/**
*
*
*
* @date 2006-11-21
* @author Jimmy Myhrman, Anders Runeson
*
*/
/*-----------------------------------------------------------------------------
* Includes
*---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.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 <timebase.h>
#include <mcu.h>
#include <ip_arp_udp_tcp.h>
#include <enc28j60.h>
#include <timeout.h>
#include <avr_compat.h>
#include <net.h>
static uint8_t mymac[6] = {ENC28J60_MAC1,ENC28J60_MAC2,ENC28J60_MAC3,ENC28J60_MAC4,ENC28J60_MAC5,ENC28J60_MAC6};
//static uint8_t myip[4] = {192,168,0,50};
static uint8_t myip[4] = {ENC28J60_IP1,ENC28J60_IP2,ENC28J60_IP3,ENC28J60_IP4};
static uint16_t rmCan2SerPrt =1100; // remote port for Can2Serial-data
static uint16_t locCan2SerPrt =1100; // listen port for Can2Serial-data
static uint8_t gotcan2serserver = 0;
static uint8_t prgremotemac[6];
static uint8_t prgremoteip[4];
#define BUFFER_SIZE 250
static uint8_t buf[BUFFER_SIZE+1];
static uint8_t buffpoint;
#define C2S_START_BYTE 253
#define C2S_END_BYTE 250
#define C2S_PING_BYTE 251
#if USE_STDCAN == 0
volatile Can_Message_t rxMsg; // Message storage
volatile uint8_t rxMsgFull; // Synchronization flag
#endif
/*
#define SEND_BUFFER_SIZE 20
static char sendbuf[SEND_BUFFER_SIZE+1];
static uint16_t locDumperPrt =1200; // listen port
static uint8_t gotdumpserver = 0;
static uint16_t rmDumperPrt =1200; // remote port for dumping data
static uint8_t remotemac[6];
static uint8_t remoteip[4];
*/
/*----------------------------------------------------------------------------
* Putchar for udp
* Implements a small buffer, sends packet over udp if buffer is full or
* \n-char is sent.
* Needs a timeout to force send.
*--------------------------------------------------------------------------*/
/*int udp_putchar(char c, FILE* stream) {
if (gotdumpserver != 0) {
sendbuf[buffpoint] = c;
buffpoint++;
if (c == '\n' || buffpoint > SEND_BUFFER_SIZE) {
send_udp(buf, sendbuf, buffpoint, rmDumperPrt, remotemac, remoteip);
buffpoint = 0;
}
}
return 0;
}
static FILE mystdout = FDEV_SETUP_STREAM(udp_putchar, NULL, _FDEV_SETUP_WRITE);
*/
#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) {
#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
//ethernet vars
uint16_t plen = 0;
uint8_t payloadlen=0;
buffpoint = 0;
//can vars
uint32_t timeStamp = 0;
//uint8_t sw=0;
// LED
/* enable PB1, LED as output */
//DDRB|= (1<<DDB0);
/* set output to Vcc, LED off */
//PORTB|= (1<<PB0);
Mcu_Init();
Timebase_Init();
//alla printf ska skriva till udp
//stdout = &mystdout; //set the output stream
#if USE_STDCAN == 0
Can_Init();
Can_Message_t txMsg;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
rxMsgFull = 0;
#else
StdCan_Init(0);
StdCan_Msg_t txMsg;
StdCan_Msg_t rxMsg;
#endif
sei();
/* initialize enc28j60 */
if (enc28j60Init(mymac) != 1) {
/* Great place to set an IO for debug */
}
delay_ms(20);
/* Magjack leds configuration, see enc28j60 datasheet, page 11 */
// LEDB=yellow LEDA=green
//
// 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
enc28j60PhyWrite(PHLCON,0x476);
delay_ms(20);
//init the ethernet/ip layer:
init_ip_arp_udp_tcp(mymac,myip,80);
/* main loop */
while (1) {
/* service the CAN routines */
#if SENDTIMESTAMP == 1
/* send CAN message and check for CAN errors once every second */
if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
timeStamp = Timebase_CurrentTime();
/* send timestamp, to keep network alive */
txMsg.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_TIME << CAN_SHIFT_NMT_TYPE);
#if USE_STDCAN == 0
txMsg.DataLength = 0;
Can_Send(&txMsg);
#else
txMsg.Length = 0;
StdCan_Put(&txMsg);
#endif
}
#endif
/* check if any messages have been received */
#if USE_STDCAN == 0
if (rxMsgFull) {
#else
if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) {
#endif
uint8_t i;
/* Do we have any ip to send the can data to yet? */
if (gotcan2serserver != 0) {
/* Send can frame raw in an udp packet */
char sendbuf2[17];
sendbuf2[0] = C2S_START_BYTE;
sendbuf2[1] = (uint8_t)rxMsg.Id;
sendbuf2[2] = (uint8_t)(rxMsg.Id>>8);
sendbuf2[3] = (uint8_t)(rxMsg.Id>>16);
sendbuf2[4] = (uint8_t)(rxMsg.Id>>24);
#if USE_STDCAN == 0
sendbuf2[5] = rxMsg.ExtendedFlag;
sendbuf2[6] = rxMsg.RemoteFlag;
sendbuf2[7] = rxMsg.DataLength;
for (i=0; i<8; i++) {
sendbuf2[8+i] = rxMsg.Data.bytes[i];
}
#else
sendbuf2[5] = 1;
sendbuf2[6] = 0;
sendbuf2[7] = rxMsg.Length;
for (i=0; i<8; i++) {
sendbuf2[8+i] = rxMsg.Data[i];
}
#endif
sendbuf2[16] = C2S_END_BYTE;
#ifndef ENC28J60_USART_SPI_MODE
//MCP_INT_DISABLE();
cli();
#endif
send_udp(buf, sendbuf2, 18, rmCan2SerPrt, prgremotemac, prgremoteip);
#ifndef ENC28J60_USART_SPI_MODE
sei();
//MCP_INT_ENABLE();
#endif
}
#if USE_STDCAN == 0
rxMsgFull = 0;
#endif
}
//test-debug-kod
if ((enc28j60Read(EIR) & EIR_TXERIF)) {
//printf("EIR_TXERIF set!\n");
if ((enc28j60Read(ECON1) & ECON1_TXRTS)) {
//printf("ECON1_TXRTS set!\n");
}
}
if ((enc28j60Read(EIR) & EIR_TXIF)) {
//printf("EIR_TXIF set! ");
}
if ((enc28j60Read(ESTAT) & ESTAT_TXABRT)) {
//printf("ESTAT_TXABRT set!\n");
//printf("MACLCON1: %i\n", enc28j60Read(MACLCON1));
enc28j60WriteOp(ENC28J60_BIT_FIELD_CLR, ESTAT, ESTAT_TXABRT);
}
// get the next new packet:
plen = enc28j60PacketReceive(BUFFER_SIZE, buf);
/*plen will ne unequal to zero if there is a valid
* packet (without crc error) */
if (plen!=0){
// arp is broadcast if unknown but a host may also
// verify the mac address by sending it to
// a unicast address.
if (eth_type_is_arp_and_my_ip(buf,plen)) {
make_arp_answer_from_request(buf);
} else {
/* check if ip packets (icmp or udp) are for us by checking eth type and receiver ip adress: */
if (eth_type_is_ip_and_my_ip(buf,plen)!=0) {
/* a ping packet, let's send pong */
if (buf[IP_PROTO_P]==IP_PROTO_ICMP_V && buf[ICMP_TYPE_P]==ICMP_TYPE_ECHOREQUEST_V) {
make_echo_reply_from_request(buf,plen);
}
/* If packet is an udp packet */
if (buf[IP_PROTO_P]==IP_PROTO_UDP_V) {
payloadlen=buf[UDP_LEN_L_P]-UDP_HEADER_LEN;
uint8_t i = 0;
/* if port is can2serial-port (default 1100) */
if ((buf[UDP_DST_PORT_H_P]==((locCan2SerPrt>>8) & 0xff)) && (buf[UDP_DST_PORT_L_P] == (locCan2SerPrt & 0xff))) {
while(i<6) {
prgremotemac[i]=buf[ETH_SRC_MAC +i];
i++;
}
i=0;
while(i<4) {
prgremoteip[i]=buf[IP_SRC_P +i];
i++;
}
gotcan2serserver = 1;
/* If data is a raw can packet */
if ((buf[UDP_DATA_P]==C2S_START_BYTE) && (buf[UDP_DATA_P+16]==C2S_END_BYTE) && (payloadlen==17))
{
#if USE_STDCAN == 0
Can_Message_t cm;
cm.DataLength = buf[UDP_DATA_P+7];
if (cm.DataLength > 8)
{
cm.DataLength = 8;
}
cm.RemoteFlag = buf[UDP_DATA_P+6];
cm.ExtendedFlag = buf[UDP_DATA_P+5];
cm.Id = (uint32_t)buf[UDP_DATA_P+1] + ((uint32_t)buf[UDP_DATA_P+2] << 8) +
((uint32_t)buf[UDP_DATA_P+3] << 16) + ((uint32_t)buf[UDP_DATA_P+4] << 24);
uint8_t i;
for (i = 0; i < cm.DataLength; i++) {
cm.Data.bytes[i] = buf[UDP_DATA_P+8+i];
}
Can_Send(&cm);
#else
static StdCan_Msg_t cm;
cm.Length = buf[UDP_DATA_P+7];
if (cm.Length > 8)
{
cm.Length = 8;
}
cm.Id = (uint32_t)buf[UDP_DATA_P+1] + ((uint32_t)buf[UDP_DATA_P+2] << 8) +
((uint32_t)buf[UDP_DATA_P+3] << 16) + ((uint32_t)buf[UDP_DATA_P+4] << 24);
uint8_t i;
for (i = 0; i < cm.Length; i++) {
cm.Data[i] = buf[UDP_DATA_P+8+i];
}
StdCan_Put(&cm);
#endif
}
/* of ir data is an udp ping */
else if ((buf[UDP_DATA_P]==C2S_PING_BYTE) && (payloadlen<=2) && (payloadlen>0))
{
char sendbuf3[1];
sendbuf3[0] = C2S_PING_BYTE;
#ifndef ENC28J60_USART_SPI_MODE
cli();
#endif
send_udp(buf, sendbuf3, 1, rmCan2SerPrt, prgremotemac, prgremoteip);
#ifndef ENC28J60_USART_SPI_MODE
sei();
#endif
}
}
}
}
}
}
}
return 0;
}