unsigned char tc600_read(unsigned short param, char *result)
{
char xdata str[32];
unsigned char xdata i, j, cs, len;
sprintf(str, "%03Bd00%03d02=?", TC600_ADDRESS, param);
for (i = cs = 0; i < 12; i++)
cs += str[i];
sprintf(str + 12, "%03Bd\r", cs);
for (i=0 ; i<strlen(str); i++)
putchar1(str[i]);
flush();
i = gets_wait(str, sizeof(str), 20);
if (i > 2) {
len = (str[8] - '0') * 10 + (str[9] - '0');
for (j = 0; j < len; j++)
result[j] = str[10 + j];
result[j] = 0;
return len;
}
return 0;
}
void FastWrite(BYTE addr, BYTE cmd, char data1, char data2)
// "Быстрая" отправка сообщения без подтвеждения приема
// <адресат>, <команда>, <данные1>, <данные2>
// Отправитель формируется автоматически
{
BYTE ADDR;
ADDR = FORMADDR(addr, MY_ADDR);
U485CTL = U485WRITE;
putchar1(ADDR);
putchar1(cmd);
putchar1(data1);
putchar1(data2);
U485CTL = U485READ;
}
void printstr1(char* st)
{
int i;
for(i = 0; st[i]!= 0; i++)
{
putchar1(st[i]);
}
}
unsigned char tc600_write(unsigned short param, unsigned char len, unsigned long value)
{
char xdata str[32];
unsigned char xdata i, cs;
if (len == 6)
sprintf(str, "%03Bd10%03d06%06ld", TC600_ADDRESS, param, value);
else if (len == 3)
sprintf(str, "%03Bd10%03d03%03ld", TC600_ADDRESS, param, value);
for (i = cs = 0; i < 16; i++)
cs += str[i];
sprintf(str + 16, "%03Bd\r", cs);
for (i=0 ; i<strlen(str); i++)
putchar1(str[i]);
flush();
i = gets_wait(str, sizeof(str), 50);
return i;
}
void main(void)
{
// Declare your local variables here
// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=P State2=P State1=P State0=P
PORTA=0x0F;
DDRA=0x00;
// Port B initialization
// Func7=Out Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=0 State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00; //SerIRQ if input
// Port C initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=Out Func2=Out Func1=In Func0=In
// State7=T State6=T State5=1 State4=1 State3=1 State2=1 State1=T State0=T
PORTC=0x3C;
DDRC=0x3C;
// Port D initialization
// Func7=Out Func6=In Func5=Out Func4=In Func3=Out Func2=In Func1=In Func0=In
// State7=1 State6=T State5=0 State4=T State3=0 State2=T State1=T State0=T
PORTD=0x80;
DDRD=0xA8;
// Port E initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=Out Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=0 State0=T
PORTE=0x00;
DDRE=0x02;
// Port F initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTF=0x00;
DDRF=0x00;
// Port G initialization
// Func4=In Func3=In Func2=In Func1=In Func0=In
// State4=T State3=T State2=T State1=T State0=T
PORTG=0x00;
DDRG=0x00;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 1000,000 kHz
// Mode: CTC top=OCR0
// OC0 output: Disconnected
TCCR0A=0x0A;
TCNT0=0x00;
// OCR0A=((OSCILLATOR_FREQUENCY/8)*0.0001)-1; //((OSCILLATOR_FREQUENCY/8)*0.0001)-1 => 100uS
OCR0A=((OSCILLATOR_FREQUENCY/8)*0.001)-1; //((OSCILLATOR_FREQUENCY/8)*0.0001)-1 => 100uS
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// OC1C output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
OCR1CH=0x00;
OCR1CL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2A=0x00;
TCNT2=0x00;
OCR2A=0x00;
// Timer/Counter 3 initialization
// Clock source: System Clock
// Clock value: Timer 3 Stopped
// Mode: Normal top=FFFFh
// Noise Canceler: Off
// Input Capture on Falling Edge
// OC3A output: Discon.
// OC3B output: Discon.
// OC3C output: Discon.
// Timer 3 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR3A=0x00;
TCCR3B=0x00;
TCNT3H=0x00;
TCNT3L=0x00;
ICR3H=0x00;
ICR3L=0x00;
OCR3AH=0x00;
OCR3AL=0x00;
OCR3BH=0x00;
OCR3BL=0x00;
OCR3CH=0x00;
OCR3CL=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
// INT3: Off
// INT4: Off
// INT5: Off
// INT6: Off
// INT7: Off
EICRA=0x00;
EICRB=0x00;
EIMSK=0x00;
// Timer/Counter 0 Interrupt(s) initialization
TIMSK0=0x02;
// Timer/Counter 1 Interrupt(s) initialization
TIMSK1=0x00;
// Timer/Counter 2 Interrupt(s) initialization
TIMSK2=0x00;
// Timer/Counter 3 Interrupt(s) initialization
TIMSK3=0x00;
// USART1 initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART1 Receiver: On
// USART1 Transmitter: On
// USART1 Mode: Asynchronous
// USART1 Baud rate: 500k (Double Speed Mode) <- give linux overruns
// USART1 Baud rate: 250k (Double Speed Mode)
// USART1 Baud rate: 115200 (Double Speed Mode)
//250000
UCSR1A=0x02;
UCSR1B=0xD8;
UCSR1C=0x06;
UBRR1H=0x00;
UBRR1L=0x07;
//UBRR1L=0x22;//57600
//UBRR1L=0x33;//38400
//UBRR1L=0xCF;//9600
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
ADCSRB=0x00;
// ADC initialization
// ADC Clock frequency: 1000,000 kHz
// ADC Voltage Reference: AVCC pin
// Digital input buffers on ADC0: On, ADC1: On, ADC2: On, ADC3: On
// ADC4: On, ADC5: On, ADC6: On, ADC7: On
DIDR0=0x00;
ADMUX=FIRST_ADC_INPUT | (ADC_VREF_TYPE & 0xff);
ADCSRA=0xCB;
// 2 Wire Bus initialization
// Generate Acknowledge Pulse: On
// 2 Wire Bus Slave Address: 0h
// General Call Recognition: On
// Bit Rate: 400,000 kHz
TWSR=0x00;
TWBR=0x02;
TWAR=0x01;
TWCR=0x45;
InitializeCAN();
AddressValidated = 1;
// AddressReservationData[0].ManufacturerID = ManufacturerID;
// AddressReservationData[0].ProductID = ProductID;
// AddressReservationData[0].UniqueIDPerProduct = UniqueIDPerProduct;
// AddressReservationData[0].CANAddress = 0x00000001;
SetLocalCANAddress(0x00000001);
cntUSART1DataOverrun = 0;
cntUSART1FramingError = 0;
cntUSART1ParityError = 0;
cntMambaNetFormatErrorFromSerial = 0;
cntTransmitOverrunToUART = 0;
#ifdef LCD_CONNECTED
SetupLCD();
delay_ms(500);
sprintf(DebugString, "Start value %04X%04X", GlobalReceiveSequenceCANAddress>>16, GlobalReceiveSequenceCANAddress&0xFFFF);
SetLCDModule(0, 0, DebugString);
#endif
cntAlive=0;
// Global enable interrupts
#asm("sei")
while (1)
{
// Place your code here
#ifdef LCD_CONNECTED
if ((cntMilliSecond-PreviousMilliSecond)>1000)
{
PreviousMilliSecond = cntMilliSecond;
cntAlive++;
sprintf(DebugString, "Alive (%d) %04X%04X - S:%02X C:%02X", cntAlive, GlobalReceiveSequenceCANAddress>>16, GlobalReceiveSequenceCANAddress&0xFFFF, Debug_SerialTransmitBufferCount, Debug_CANReceiveBufferCount);
SetLCDModule(0, 0, DebugString);
sprintf(DebugString, "D%d S%d O%d, M%d O%d R%d T%d ", cntUSART1DataOverrun, cntMambaNetFormatErrorFromSerial, cntTransmitOverrunToUART, cntMambaNetFormatErrorFromCAN, cntMambaNetOverrunFromCAN, cntGlobalCANMessageReceived, cntCANMessageTransmitted);
SetLCDModule(0, 1, DebugString);
}
#endif
if (rx_counter1)
//while (rx_counter1)
{
unsigned char ReceivedByte;
char cnt;
ReceivedByte = getchar1();
switch (ReceivedByte)
{
case 0xE0:
{
if (cntReceivedSerialMessageBuffer>10)
{
cntReceivedSerialMessageBuffer = 0;
}
}
break;
default:
{
switch (cntReceivedSerialMessageBuffer)
{
case 0:
{
if (ReceivedByte&0x40)
{
SerialReceiveMambaNetMessage = 0;
}
else
{
SerialReceiveMambaNetMessage = 1;
}
ToCANAddress = ((unsigned int)ReceivedByte<<7)&0x1F;
SequenceNumber = 0;
}
break;
case 1:
{
ToCANAddress |= ReceivedByte&0x7F;
SequenceNumber = 0;
}
break;
case 2:
{
SequenceNumber = ReceivedByte&0x0F;
}
break;
default:
{
if (SerialReceiveMambaNetMessage)
{
FragmentFilled[SequenceNumber] = 1;
ReceivedSerialMessageBuffer[(SequenceNumber*8)+cntReceivedSerialMessageBuffer-3] = ReceivedByte;
if (ReceivedByte == 0xFF)
{
char MessageComplete = 1;
for (cnt=0; cnt<=SequenceNumber; cnt++)
{
MessageComplete &= FragmentFilled[cnt];
}
if (MessageComplete)
SendMambaNetMessageToCAN_DedicatedAddress(ToCANAddress, ReceivedSerialMessageBuffer, ((SequenceNumber*8)+cntReceivedSerialMessageBuffer-3)+1);
for (cnt=0; cnt<16; cnt++)
{
FragmentFilled[cnt] = 0;
}
}
}
else
{ //CAN Control message
ReceivedSerialMessageBuffer[cntReceivedSerialMessageBuffer-3] = ReceivedByte;
}
}
break;
}
cntReceivedSerialMessageBuffer++;
}
break;
case 0xE1:
{
if (!SerialReceiveMambaNetMessage)
{ //Parent control message received
if (cntReceivedSerialMessageBuffer == 11)
{
SendCANParentControlMessage(ReceivedSerialMessageBuffer);
}
}
}
break;
}
}
// while (UARTTransmitBufferBottom != UARTTransmitBufferTop)
if (UARTTransmitBufferBottom != UARTTransmitBufferTop)
{
char cntTransmitByte;
for (cntTransmitByte=0; cntTransmitByte<13; cntTransmitByte++)
{
putchar1(UARTTransmitBuffer[UARTTransmitBufferBottom][cntTransmitByte]);
}
UARTTransmitBufferBottom++;
if (UARTTransmitBufferBottom>(NR_OF_UART_BUFFERS-1))
{
UARTTransmitBufferBottom = 0;
}
}
}
inline void rs485putchar(char c)
{
putchar1(c);
delay_us(1000);
}
void getSpeedIndex(void){
char speed_index;
speed_index = getIndex(ticks, speed_range, speed_slope, speed_height, speed_max_mem);
putchar1(speed_index);
//sendData('V', speed_index, TWI_SENSOR_ADDR);
}
