WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/standalone/Can2Serial/main.c

 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <avr/eeprom.h>
 #include <stdio.h>
+#include <string.h>
 /* lib files */
-#include <can.h>
+#include <mcp2515.h>
 #include <serial.h>
 #include <uart.h>
 #include <timebase.h>
 /*-----------------------------------------------------------------------------
  * Defines
  *---------------------------------------------------------------------------*/
 #define UART_START_BYTE 253
 #define UART_END_BYTE 250
+volatile Can_Message_t rxMsg; // Message storage
+volatile uint8_t rxMsgFull;   // Synchronization flag
 const uint8_t days[12] = {31,28,31,30,31,30,31,31,30,31,30,31};
 union {
     uint32_t packed;
         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;
     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
     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 */
         waitingMessage = 1;
         startTime = Timebase_CurrentTime();
         count = 0;
         cm.Id = 0;
         return;
+    }
+}
+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;
+    }
+}
+ISR(MCP_INT_VECTOR) {
+    // Get first available message from controller and pass it to
+    // application handler. If both RX buffers contain messages
+    // we will get another interrupt as soon as this one returns.
+    if (Can_Receive(&rxMsg) == CAN_OK) {
+        // Callbacks are run with global interrupts disabled but
+        // with controller flag cleared so another msg can be
+        // received while this one is processed.
+        Can_Process(&rxMsg);
+    }
+}
 /*-----------------------------------------------------------------------------
     DDRC = 1<<PC1 | 1<<PC0;
     PORTC = (1<<PC1) | (1<<PC0);
     sei();
-    Can_Message_t rxMsg;
     Can_Message_t timeMsg;
+#if SENDTIMESTAMP == 1
     uint32_t time = Timebase_CurrentTime();
     uint32_t time1 = time;
     uint32_t unixtime = 0;
+#endif
     uint16_t rxByte;
     uint8_t i = 0;
+#if SENDTIMESTAMP == 1
     timeMsg.ExtendedFlag = 1;
     timeMsg.RemoteFlag = 0;
-    //timeMsg.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_TIME << CAN_SHIFT_NMT_TYPE);
+    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.
+    //timeMsg.Id = 0; //Same thing, and lib's can.h is not updated.
     timeMsg.DataLength = 8;
+#endif
     /* main loop */
     while (1) {
-        /* service the CAN routines */
-        Can_Service();
         /* any new CAN messages received? */
-        if (Can_Receive(&rxMsg) == CAN_OK) {
+        if (rxMsgFull) {
             // Toggle activity LED
             PORTC ^= (1<<PC1);
             /* send message to CanWatcher */
             uart_putc(UART_START_BYTE);
             uart_putc((uint8_t)rxMsg.Id);
             uart_putc(rxMsg.DataLength);
             for (i=0; i<8; i++) {
                 uart_putc(rxMsg.Data.bytes[i]);
+            }
             uart_putc(UART_END_BYTE);
+            rxMsgFull = 0;
+        }
         /* any UART bytes received? */
         rxByte = uart_getc();
         while (rxByte != UART_NO_DATA) {
             UartParseByte((uint8_t)(rxByte & 0x00FF));
             /* receive next */
             rxByte = uart_getc();
+        }
+#if SENDTIMESTAMP == 1
         time1 = Timebase_CurrentTime();
         if ((time1 - time) > 1000) {
             time = time1;
             timeMsg.Data.dwords[0] = ++unixtime;
             IncTime();
             timeMsg.Data.dwords[1] = date.packed;
             Can_Send(&timeMsg);
+        }
+#endif
+    }
     return 0;
+}

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(root)/trunk/EmbeddedSoftware/AVR/standalone/Can2Serial/main.c @ 1663 – Rev 389 → 665