Serial_ON);            // enable charge pump
  67.     }
  68.     else if (format == CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_RS485HALFDUPLEXWITHTERMINATION)
  69.     {
  70. #if sns_Serial_DEBUG==1
  71.         printf("485HDT\n");
  72. #endif
  73.         gpio_set_pin(sns_Serial_485_CONNECT);   // enable RS485_CONNECT
  74.         gpio_set_pin(sns_Serial_TERM_EN);       // enable termination
  75.         gpio_set_pin(sns_Serial_485_232);       // RS485 mode
  76.     /* TODO shoud the TX really be enabled in half duplex? */
  77.         gpio_set_pin(sns_Serial_RXEN);          // enable RX
  78.         gpio_set_pin(sns_Serial_TXEN);          // enable TX
  79.         gpio_set_pin(sns_Serial_ON);            // enable charge pump
  80.     }
  81.     else if (format == CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_LOOPBACK)
  82.     {
  83. #if sns_Serial_DEBUG==1
  84.         printf("LPMODE\n");
  85. #endif
  86.         gpio_clr_pin(sns_Serial_485_CONNECT);   // disable RS485_CONNECT
  87.         gpio_clr_pin(sns_Serial_TERM_EN);       // disable termination
  88.         gpio_set_pin(sns_Serial_485_232);       // RS232 mode
  89.         gpio_set_pin(sns_Serial_RXEN);          // enable RX
  90.         gpio_set_pin(sns_Serial_TXEN);          // enable TX
  91.         gpio_clr_pin(sns_Serial_ON);            // disable charge pump (i.e. enable loopback)
  92.     }
  93.     else
  94.     {
  95.         //invalid format
  96. #if sns_Serial_DEBUG==1
  97.         printf("ERROR!\n");
  98. #endif
  99.         //return 0, not successful
  100.         returnval = 0;
  101.     }
  102.    
  103.     return returnval;
  104. }
  105.  
  106. void sns_Serial_Init(void)
  107. {
  108. #ifdef sns_Serial_USEEEPROM
  109.     if (EEDATA_OK) {
  110. #if ((__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ == 6 && __AVR_LIBC_REVISION__ >=2)||(__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ > 6)||__AVR_LIBC_MAJOR__ > 1)
  111.         baudRate = eeprom_read_dword(EEDATA32.baudRate);
  112. #else
  113. #warning This version of AVR-libc does not have support for eeprom read dword
  114. #endif
  115.         format = eeprom_read_word(EEDATA16.format);
  116.     }
  117.     else {
  118.         //The CRC of the EEPROM is not correct, store default values and update CRC
  119. #if ((__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ == 6 && __AVR_LIBC_REVISION__ >=2)||(__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ > 6)||__AVR_LIBC_MAJOR__ > 1)
  120.         eeprom_write_dword_crc(EEDATA32.baudRate, 9600, WITHOUT_CRC);
  121. #else
  122. #warning This version of AVR-libc does not have support for eeprom write dword
  123. #endif
  124.         eeprom_write_word_crc(EEDATA16.format, CAN_MODULE_ENUM_SERIAL_SERIALCONFIG_PHYSICALFORMAT_LOOPBACK, WITHOUT_CRC);
  125.         EEDATA_UPDATE_CRC;
  126.     }
  127. #endif
  128.     // default baudrate
  129.     uart_init(UART_BAUD_SELECT(baudRate, F_CPU));
  130.    
  131.     // configure control pins to outputs
  132.     gpio_set_out(sns_Serial_RXEN);
  133.     gpio_set_out(sns_Serial_TXEN);
  134.     gpio_set_out(sns_Serial_ON);
  135.     gpio_set_out(sns_Serial_485_232);
  136.     gpio_set_out(sns_Serial_TERM_EN);
  137.     gpio_set_out(sns_Serial_485_CONNECT);
  138.  
  139.     sns_Serial_setSettings();
  140.  
  141. #if sns_Serial_DEBUG==1
  142.     printf("Serial started!\n");
  143. #endif
  144.  
  145.     msg.Length = 0; // no data so far
  146. }
  147.  
  148. void sns_Serial_Process(void)
  149. {
  150.     StdCan_Set_class(msg.Header, CAN_MODULE_CLASS_SNS);
  151.     StdCan_Set_direction(msg.Header, DIRECTIONFLAG_TO_OWNER);
  152.     msg.Header.ModuleType = CAN_MODULE_TYPE_SNS_SERIAL;
  153.     msg.Header.ModuleId = sns_Serial_ID;
  154.     msg.Header.Command = CAN_MODULE_CMD_SERIAL_SERIALDATA;
  155.    
  156.     unsigned char status;
  157.    
  158.     do
  159.     {
  160.         // ask uart driver for more data
  161.         unsigned int data = uart_getc();
  162.         // character is contained in LSB
  163.         unsigned char c = (unsigned char)(data & 0x00FF);
  164.         // status is contained in MSB
  165.         status = (unsigned char)((data & 0xFF00) >> 8);
  166.        
  167.         // status == 0 means we just received a new char
  168.         if (status == 0)
  169.         {
  170. #if sns_Serial_DEBUG==1
  171.             printf("RX\n");
  172. #endif
  173.             // insert it into the message
  174.             msg.Data[(uint8_t)msg.Length] = c;
  175.             msg.Length++;
  176.            
  177. #if sns_Serial_FORCE_SEND_TIME_MS > 0
  178.             Timer_SetTimeout(sns_Serial_FORCE_SEND_TIMER, sns_Serial_FORCE_SEND_TIME_MS , TimerTypeOneShot, 0);
  179. #endif
  180.         }
  181.     // keep going until max data length reached, or until uart RXBUF is empty
  182.     } while (status == 0 && msg.Length < 8);
  183.    
  184.     // check if force send or send-frame full
  185.     if ((Timer_Expired(sns_Serial_FORCE_SEND_TIMER) && msg.Length>0) || msg.Length == 8 || (sns_Serial_FORCE_SEND_TIME_MS == 0 && msg.Length>0))
  186.     {
  187.         // transmit this chunk of data (max 8 chars)
  188.         while(StdCan_Put(&msg) != StdCan_Ret_OK);
  189.         msg.Length = 0; // no data so far
  190.     }
  191. }
  192.  
  193. void sns_Serial_HandleMessage(StdCan_Msg_t *rxMsg)
  194. {
  195.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
  196.         StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
  197.         rxMsg->Header.ModuleType == CAN_MODULE_TYPE_SNS_SERIAL &&
  198.         rxMsg->Header.ModuleId == sns_Serial_ID)
  199.     {
  200.         switch (rxMsg->Header.Command)
  201.         {
  202.             case CAN_MODULE_CMD_SERIAL_SERIALDATA:
  203. #if sns_Serial_DEBUG==1
  204.                 printf("TX\n");
  205. #endif
  206.                 gpio_set_pin(sns_Serial_TXEN);          // enable TX
  207.                 for (uint8_t i=0; i<rxMsg->Length; i++)
  208.                 {
  209.                     uart_putc(rxMsg->Data[i]);
  210.                 }
  211.                 /* TODO Cannot disable TX yet, the data has only been placed in buffer but not sent */
  212. //              gpio_clr_pin(sns_Serial_TXEN);          // disable TX
  213.                 break;
  214.             case CAN_MODULE_CMD_SERIAL_SERIALCONFIG:
  215.                 baudRate = 10 * (((uint32_t)rxMsg->Data[1] << 0) | ((uint32_t)rxMsg->Data[0] << 8));
  216.                 format = (uint16_t)rxMsg->Data[2];
  217.                 uart_init(UART_BAUD_SELECT(baudRate, F_CPU));
  218.                
  219.                 uint8_t returnval = sns_Serial_setSettings();
  220.                
  221.                 if (returnval)
  222.                 {
  223.                 // update EEPROM data
  224. #ifdef sns_Serial_USEEEPROM
  225. #if ((__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ == 6 && __AVR_LIBC_REVISION__ >=2)||(__AVR_LIBC_MAJOR__ == 1  && __AVR_LIBC_MINOR__ > 6)||__AVR_LIBC_MAJOR__ > 1)
  226.                 eeprom_write_dword_crc(EEDATA32.baudRate, baudRate, WITHOUT_CRC);
  227. #else
  228. #warning This version of AVR-libc does not have support for eeprom read dword
  229. #endif
  230.                 eeprom_write_word_crc(EEDATA16.format, format, WITHOUT_CRC);
  231.                 EEDATA_UPDATE_CRC;
  232. #endif
  233.                 }
  234.                 break;
  235.         }
  236.     }
  237. }
  238.  
  239. void sns_Serial_List(uint8_t ModuleSequenceNumber)
  240. {
  241.     StdCan_Msg_t txMsg;
  242.  
  243.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
  244.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  245.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_SERIAL;
  246.     txMsg.Header.ModuleId = sns_Serial_ID;
  247.     txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
  248.     txMsg.Length = 6;
  249.  
  250.     txMsg.Data[0] = NODE_HW_ID_BYTE0;
  251.     txMsg.Data[1] = NODE_HW_ID_BYTE1;
  252.     txMsg.Data[2] = NODE_HW_ID_BYTE2;
  253.     txMsg.Data[3] = NODE_HW_ID_BYTE3;
  254.  
  255.     txMsg.Data[4] = NUMBER_OF_MODULES;
  256.     txMsg.Data[5] = ModuleSequenceNumber;
  257.  
  258.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  259. }
  260.  
  261.