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/**

 * CAN test program.

 *

 * @target  AVR

 * @date    2006-10-29

 * @author  Jimmy Myhrman, Andreas Fritiofsson

 *  

 */

/*-----------------------------------------------------------------------------

 * Includes

 *---------------------------------------------------------------------------*/

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <avr/eeprom.h>

#include <stdio.h>

#include <string.h>

#include <canid.h>

#include <config.h>

/* lib files */

#if USE_STDCAN == 1

#include <stdcan.h>

#else

#include <mcp2515.h>

#endif

#include <serial.h>

#include <uart.h>

#include <timebase.h>

#if USE_STDCAN == 1

#if SENDTIMESTAMP == 1

#warning SENDTIMESTAMP not fully implemented with StdCan yet.

#endif

#endif

/*-----------------------------------------------------------------------------

 * Defines

 *---------------------------------------------------------------------------*/

#define UART_START_BYTE 253

#define UART_END_BYTE 250

#define UART_PING_BYTE 251

#if USE_STDCAN == 0

volatile Can_Message_t rxMsg; // Message storage

volatile uint8_t rxMsgFull;   // Synchronization flag

#endif

const uint8_t days[12] = {31,28,31,30,31,30,31,31,30,31,30,31};

union {

    uint32_t packed;

    struct date_t {

        unsigned ss:6;

        unsigned mm:6;

        unsigned hh:5;

        unsigned DD:5;

        unsigned MM:4;

        unsigned YY:6;

    } unpacked;

} date;

#if SENDTIMESTAMP == 1

void IncTime(void) {

    static uint8_t YY=07, MM=03, DD=02, hh=23, mm=58, ss=00;

    if (ss++ > 59) {

        ss=0;

        if (mm++ > 59) {

            mm=0;

            if (hh++ > 23) {

                hh=0;

                if (DD++ > days[MM-1] + ((YY%4) & (MM==2)) ? 1 : 0) {

                    DD=1;

                    if (MM++ > 12) {

                        MM=1; YY++;

                    }

                }

            }

        }

    }

    date.unpacked.YY = YY;

    date.unpacked.MM = MM;

    date.unpacked.DD = DD;

    date.unpacked.hh = hh;

    date.unpacked.mm = mm;

    date.unpacked.ss = ss;

}

#endif

/*-----------------------------------------------------------------------------

 * Functions

 *---------------------------------------------------------------------------*/

/**

 * Parses an incoming UART byte by maintaining a state machine. The UART

 * bytes will build up a CAN message according to the protocol described here:

 *

 * http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara

 *

 * @param c

 *      The received UART byte.

 */

void UartParseByte(uint8_t c) {

#if USE_STDCAN == 0

    static Can_Message_t cm;

#else

    static StdCan_Msg_t cm;

#endif

    static uint8_t waitingMessage = 0;

    static uint32_t startTime = 0;

    static int8_t count = 0;

    /* 50ms timeout */

    if (waitingMessage && Timebase_PassedTimeMillis(startTime) > 50) {

        waitingMessage = 0;

    }

    if (waitingMessage) {

        /* save start time */

        startTime = Timebase_CurrentTime();

        /* UART END */

        if (count >= 15) {

            if (c == UART_END_BYTE) {

                PORTC ^= (1<<PC0);

#if USE_STDCAN == 0

                Can_Send(&cm);

#else

                StdCan_Put(&cm);

#endif

            }

            waitingMessage = 0;

            return;

        }

        /* data */

        else if (count >= 7) {

#if USE_STDCAN == 0

            cm.Data.bytes[count-7] = c;

#else

            cm.Data[count-7] = c;

#endif

            count++;

            return;

        }

        /* data length */

        else if (count >= 6) {

#if USE_STDCAN == 0

            cm.DataLength = c;

#else

            cm.Length = c;

#endif

            count++;

            return;

        }

        /* remote request flag */

        else if (count >= 5) {

#if USE_STDCAN == 0

            cm.RemoteFlag = c;

#endif

            count++;

            return;

        }

        /* extended */

        else if (count >= 4) {

#if USE_STDCAN == 0

            cm.ExtendedFlag = c;

#endif

            count++;

            return;

        }

        /* ident */

        else if (count >= 0) {

            cm.Id += ((uint32_t)c << (count*8));

            count++;

            return;

        }

    }

    if (c == UART_START_BYTE && !waitingMessage) {

        waitingMessage = 1;

        startTime = Timebase_CurrentTime();

        count = 0;

        cm.Id = 0;

        return;

    }

    if (c == UART_PING_BYTE && !waitingMessage) {

        //send ping reply

        uart_putc(UART_PING_BYTE);

        return;

    }

}

#if USE_STDCAN == 0

void Can_Process(Can_Message_t* msg) {

    if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.

    if (!rxMsgFull) {

        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));

        rxMsgFull = 1;

    }

}

#endif

/*-----------------------------------------------------------------------------

 * Main Program

 *---------------------------------------------------------------------------*/

int main(void) {

//  For calibrating internal oscillator

//  OSCCAL = eeprom_read_byte(0);

    Timebase_Init();

    Serial_Init();

#if MCP_CS_BIT != PB2

    /* If slave select is not set as output it might change SPI hw to slave

     * See ch 18.3.2 (18.3 SS Pin Functionality) in ATmega48/88/168-datasheet */

    DDRB |= (1<<PB2);

#endif

#if USE_STDCAN == 0

    Can_Init();

#else

    StdCan_Init(0);

#endif  

    DDRC |= 1<<PC1 | 1<<PC0;

    PORTC |= (1<<PC1) | (1<<PC0);

    sei();

#if SENDTIMESTAMP == 1

#if USE_STDCAN == 0

    Can_Message_t timeMsg;

#else

    StdCan_Msg_t timeMsg;

#endif  

    uint32_t time = Timebase_CurrentTime();

    uint32_t time1 = time;

    uint32_t unixtime = 0;

#endif

    uint16_t rxByte;

    uint8_t i = 0;

#if SENDTIMESTAMP == 1

#if USE_STDCAN == 0

    timeMsg.ExtendedFlag = 1;

    timeMsg.RemoteFlag = 0;

    timeMsg.DataLength = 8;

#else

    /* Jag orkar inte fixa in datan i paketen, sätter längd till 0 sålänge */

    timeMsg.Length = 4;

#endif

    timeMsg.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_TIME << CAN_SHIFT_NMT_TYPE);

    //timeMsg.Id = 0; //Same thing, and lib's can.h is not updated.

#endif

#if USE_STDCAN == 1

    StdCan_Msg_t rxMsg;

#endif  

    /* main loop */

    while (1) {

        /* any new CAN messages received? */

#if USE_STDCAN == 0

        if (rxMsgFull) {

#else

        if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) {

#endif

            // Toggle activity LED

            PORTC ^= (1<<PC1);

            /* send message to CanWatcher */

            uart_putc(UART_START_BYTE);

            uart_putc((uint8_t)rxMsg.Id);

            uart_putc((uint8_t)(rxMsg.Id>>8));

            uart_putc((uint8_t)(rxMsg.Id>>16));

            uart_putc((uint8_t)(rxMsg.Id>>24));

#if USE_STDCAN == 0

            uart_putc(rxMsg.ExtendedFlag);

            uart_putc(rxMsg.RemoteFlag);

            uart_putc(rxMsg.DataLength);

            for (i=0; i<8; i++) {

                uart_putc(rxMsg.Data.bytes[i]);

            }

#else

            uart_putc(1);

            uart_putc(0);

            uart_putc(rxMsg.Length);

            for (i=0; i<8; i++) {

                uart_putc(rxMsg.Data[i]);

            }

#endif

            uart_putc(UART_END_BYTE);

#if USE_STDCAN == 0

            rxMsgFull = 0;

#endif

        }

        /* any UART bytes received? */

        rxByte = uart_getc();

        while (rxByte != UART_NO_DATA) {

            /* parse byte! */

            UartParseByte((uint8_t)(rxByte & 0x00FF));

            /* receive next */

            rxByte = uart_getc();

        }

#if SENDTIMESTAMP == 1

        time1 = Timebase_CurrentTime();

        if ((time1 - time) > 1000) {

            time = time1;

#if USE_STDCAN == 0

            timeMsg.Data.dwords[0] = ++unixtime;

            IncTime();

            timeMsg.Data.dwords[1] = date.packed;

            Can_Send(&timeMsg);

#else

            /* Jag orkar inte fixa in datan i paketen, sätter längd till 0 sålänge */

            unixtime++;

            timeMsg.Data[0] =  unixtime     & 0xFF;

            timeMsg.Data[1] = (unixtime>> 8)& 0xFF;

            timeMsg.Data[2] = (unixtime>>16)& 0xFF;

            timeMsg.Data[3] = (unixtime>>24)& 0xFF;

            StdCan_Put(&timeMsg);

#endif

        }

#endif

    }

    return 0;

}