/**
* @brief SPI event handler, from SPI driver
*/
void spi_event_handler(spi_slave_evt_t evt)
{
switch (evt.evt_type)
{
case SPI_SLAVE_BUFFERS_SET_DONE:
if (has_pending_tx)
{
NRF_GPIO->OUTCLR = (1 << PIN_RDYN);
}
has_pending_tx = false;
break;
case SPI_SLAVE_XFER_DONE:
NRF_GPIO->OUTSET = (1 << PIN_RDYN);
nrf_gpio_pin_set(1);
nrf_gpio_pin_clear(1);
/* handle incoming */
if (rx_buffer.buffer[SERIAL_LENGTH_POS] > 0)
{
if (fifo_push(&rx_fifo, &rx_buffer) == NRF_SUCCESS)
{
/* notify ACI handler */
async_event_t async_evt;
async_evt.callback.generic = mesh_aci_command_check;
async_evt.type = EVENT_TYPE_GENERIC;
event_handler_push(&async_evt);
}
else
{
APP_ERROR_CHECK(NRF_ERROR_NO_MEM);
}
}
if (fifo_is_empty(&tx_fifo))
{
serial_state = SERIAL_STATE_IDLE;
prepare_rx();
enable_pin_listener(true);
}
else if (fifo_is_full(&rx_fifo))
{
prepare_rx();
serial_state = SERIAL_STATE_WAIT_FOR_QUEUE;
}
else
{
do_transmit();
}
break;
default:
/* no implementation necessary */
break;
}
}
void inits( void) {
cli();
USART_init(MYUBRR, TRUE);
can_init();
spi_init_master();
fm_init();
timer0_init();
timer1_init();
//TODO: RUN timer3_init();
timer3_init();
prepare_rx(1, ID_steeringWheel, MASK_FRONT_MODULE, fm_msg_handler);
printf("\r\nFront module initialized");
sei();
set_bit(DDRB, DDB6);
clear_bit(PORTB, PB6);
}
/***** main loop *****/
int main(){
unsigned char i;
init_status = no_init;
volatile U8 led_toggle_counter = 0;
U8 reset_cause = MCUSR;
MCUSR = 0x00;
//red_LED_toggle();
//external crystal, no prescaler
CLKPR = 0x80; CLKPR = 0x00;
//prepare the incremental_in_value_packet
incremental_in_value_packet.id = 0x07;
incremental_in_value_packet.length = 6;
for (i = 0; i < incremental_in_value_packet.length; i++) {
incremental_in_value_packet.data[i] = 0;
}
//prepare the init_ack_async_packet
init_ack_sync_packet.id = 0x02;
init_ack_sync_packet.length = 1;
init_ack_sync_packet.data[0] = 0x14;
communication_init();
//EICRA = 0x0C; //INT1 pin triggers async interrupt on rising edge
//EICRB = 0xAA; //INT7-4 pins trigger sync interrupt on falling edge
//EIMSK = 0xF2; //INT7-4 and INT1 are enabled
//global interrupt enable
sei();
if (prepare_rx(1,0x01,0xFF,incoming_init)) red_LED_on(); //debug for incoming message
//TWBR = reset_cause;
update_DA_A(STOP_DA_VAL);
update_DA_B(STOP_DA_VAL);
update_DA_C(STOP_DA_VAL);
DA_LDAC_high();
DA_LDAC_low();
green_LED_on();
while(1){
if (init_status == init_2){
init_status = running;
prepare_rx(3, 0x05, 0xFF, incoming_stop);
prepare_rx(4, 0x06, 0xFF, incoming_DA_out_value);
prepare_rx(6, 0x0B, 0xFF, incoming_request_incremental_value);
prepare_rx(7, 0x0E, 0xFF, incoming_sync_command);
}
if (init_status == running) {
prepare_incremental_in_value_packet();
while(!can_tx(5, &incremental_in_value_packet)) {};
if ((++led_toggle_counter) == 0xFF) {
yellow_LED_toggle();
led_toggle_counter = 0;
}
}
}
return 0;
}
int main(void)
{
//USART init (mark)
USART0_Init(MYUBRR0);
fdevopen(uart_putc0, USART0_Receive);
printf("Hello World!\n");
//SPI_MasterInit();
//SPI_config for spi adc module ??? (mark)
DDR_SPI |= (1<<DD_MOSI) | (1<<DD_SCK) | (1<<DD_SS);
DDR_SPI &= ~(1<<DD_MISO);
PORT_SPI |= (1<<DD_SS);
SPCR = (1<<SPIE) | (1<<SPE) | (1<<MSTR);
//Can init with id 20. (mark)
can_init();
CAN_packet p;
p.id = ID_power_measure;
p.length = 4;
//Estop can message recv funcion setup -> id 1
prepare_rx(1, ID_e_stop, 0x7ff, receiveEStop);
//prepare_rx(2, MOTOR_STATUS_ID, 0x7ff, receiveMotorStatus);
//leds and e_stop relay
DDRD |= (1<<LED1) | (1<<LED2) | (1<<LED3);
DDRE |= (1<<E_STOP);
PORTD &= ~((1<<LED1) | (1<<LED2) | (1<<LED3));
PORTE &= ~(1<<E_STOP);
//ADC1 positive differential input, ADC0 negative differential input
//ADMUX = (1<<REFS0) | (1<<REFS1) | 0x10;
//Enable, start conversion, interrupt enable, prescaler 64 (8MHz/64 = 125KHz)
//ADCSRA |= (1<<ADEN) | (1<<ADSC) | (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1);
TCCR1B |= (1<<WGM12) | (1<<CS12); //CTC mode, prescaler 256
TIMSK1 |= (1<<OCIE1A); //compare match A interrupt
OCR1A = 31249;
PORT_SPI &= ~(1<<DD_SS); //initate new reading
SPDR = 0x06; //single ended
spi_seq = 1;
spi_ch = 0;
sei();
uint32_t temp_voltage, temp_current_motor;
uint16_t temp_counter;
for (unsigned char i = 0; i < p.length; i++)
{
p.data[i] = i;
}
while(1)
{
if (timer_done == true)
{
timer_done = false;
//heartbeat (mark)
PORTD ^= (1<<LED1);
//saving sampled data (mark)
cli();
temp_voltage = voltage_ADC_sum;
temp_current_motor = current_motor_ADC_sum;
temp_counter = counter;
voltage_ADC_sum = 0;
current_motor_ADC_sum = 0;
counter = 0;
sei();
//Average and scale data (mark)
int voltage = temp_voltage*100/temp_counter/VOLTAGE_SCALE; //TODO chage to uint32_t ??
uint32_t currentM = ((uint32_t)(temp_current_motor/temp_counter) - CURRENT_MOTOR_ZERO + 5)/CURRENT_MOTOR_SCALE ;
//What is 455??? (mark)
if (voltage > 455)
{
PORTD |= (1<<LED3);
}
else
{
PORTD &= ~(1<<LED3);
}
//Preapere can message (mark)
p.data[0] = voltage>>8;
p.data[1] = voltage;
p.data[2] = currentM>>8;
p.data[3] = currentM;
//For debugging
printf("Average over %d samples:\n\r", temp_counter);
printf("Voltage: %d\n\r", voltage);
printf("Current motor: %lu\n\r", currentM);
//printf("Current without scaling: %lu\n\r", (uint32_t)(temp_current_motor/temp_counter));
//printf("calc: (%u/%d - %d + 5)/%d*100)\n\r", temp_current_motor, temp_counter, CURRENT_MOTOR_ZERO, CURRENT_MOTOR_SCALE);
//printf("Current one: %lu\n\r", current_motor_one_value);
//printf("CAn packet: %s\n", str);
can_tx(14, &p);
PORTD ^= (1<<LED1); //heartbeat (mark)
}
}
