int sendHeartBeat( void )
{
unsigned i;
CONTROLSTATE state;
unsigned char* p_char;
readControlState( &state );
p_char = (unsigned char *)&state;
vscp_omsg.priority = VSCP_PRIORITY_MEDIUM;
vscp_omsg.flags = VSCP_VALID_MSG + 3;
vscp_omsg.vscp_class = VSCP_CLASS1_INFORMATION;
vscp_omsg.vscp_type = VSCP_TYPE_INFORMATION_NODE_HEARTBEAT;
for(i=0; i < sizeof(CONTROLSTATE); i++)
{
vscp_omsg.data[i] = p_char[i];
}
// Send data
if ( !vscp_sendEvent() ) {
return FALSE;
}
return TRUE;
}
void process_can_message()
{
BYTE state_incoming;
BYTE substate_incoming;
// Incoming CAN data
unsigned long ican_id;
//BYTE ican_data[ 8 ];
BYTE ican_dlc;
BYTE ican_flags;
uint8_t msgflags;
if ( bCanErrMsgValid )
{
send_can_error_message( g_can_lokal_error );
}
if ( bCanMsgValid )
{
if ( vscp_sendEvent( &can_msg2send ) )
bCanMsgValid = FALSE;
}
// Incoming CAN message
if ( vscp18f_readMsg( &ican_id, can_msg2send.data, &ican_dlc, &ican_flags ) )
{
can_msg2send.sizeData = ican_dlc;
msgflags = ican_flags;
if ( ican_flags & CAN_RX_XTD_FRAME ) {
msgflags |= 0x80; // This is an extended frame
}
if ( ican_flags & CAN_RX_RTR_FRAME ) {
msgflags |= 0x40; // This is a RTR frame
}
can_msg2send.head = 0; //msgflags;
can_msg2send.vscp_class = ican_id & 0xffff;
can_msg2send.vscp_type = ( ican_id >> 16 ) & 0xffff;
if ( vscp_sendEvent( &can_msg2send ) )
bCanMsgValid = FALSE;
}
void vscp_sendHeartBeat(uint8_t zone, uint8_t subzone)
{
vscp_omsg.flags = VSCP_VALID_MSG + 3; // three databyte
vscp_omsg.priority = VSCP_PRIORITY_LOW;
vscp_omsg.vscp_class = VSCP_CLASS1_INFORMATION;
vscp_omsg.vscp_type = VSCP_TYPE_INFORMATION_NODE_HEARTBEAT;
vscp_omsg.data[ 0 ] = 0;
vscp_omsg.data[ 1 ] = zone;
vscp_omsg.data[ 2 ] = subzone;
// send the event
vscp_sendEvent();
}
void vscp_goActiveState(void)
{
vscp_omsg.flags = VSCP_VALID_MSG + 1; // one databyte
vscp_omsg.priority = VSCP_PRIORITY_HIGH;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_NEW_NODE_ONLINE;
vscp_omsg.data[ 0 ] = vscp_nickname;
// send the event
vscp_sendEvent();
// vscp_initledfunc = VSCP_LED_ON;
}
void vscp_getEmbeddedMdfInfo( void )
{
// No embedded DM so we respond with info about that
vscp_omsg.priority = VSCP_PRIORITY_NORMAL;
vscp_omsg.flags = VSCP_VALID_MSG + 3;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_RW_RESPONSE;
vscp_omsg.data[ 0 ] = 0;
vscp_omsg.data[ 1 ] = 0;
vscp_omsg.data[ 2 ] = 0;
// send the message
vscp_sendEvent();
}
void vscp_newNodeOnline(void)
{
if ((1 == (vscp_imsg.flags & 0x0f)) &&
(vscp_nickname == vscp_imsg.data[ 0 ])) {
// This is a probe which use our nickname
// we have to respond to tell the new node that
// ths nickname is in use
vscp_omsg.flags = VSCP_VALID_MSG;
vscp_omsg.priority = VSCP_PRIORITY_HIGH;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_PROBE_ACK;
vscp_sendEvent();
}
}
void vscp_handleSetNickname(void)
{
if ( ( 2 == (vscp_imsg.flags & 0x0f ) ) &&
(vscp_nickname == vscp_imsg.data[ 0 ])) {
// Yes, we are addressed
vscp_nickname = vscp_imsg.data[ 1 ];
vscp_writeNicknamePermanent(vscp_nickname);
//return nickname accepted
vscp_omsg.flags = VSCP_VALID_MSG + 1; // one data byte
vscp_omsg.priority = VSCP_PRIORITY_HIGH;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_NICKNAME_ACCEPTED;
vscp_omsg.data[ 0 ] = vscp_nickname;
// send the event
vscp_sendEvent();
}
}
void vscp_handleProbeState(void)
{
switch (vscp_node_substate) {
case VSCP_SUBSTATE_NONE:
if (VSCP_ADDRESS_FREE != vscp_probe_address) {
vscp_omsg.flags = VSCP_VALID_MSG + 1; // one databyte
vscp_omsg.priority = VSCP_PRIORITY_HIGH;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_NEW_NODE_ONLINE;
vscp_omsg.data[ 0 ] = vscp_probe_address;
// send the probe
vscp_sendEvent();
vscp_node_substate = VSCP_SUBSTATE_INIT_PROBE_SENT;
vscp_timer = 0;
} else {
// No free address -> error
vscp_node_state = VSCP_STATE_ERROR;
// Tell system we are giving up
vscp_omsg.flags = VSCP_VALID_MSG + 1; // one databyte
vscp_omsg.data[ 0 ] = 0xff; // we are unassigned
vscp_omsg.priority = VSCP_PRIORITY_LOW;
vscp_omsg.vscp_class = VSCP_CLASS1_PROTOCOL;
vscp_omsg.vscp_type = VSCP_TYPE_PROTOCOL_PROBE_ACK;
// send the error event
vscp_sendEvent();
}
break;
case VSCP_SUBSTATE_INIT_PROBE_SENT:
if (vscp_imsg.flags & VSCP_VALID_MSG) { // incoming event?
// Yes, incoming event
if ((VSCP_CLASS1_PROTOCOL == vscp_imsg.vscp_class) &&
(VSCP_TYPE_PROTOCOL_PROBE_ACK == vscp_imsg.vscp_type)) {
// Yes it was an ack from the segment master or a node
if (0 == vscp_probe_address) {
// Master controller answered
// wait for address
vscp_node_state = VSCP_STATE_PREACTIVE;
vscp_timer = 0; // reset timer
} else {
// node answered, try next address
vscp_probe_address++;
vscp_node_substate = VSCP_SUBSTATE_NONE;
vscp_probe_cnt = 0;
}
}
} else {
if (vscp_timer > VSCP_PROBE_TIMEOUT) { // Check for timeout
vscp_probe_cnt++; // Another timeout
if (vscp_probe_cnt >= VSCP_PROBE_TIMEOUT_COUNT) {
// Yes we have a timeout
if (0 == vscp_probe_address) { // master controller probe?
// No master controler on segment, try next node
vscp_probe_address++;
vscp_node_substate = VSCP_SUBSTATE_NONE;
vscp_timer = 0;
vscp_probe_cnt = 0;
} else {
// We have found a free address - use it
vscp_nickname = vscp_probe_address;
vscp_node_state = VSCP_STATE_ACTIVE;
vscp_node_substate = VSCP_SUBSTATE_NONE;
vscp_writeNicknamePermanent(vscp_nickname);
vscp_setSegmentCRC(0x40); // segment code (non server segment )
// Report success
vscp_probe_cnt = 0;
vscp_goActiveState();
}
} else {
vscp_node_substate = VSCP_SUBSTATE_NONE;
}
} // Timeout
}
break;
case VSCP_SUBSTATE_INIT_PROBE_ACK:
break;
default:
vscp_node_substate = VSCP_SUBSTATE_NONE;
break;
}
vscp_imsg.flags = 0;
}
