void tst_Benchmark_Init(void)
{
/* Set up benchmark timer (timer1, 16bit) */
//Normal port operation, Normal mode
TCCR1A = ((0<<COM1A1)|(0<<COM1A0)|(0<<COM1B1)|(0<<COM1B0)|(0<<WGM11)|(0<<WGM10));
TCCR1B = ((0<<ICNC1)|(0<<ICES1)|(0<<WGM12)|(0<<WGM13));
/* Start timer */
//prescaler /8
TCCR1B |= ((0<<CS12)|(1<<CS11)|(0<<CS10));
#if tst_Benchmark_CanSend_TestActive == 1
StdCan_Set_class(tst_Benchmark_CanSend_txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(tst_Benchmark_CanSend_txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
tst_Benchmark_CanSend_txMsg.Header.ModuleType = CAN_MODULE_TYPE_TST_DEBUG;
tst_Benchmark_CanSend_txMsg.Header.ModuleId = tst_Benchmark_ID;
tst_Benchmark_CanSend_txMsg.Header.Command = CAN_MODULE_CMD_DEBUG_BENCHMARK;
tst_Benchmark_CanSend_txMsg.Length = 8;
Timer_SetTimeout(tst_Benchmark_CanSend_TIMER, tst_Benchmark_CanSend_PERIOD_MS , TimerTypeFreeRunning, 0);
#endif
#if tst_Benchmark_CpuTime_TestActive == 1
StdCan_Set_class(tst_Benchmark_CpuTime_txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(tst_Benchmark_CpuTime_txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
tst_Benchmark_CpuTime_txMsg.Header.ModuleType = CAN_MODULE_TYPE_TST_DEBUG;
tst_Benchmark_CpuTime_txMsg.Header.ModuleId = tst_Benchmark_ID;
tst_Benchmark_CpuTime_txMsg.Header.Command = CAN_MODULE_CMD_DEBUG_BENCHMARK;
tst_Benchmark_CpuTime_txMsg.Length = 8;
Timer_SetTimeout(tst_Benchmark_CpuTime_SEND_TIMER, tst_Benchmark_CpuTime_SEND_PERIOD_MS , TimerTypeFreeRunning, 0);
#endif
}
void sns_power_timer_callback(uint8_t timer)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_POWER; ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = sns_power_ID;
txMsg.Header.Command = CAN_MODULE_CMD_POWER_AVGPOWER;
txMsg.Length = 2;
cli();
txMsg.Data[0] = (uint8_t)((avgCounter>>8) & 0xff);
txMsg.Data[1] = (uint8_t)(avgCounter & 0xff);
avgCounter = 0;
sei();
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
#ifdef POWER_SNS_PIN_ch2
txMsg.Length = 2;
txMsg.Header.ModuleId = sns_power_ID_ch2;
cli();
txMsg.Data[0] = (uint8_t)((avgCounter_ch2>>8) & 0xff);
txMsg.Data[1] = (uint8_t)(avgCounter_ch2 & 0xff);
avgCounter = 0;
sei();
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
#endif
}
void sns_BusVoltage_HandleMessage(StdCan_Msg_t *rxMsg)
{
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_SNS_BUSVOLTAGE &&
rxMsg->Header.ModuleId == sns_BusVoltage_ID)
{
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
if (rxMsg->Length > 0)
{
sns_BusVoltage_ReportInterval = rxMsg->Data[0];
Timer_SetTimeout(sns_BusVoltage_TIMER, sns_BusVoltage_ReportInterval*1000 , TimerTypeFreeRunning, 0);
}
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_BUSVOLTAGE;
txMsg.Header.ModuleId = sns_BusVoltage_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
txMsg.Length = 1;
txMsg.Data[0] = sns_BusVoltage_ReportInterval;
StdCan_Put(&txMsg);
break;
}
}
}
void ReadTemperature(void)
{
static uint8_t SearchSensorsTimeout = sns_ds18x20_SEARCH_TIMEOUT;
static uint8_t CurrentSensor = 0;
uint8_t subzero, cel, cel_frac_bits = 0;
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_CLASS_MODULE_SNS);
StdCan_Set_direction(txMsg.Header, DIR_FROM_OWNER);
txMsg.Header.ModuleType = CAN_TYPE_MODULE_sns_ds18x20;
txMsg.Header.ModuleId = sns_ds18x20_ID;
txMsg.Header.Command = CAN_CMD_MODULE_PHYS_TEMPERATURE_CELSIUS;
txMsg.Length = 3;
txMsg.Data[0] = SensorIds[CurrentSensor];
if (DS18X20_read_meas(&gSensorIDs[CurrentSensor][0], &subzero, &cel, &cel_frac_bits) == DS18X20_OK)
{
int16_t temp = cel;
temp = temp << 6;
temp += (cel_frac_bits << 2);
if (subzero)
{
temp = -temp;
}
txMsg.Data[1] = (uint8_t)(temp >> 8);
txMsg.Data[2] = (uint8_t)(temp & 0xff);
}
void chn_ChnMaster_UpdateChannel( uint16_t channel_id, uint16_t value ) {
StdCan_Msg_t txMsg;
txMsg.Id = 0;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_CHN);
txMsg.Id |= channel_id << 8;
txMsg.Id |= chn_ChnMaster_ID;
txMsg.Length = 2;
txMsg.Data[0] = (value >>8)&0xFF;
txMsg.Data[1] = (value )&0xFF;
while( StdCan_Put(&txMsg) != StdCan_Ret_OK );
}
void sns_counter_send_counter(uint8_t index)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_COUNTER;
txMsg.Header.ModuleId = sns_counter_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_COUNTER;
txMsg.Length = 5;
txMsg.Data[0] = index;
txMsg.Data[4] = (uint8_t)Count[index] & 0xff;
txMsg.Data[3] = (uint8_t)(Count[index] >> 8) & 0xff;
txMsg.Data[2] = (uint8_t)(Count[index] >> 16) & 0xff;
txMsg.Data[1] = (uint8_t)(Count[index] >> 24) & 0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void sendPID(void)
{
if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
txMsg.Header.ModuleType = eeprom_read_byte(EEDATA.actuatorModuleType); ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = eeprom_read_byte(EEDATA.actuatorModuleId);
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
txMsg.Length = 3;
txMsg.Data[0] = eeprom_read_byte(EEDATA.actuatorId);
//uint16_t tempPWM =(uint16_t) (pwmValue*10000);
txMsg.Data[1] = ( ((uint16_t)outputValue)>>8)&0xff;
txMsg.Data[2] = ( ((uint16_t)outputValue))&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void sns_VoltageCurrent_Process(void)
{
if (Timer_Expired(sns_VoltageCurrent_TIMER)) {
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_VOLTAGECURRENT;
txMsg.Header.ModuleId = sns_VoltageCurrent_ID;
txMsg.Length = 3;
uint16_t ADvalue;
#ifdef sns_VoltageCurrent0AD
if (VoltageCurrentChannelToSend==0)
{
ADvalue = ADC_Get(sns_VoltageCurrent0AD);
ADvalue = ADvalue * sns_VoltageCurrent0Factor;
#if sns_VoltageCurrent0VorA==0
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_VOLTAGE;
#else
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_CURRENT;
#endif
txMsg.Data[0] = 0;
txMsg.Data[1] = (ADvalue>>(sns_VoltageCurrent0Scale-6+8))&0xff;
txMsg.Data[2] = (ADvalue>>(sns_VoltageCurrent0Scale-6))&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
}
#endif
#ifdef sns_VoltageCurrent1AD
if (VoltageCurrentChannelToSend==1)
{
ADvalue = ADC_Get(sns_VoltageCurrent1AD);
ADvalue = ADvalue * sns_VoltageCurrent1Factor;
#if sns_VoltageCurrent1VorA==0
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_VOLTAGE;
#else
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_CURRENT;
#endif
txMsg.Data[0] = 1;
txMsg.Data[1] = (ADvalue>>(sns_VoltageCurrent1Scale-6+8))&0xff;
txMsg.Data[2] = (ADvalue>>(sns_VoltageCurrent1Scale-6))&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
}
void sns_rfid_HandleCardEvent( uint8_t event ) {
StdCan_Msg_t txMsg;
gpio_set_statement( event, sns_rfid_STATUS_LED );
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_RFID; ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = sns_rfid_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
txMsg.Data[0] = event;
txMsg.Data[1] = sns_rfid_card.version;
txMsg.Data[2] = sns_rfid_card.id&0xff;
txMsg.Data[3] = (sns_rfid_card.id>>8)&0xff;
txMsg.Data[4] = (sns_rfid_card.id>>16)&0xff;
txMsg.Data[5] = (sns_rfid_card.id>>24)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void act_output_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_OUTPUT;
txMsg.Header.ModuleId = act_output_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
uint32_t HwId=BIOS_GetHwId();
txMsg.Data[0] = HwId&0xff;
txMsg.Data[1] = (HwId>>8)&0xff;
txMsg.Data[2] = (HwId>>16)&0xff;
txMsg.Data[3] = (HwId>>24)&0xff;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void sns_BusVoltage_Process(void)
{
///TODO: Stuff that needs doing is done here
if (Timer_Expired(sns_BusVoltage_TIMER)) {
uint16_t busVoltage = ADC_Get(BUSVOLTAGEAD);
busVoltage = (busVoltage & 0x03ff) * ADC_FACTOR;
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_BUSVOLTAGE;
txMsg.Header.ModuleId = sns_BusVoltage_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_VOLTAGE;
txMsg.Length = 3;
txMsg.Data[0] = 0;
txMsg.Data[1] = (busVoltage>>(ADC_SCALE-6+8))&0xff;
txMsg.Data[2] = (busVoltage>>(ADC_SCALE-6))&0xff;
StdCan_Put(&txMsg);
}
}
void linearAct_sendPosition(uint8_t dummy) {
StdCan_Msg_t txMsg;
uint16_t w_tmp;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_LINEARACT;
txMsg.Header.ModuleId = act_linearAct_ID;
txMsg.Header.Command = CAN_MODULE_CMD_LINEARACT_POSITION;
txMsg.Length = 3;
w_tmp = linearAct_getPosition();
txMsg.Data[0] = w_tmp >> 8;
txMsg.Data[1] = w_tmp;
txMsg.Data[2] = direction;
//while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
StdCan_Put(&txMsg); // No problem if we miss one
}
void tst_CoreLED_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_TST);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_TST_DEBUG;
txMsg.Header.ModuleId = tst_CoreLED_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
txMsg.Data[0] = NODE_HW_ID_BYTE0;
txMsg.Data[1] = NODE_HW_ID_BYTE1;
txMsg.Data[2] = NODE_HW_ID_BYTE2;
txMsg.Data[3] = NODE_HW_ID_BYTE3;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void ReadTemperature(void)
{
static uint8_t SearchSensorsTimeout = sns_ds18x20_SEARCH_TIMEOUT;
static uint8_t CurrentSensor = 0;
uint8_t subzero, cel, cel_frac_bits = 0;
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_DS18X20;
txMsg.Header.ModuleId = sns_ds18x20_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS;
txMsg.Length = 3;
txMsg.Data[0] = SensorIds[CurrentSensor];
if (DS18X20_read_meas(&gSensorIDs[CurrentSensor][0], &subzero, &cel, &cel_frac_bits) == DS18X20_OK)
{
int16_t temp = cel;
temp = temp << 6;
temp += (cel_frac_bits << 2);
if (subzero)
{
temp = -temp;
}
txMsg.Data[1] = (uint8_t)(temp >> 8);
txMsg.Data[2] = (uint8_t)(temp & 0xff);
#ifdef CHN_LOADED
for( uint8_t i=0; i<DS18x20_MAXSENSORS; i++) {
if( sns_ds18s20_sensorids[i] == SensorIds[CurrentSensor] ) {
chn_ChnMaster_UpdateChannel( sns_ds18x20_CHN_CHANNEL + i, (temp<<2) + 25600 );
}
}
#endif
}
void sns_rfid_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS); ///TODO: Change this to the actual class type
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_RFID; ///TODO: Change this to the actual module type
txMsg.Header.ModuleId = sns_rfid_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
uint32_t HwId=BIOS_GetHwId();
txMsg.Data[0] = HwId&0xff;
txMsg.Data[1] = (HwId>>8)&0xff;
txMsg.Data[2] = (HwId>>16)&0xff;
txMsg.Data[3] = (HwId>>24)&0xff;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void linearAct_sendLimits (uint8_t dummy) {
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_LINEARACT;
txMsg.Header.ModuleId = act_linearAct_ID;
txMsg.Header.Command = CAN_MODULE_CMD_LINEARACT_LIMITS;
txMsg.Length = 8;
txMsg.Data[0] = min >> 8;
txMsg.Data[1] = min;
txMsg.Data[2] = low >> 8;
txMsg.Data[3] = low;
txMsg.Data[4] = high >> 8;
txMsg.Data[5] = high;
txMsg.Data[6] = max >> 8;
txMsg.Data[7] = max;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}
void send_debug(uint16_t *buffer, uint8_t len) {
/* the protocol is unknown so the raw ir-data is sent, makes it easier to develop a new protocol */
StdCan_Set_class(irTxMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(irTxMsg.Header, DIRECTIONFLAG_FROM_OWNER);
irTxMsg.Length = 8;
irTxMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_IRRECEIVE;
irTxMsg.Header.ModuleId = sns_irReceive_ID;
irTxMsg.Header.Command = CAN_MODULE_CMD_IRRECEIVE_IRRAW;
for (uint8_t i = 0; i < len>>2; i++) {
uint8_t index = i<<2;
irTxMsg.Data[0] = (buffer[index]>>8)&0xff;
irTxMsg.Data[1] = (buffer[index]>>0)&0xff;
irTxMsg.Data[2] = (buffer[index+1]>>8)&0xff;
irTxMsg.Data[3] = (buffer[index+1]>>0)&0xff;
irTxMsg.Data[4] = (buffer[index+2]>>8)&0xff;
irTxMsg.Data[5] = (buffer[index+2]>>0)&0xff;
irTxMsg.Data[6] = (buffer[index+3]>>8)&0xff;
irTxMsg.Data[7] = (buffer[index+3]>>0)&0xff;
/* buffers will be filled when sending more than 2-3 messages, so retry until sent */
while (StdCan_Put(&irTxMsg) != StdCan_Ret_OK) {}
}
uint8_t lastpacketcnt = len&0x03;
if (lastpacketcnt > 0) {
irTxMsg.Length = lastpacketcnt<<1;
for (uint8_t i = 0; i < lastpacketcnt; i++) {
irTxMsg.Data[i<<1] = (buffer[(len&0xfc)|i]>>8)&0xff;
irTxMsg.Data[(i<<1)+1] = (buffer[(len&0xfc)|i]>>0)&0xff;
}
/* buffers will be filled when sending more than 2-3 messages, so retry until sent */
while (StdCan_Put(&irTxMsg) != StdCan_Ret_OK) {}
}
void sns_inputAnalog_Process(void)
{
/* When the timer has overflowed the AD channels shall be read */
if (Timer_Expired(sns_inputAnalog_TIMER))
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_INPUTANALOG;
txMsg.Header.ModuleId = sns_inputAnalog_ID;
uint16_t AdValue=0;
/* For each channel */
for (uint8_t i=0; i<sns_inputAnalog_NUM_SUPPORTED; i++)
{
/* Do reading of AD channel */
switch (i)
{
case 0:
AdValue = ADC_Get(sns_inputAnalog0AD);
break;
case 1:
AdValue = ADC_Get(sns_inputAnalog1AD);
break;
case 2:
AdValue = ADC_Get(sns_inputAnalog2AD);
break;
case 3:
AdValue = ADC_Get(sns_inputAnalog3AD);
break;
}
/* If this channel is configured as periodic transmission of voltage */
if (sns_inputAnalog_Config[i].Type == CAN_MODULE_ENUM_INPUTANALOG_ANALOGCONFIG_SETTING_PERIODICMEASURE)
{
/* Count periodicity */
sns_inputAnalog_Sensor[i].PeriodCnt += sns_inputAnalog_POLL_PERIOD_MS;
/* If periodicity overflowed or AD value changed more than threshold since last sent value */
if (sns_inputAnalog_Sensor[i].PeriodCnt >= sns_inputAnalog_Config[i].Periodicity ||
MAX(AdValue,sns_inputAnalog_Sensor[i].LastSentAdVal)-MIN(AdValue,sns_inputAnalog_Sensor[i].LastSentAdVal) > sns_inputAnalog_Config[i].LowTh)
//if (sns_inputAnalog_Sensor[i].PeriodCnt >= sns_inputAnalog_Config[i].Periodicity ||
// abs(AdValue-sns_inputAnalog_Sensor[i].LastSentAdVal) > sns_inputAnalog_Config[i].LowTh)
{
/* Reset periodicity counter */
sns_inputAnalog_Sensor[i].PeriodCnt = 0;
/* Store value as last sent */
sns_inputAnalog_Sensor[i].LastSentAdVal = AdValue;
/* send sensor value on CAN with command CAN_MODULE_CMD_PHYSICAL_VOLTAGE */
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_VOLTAGE;
txMsg.Length = 3;
/* The channel should be transmitted in byte 0 */
txMsg.Data[0] = i;
uint8_t analogScale = 10;
/* Select parameters for AD conversion */
switch (i)
{
case 0:
analogScale = sns_inputAnalog0Scale;
AdValue = AdValue * sns_inputAnalog0Factor;
break;
case 1:
analogScale = sns_inputAnalog1Scale;
AdValue = AdValue * sns_inputAnalog1Factor;
break;
case 2:
analogScale = sns_inputAnalog2Scale;
AdValue = AdValue * sns_inputAnalog2Factor;
break;
case 3:
analogScale = sns_inputAnalog3Scale;
AdValue = AdValue * sns_inputAnalog3Factor;
break;
}
txMsg.Data[1] = (AdValue>>(analogScale-6+8))&0xff;
txMsg.Data[2] = (AdValue>>(analogScale-6))&0xff;
/* Send value on CAN */
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
}
}
/* If this channel is configured as digital input */
else if (sns_inputAnalog_Config[i].Type == CAN_MODULE_ENUM_INPUTANALOG_ANALOGCONFIG_SETTING_DIGITALINPUT)
void act_protectedOutput_Process() {
#if act_protectedOutput_EEPROM_ENABLED == 1
if (Timer_Expired(act_protectedOutput_STORE_VALUE_TIMEOUT)) {
#if act_protectedOutput_CH_COUNT >= 1
eeprom_write_byte_crc(EEDATA.ch0, chTargetState[0], WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 2
eeprom_write_byte_crc(EEDATA.ch1, chTargetState[1], WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 3
eeprom_write_byte_crc(EEDATA.ch2, chTargetState[2], WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 4
eeprom_write_byte_crc(EEDATA.ch3, chTargetState[3], WITHOUT_CRC);
#endif
EEDATA_UPDATE_CRC;
}
#endif
// shall we retry to set target output state?
if (Timer_Expired(act_protectedOutput_RETRY_TIMER)) {
// read DIAG pin again and update outputs accordingly
readDiagPin();
#if act_protectedOutput_FORCED_RETRIES == 1
// forced retry to set output states, regardless of DIAG
updateOutput(1);
// read DIAG pin again and hope we have a better flag
readDiagPin();
#else
// if DIAG allows it, retry to set the output states
updateOutput(0);
#endif
if (diagState == DIAG_ASSERTED) {
// if DIAG was still asserted, initiate another timer run
Timer_SetTimeout(act_protectedOutput_RETRY_TIMER, act_protectedOutput_RETRY_TIMER_TIME_S*1000, TimerTypeOneShot, 0);
}
else {
// things went back to normal. report this
diagReportPending = 1;
}
}
// shall we report diag status to CAN?
if (diagReportPending) {
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_PROTECTEDOUTPUT;
txMsg.Header.ModuleId = act_protectedOutput_ID;
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PINSTATUS;
txMsg.Length = 2;
txMsg.Data[0] = 0; //TODO: add support for more channels
// we follow the standard SNS_INPUT format, but the data corresponds to the "health" rather than physical level
if (diagState == DIAG_NORMAL) {
txMsg.Data[1] = 1; //healthy, target output state stable
} else {
txMsg.Data[1] = 0; //not healthy, DIAG pin ASSERTED, not in target output state
}
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
diagReportPending = 0;
}
}
void act_hd44780_Process(void)
{
#if act_hd44780_USE_AUTO_BL == 1
if (autoMode == CAN_MODULE_ENUM_HD44789_LCD_BACKLIGHT_AUTOLIGHT_ON) {
#if (act_hd44780_TYPE==0)
if ( OCR0A == 0) {
#else
if ( OCR0B == 0) {
#endif
} else {
uint16_t Voltage = (0x3ff & ADC_Get(act_hd44780_LIGHTSENSOR_AD));
#if (act_hd44780_TYPE==0)
OCR0A = Voltage/4;
if (OCR0A == 0) {
OCR0A = 1;
}
#else
OCR0B = Voltage/4;
if (OCR0B == 0) {
OCR0B = 1;
}
#endif
}
}
#endif
#if (act_hd44780_TYPE==0)
if (OCR0A==0 && (TCCR0A & ((1<<COM0A1)|(1<<WGM01)|(1<<WGM00))) == ((1<<COM0A1)|(1<<WGM01)|(1<<WGM00)))
{
TCCR0A &= ~((1<<COM0A1)|(1<<WGM01)|(1<<WGM00));
}
if (OCR0A!=0 && (TCCR0A & ((1<<COM0A1)|(1<<WGM01)|(1<<WGM00))) != ((1<<COM0A1)|(1<<WGM01)|(1<<WGM00)))
{
TCCR0A |= (1<<COM0A1)|(1<<WGM01)|(1<<WGM00);
}
#endif
}
void act_hd44780_HandleMessage(StdCan_Msg_t *rxMsg)
{
StdCan_Msg_t txMsg;
uint8_t n = 0;
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_HD44789 &&
rxMsg->Header.ModuleId == act_hd44780_ID)
{
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_HD44789_LCD_CLEAR:
lcd_clrscr();
break;
case CAN_MODULE_CMD_HD44789_LCD_CURSOR:
lcd_gotoxy(rxMsg->Data[0], rxMsg->Data[1]);
break;
case CAN_MODULE_CMD_HD44789_LCD_TEXTAT:
lcd_gotoxy(rxMsg->Data[0], rxMsg->Data[1]);
for (n = 2; n < rxMsg->Length; n++)
{
lcd_putc((char)rxMsg->Data[n]);
}
break;
/*
case CAN_MODULE_CMD_HD44789_LCD_CLEARROW:
lcd_gotoxy(0, rxMsg->Data[0]);
for (n = 0; n < act_hd44780_WIDTH; n++)
{
lcd_putc(' ');
}
break;
*/
case CAN_MODULE_CMD_HD44789_LCD_TEXT:
for (n = 0; n < rxMsg->Length; n++)
{
lcd_putc((char)rxMsg->Data[n]);
}
break;
case CAN_MODULE_CMD_HD44789_LCD_SIZE:
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_HD44789;
txMsg.Header.ModuleId = act_hd44780_ID;
txMsg.Header.Command = CAN_MODULE_CMD_HD44789_LCD_SIZE;
txMsg.Length = 2;
txMsg.Data[0] = act_hd44780_WIDTH;
txMsg.Data[1] = act_hd44780_HEIGHT;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
break;
case CAN_MODULE_CMD_HD44789_LCD_BACKLIGHT:
if (rxMsg->Length > 0) {
#if (act_hd44780_TYPE==0)
OCR0A = rxMsg->Data[0];
#else
OCR0B = rxMsg->Data[0];
#endif
#if act_hd44780_USE_AUTO_BL == 1
if (rxMsg->Length == 2) {
autoMode = rxMsg->Data[0];
}
#endif
}
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_HD44789;
txMsg.Header.ModuleId = act_hd44780_ID;
txMsg.Header.Command = CAN_MODULE_CMD_HD44789_LCD_BACKLIGHT;
txMsg.Length = 1;
#if (act_hd44780_TYPE==0)
txMsg.Data[0] = OCR0A;
#else
txMsg.Data[0] = OCR0B;
#endif
#if act_hd44780_USE_AUTO_BL == 1
txMsg.Data[1] = autoMode;
txMsg.Length = 2;
#endif
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
break;
}
}
}
void sns_counter_HandleMessage(StdCan_Msg_t *rxMsg)
{
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_SNS_COUNTER &&
rxMsg->Header.ModuleId == sns_counter_ID)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_COUNTER;
txMsg.Header.ModuleId = sns_counter_ID;
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
if (rxMsg->Length > 0)
{
sns_counter_ReportInterval = rxMsg->Data[0];
Timer_SetTimeout(sns_counter_SEND_TIMER, sns_counter_ReportInterval*1000 , TimerTypeFreeRunning, 0);
}
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
txMsg.Length = 1;
txMsg.Data[0] = sns_counter_ReportInterval;
StdCan_Put(&txMsg);
break;
case CAN_MODULE_CMD_COUNTER_SETCOUNTER:
if (rxMsg->Length != 5)
break;
if (
#ifdef sns_counter_CH0
(rxMsg->Data[0] != 0) &&
#endif
#ifdef sns_counter_CH1
(rxMsg->Data[0] != 1) &&
#endif
#ifdef sns_counter_CH2
(rxMsg->Data[0] != 2) &&
#endif
#ifdef sns_counter_CH3
(rxMsg->Data[0] != 3) &&
#endif
#ifdef sns_counter_CH4
(rxMsg->Data[0] != 4) &&
#endif
#ifdef sns_counter_CH5
(rxMsg->Data[0] != 5) &&
#endif
#ifdef sns_counter_CH6
(rxMsg->Data[0] != 6) &&
#endif
#ifdef sns_counter_CH7
(rxMsg->Data[0] != 7) &&
#endif
1)
break;
Count[rxMsg->Data[0]] = rxMsg->Data[4];
Count[rxMsg->Data[0]] += ((uint32_t)rxMsg->Data[3])<<8;
Count[rxMsg->Data[0]] += ((uint32_t)rxMsg->Data[2])<<16;
Count[rxMsg->Data[0]] += ((uint32_t)rxMsg->Data[1])<<24;
txMsg.Header.Command = CAN_MODULE_CMD_COUNTER_SETCOUNTER;
txMsg.Length = 5;
txMsg.Data[0] = rxMsg->Data[0]; // CH
txMsg.Data[4] = (uint8_t)Count[rxMsg->Data[0]] & 0xff;
txMsg.Data[3] = (uint8_t)(Count[rxMsg->Data[0]] >> 8) & 0xff;
txMsg.Data[2] = (uint8_t)(Count[rxMsg->Data[0]] >> 16) & 0xff;
txMsg.Data[1] = (uint8_t)(Count[rxMsg->Data[0]] >> 24) & 0xff;
StdCan_Put(&txMsg);
break;
}
}
void sns_flower_Process(void)
{
static uint8_t measureState=0;
static uint16_t results[6];
static uint16_t resultsInv[6];
uint16_t temp;
static uint8_t flowerChannelToSend = 0;
if (Timer_Expired(sns_flower_WAIT_TIMER)) {
gpio_set_out(sns_flower_highSide_PIN);
gpio_set_out(sns_flower_lowSide_PIN);
gpio_set_pin(sns_flower_highSide_PIN);
gpio_clr_pin(sns_flower_lowSide_PIN);
measureState=0;
Timer_SetTimeout(sns_flower_MEASUREMENT_TIMER, sns_flower_MEASUREMENT_PERIOD_MS , TimerTypeOneShot, 0);
}
if (Timer_Expired(sns_flower_MEASUREMENT_TIMER)) {
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_VOLTAGECURRENT;
txMsg.Header.ModuleId = sns_flower_ID;
txMsg.Length = 3;
switch (measureState) {
case 0:
#ifdef sns_flower0AD
results[0] = ADC_Get(sns_flower0AD);
#endif
#ifdef sns_flower1AD
results[1] = ADC_Get(sns_flower1AD);
#endif
#ifdef sns_flower2AD
results[2] = ADC_Get(sns_flower2AD);
#endif
#ifdef sns_flower3AD
results[3] = ADC_Get(sns_flower3AD);
#endif
#ifdef sns_flower4AD
results[4] = ADC_Get(sns_flower4AD);
#endif
#ifdef sns_flower5AD
results[5] = ADC_Get(sns_flower5AD);
#endif
gpio_clr_pin(sns_flower_highSide_PIN);
gpio_set_pin(sns_flower_lowSide_PIN);
measureState=1;
Timer_SetTimeout(sns_flower_MEASUREMENT_TIMER, sns_flower_MEASUREMENT_PERIOD_MS , TimerTypeOneShot, 0);
break;
case 1:
#ifdef sns_flower0AD
resultsInv[0] = 1023-ADC_Get(sns_flower0AD);
#endif
#ifdef sns_flower1AD
resultsInv[1] = 1023-ADC_Get(sns_flower1AD);
#endif
#ifdef sns_flower2AD
resultsInv[2] = 1023-ADC_Get(sns_flower2AD);
#endif
#ifdef sns_flower3AD
resultsInv[3] = 1023-ADC_Get(sns_flower3AD);
#endif
#ifdef sns_flower4AD
resultsInv[4] = 1023-ADC_Get(sns_flower4AD);
#endif
#ifdef sns_flower5AD
resultsInv[5] = 1023-ADC_Get(sns_flower5AD);
#endif
gpio_clr_pin(sns_flower_highSide_PIN);
gpio_clr_pin(sns_flower_lowSide_PIN);
gpio_set_in(sns_flower_highSide_PIN);
gpio_set_in(sns_flower_lowSide_PIN);
measureState=2;
flowerChannelToSend=0;
Timer_SetTimeout(sns_flower_MEASUREMENT_TIMER, sns_flower_MEASUREMENT_PERIOD_MS , TimerTypeOneShot, 0);
break;
case 2:
switch(flowerChannelToSend) {
case 0:
#ifdef sns_flower0AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 0;
temp = (uint16_t)((float)(results[0]+resultsInv[0])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 1;
# if !(defined(sns_flower1AD) || defined(sns_flower2AD) || defined(sns_flower3AD) || defined(sns_flower4AD) || defined(sns_flower5AD))
flowerChannelToSend = 0;
measureState=0;
# endif
break;
#endif
case 1:
#ifdef sns_flower1AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 1;
temp = (uint16_t)((float)(results[1]+resultsInv[1])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 2;
# if !(defined(sns_flower2AD) || defined(sns_flower3AD) || defined(sns_flower4AD) || defined(sns_flower5AD))
flowerChannelToSend = 0;
measureState=0;
# endif
break;
#endif
case 2:
#ifdef sns_flower2AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 2;
temp = (uint16_t)((float)(results[2]+resultsInv[2])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 3;
#if !(defined(sns_flower3AD) || defined(sns_flower4AD) || defined(sns_flower5AD))
flowerChannelToSend = 0;
measureState=0;
#endif
break;
#endif
case 3:
#ifdef sns_flower3AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 3;
temp = (uint16_t)((float)(results[3]+resultsInv[3])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 4;
#if !( defined(sns_flower4AD) || defined(sns_flower5AD))
flowerChannelToSend = 0;
measureState=0;
#endif
break;
#endif
case 4:
#ifdef sns_flower4AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 4;
temp = (uint16_t)((float)(results[4]+resultsInv[4])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 5;
#if !(defined(sns_flower5AD))
flowerChannelToSend = 0;
measureState=0;
#endif
break;
#endif
case 5:
#ifdef sns_flower5AD
txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PERCENT;
txMsg.Data[0] = 5;
temp = (uint16_t)((float)(results[5]+resultsInv[5])*4.888);
txMsg.Data[1] = (temp>>8)&0xff;
txMsg.Data[2] = (temp)&0xff;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK) {}
flowerChannelToSend = 0;
measureState=0;
break;
#endif
default:
measureState=0;
break;
}
if (measureState != 0) {
Timer_SetTimeout(sns_flower_MEASUREMENT_TIMER, sns_flower_CAN_MSG_PAUS_MS , TimerTypeOneShot, 0);
}
break;
}
}
}