void sns_irTransmit_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_IRTRANSMIT &&
rxMsg->Header.ModuleId == sns_irTransmit_ID)
{
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_PHYSICAL_IR:
if (sns_irTransmit_state == sns_irTransmit_STATE_IDLE && rxMsg->Data[0] == CAN_MODULE_ENUM_PHYSICAL_IR_STATUS_PRESSED)
{
sns_irTransmit_proto.protocol = rxMsg->Data[1];
sns_irTransmit_proto.data = rxMsg->Data[2];
sns_irTransmit_proto.data = sns_irTransmit_proto.data<<8;
sns_irTransmit_proto.data |= rxMsg->Data[3];
sns_irTransmit_proto.data = sns_irTransmit_proto.data<<8;
sns_irTransmit_proto.data |= rxMsg->Data[4];
sns_irTransmit_proto.data = sns_irTransmit_proto.data<<8;
sns_irTransmit_proto.data |= rxMsg->Data[5];
sns_irTransmit_state = sns_irTransmit_STATE_START_TRANSMIT;
}
else if (sns_irTransmit_state != sns_irTransmit_STATE_IDLE && rxMsg->Data[0] == CAN_MODULE_ENUM_PHYSICAL_IR_STATUS_RELEASED)
{
sns_irTransmit_stop = 1;
}
break;
}
}
}
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 chn_ChnMaster_HandleMessage(StdCan_Msg_t *rxMsg)
{
uint8_t i,j;
uint16_t channel_id;
uint16_t value;
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_CHN)
{
if( (rxMsg->Id & (1L<<24)) == 0 ) { /* Value */
channel_id = (rxMsg->Id >> 8) & 0xFFFF;
for( j=0; j<(rxMsg->Length&~1); j+=2 ) {
value = (rxMsg->Data[j]<<8) | rxMsg->Data[j+1];
for( i=0; i<chn_ChnMaster_listenCount; i++ ) {
if( chn_ChnMaster_listeners[i].channel_id == channel_id ) {
(*chn_ChnMaster_listeners[i].update_func)( channel_id, value );
}
}
channel_id++;
}
} else { /* Metadata */
}
}
}
void act_protectedOutput_HandleMessage(StdCan_Msg_t *rxMsg) {
if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_SNS_PROTECTEDOUTPUT &&
rxMsg->Header.ModuleId == act_protectedOutput_ID)
{
switch (rxMsg->Header.Command) {
case CAN_MODULE_CMD_PHYSICAL_SETPIN:
/*
* This message is used to activate/deactivate
* an output channel.
*/
if (rxMsg->Length == 2) {
uint8_t channel = rxMsg->Data[0];
if (channel >= 0 && channel < act_protectedOutput_CH_COUNT) {
chTargetState[channel] = rxMsg->Data[1];
readDiagPin();
#if act_protectedOutput_FORCED_RETRIES == 1
updateOutput(1);
#else
updateOutput(0);
#endif
#if act_protectedOutput_EEPROM_ENABLED == 1
// output states changed, store to EE after this timer delay
Timer_SetTimeout(act_protectedOutput_STORE_VALUE_TIMEOUT, act_protectedOutput_STORE_VALUE_TIMEOUT_TIME_S*1000, TimerTypeOneShot, 0);
#endif
}
StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
rxMsg->Length = 2;
while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
}
break;
}
}
}
void act_linearAct_HandleMessage(StdCan_Msg_t *rxMsg)
{
uint16_t i;
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_LINEARACT &&
rxMsg->Header.ModuleId == act_linearAct_ID)
{
switch (rxMsg->Header.Command) {
case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
act_linearAct_ReportInterval = rxMsg->Data[0];
Timer_SetTimeout(act_linearAct_TIMER_report, act_linearAct_ReportInterval*1000 , TimerTypeFreeRunning, 0);
break;
case CAN_MODULE_CMD_LINEARACT_POSITION:
if (rxMsg->Length >= 3) { // remain forward compatible by allowing longer messages, but not shorter
if (rxMsg->Data[2] != 0) {
Timer_SetTimeout(act_linearAct_TIMER_report, 750 , TimerTypeFreeRunning, 0);
linearAct_setPosition(((uint16_t)rxMsg->Data[0] << 8) + rxMsg->Data[1]);
} else { // Data[2] signals moving speed, where zero stands for stop and also triggers transmission of limits
linearAct_stop();
// wait until complete stop (with timeout)
i = 0;
do {
if (direction == 0) break;
_delay_ms(10);
i++;
} while (i < 200);
linearAct_sendPosition(0);
linearAct_sendLimits(0);
}
}
break;
case CAN_MODULE_CMD_LINEARACT_LIMITS:
if (rxMsg->Length == 8) {
min = (rxMsg->Data[0] << 8) + rxMsg->Data[1];
low = (rxMsg->Data[2] << 8) + rxMsg->Data[3];
high = (rxMsg->Data[4] << 8) + rxMsg->Data[5];
max = (rxMsg->Data[6] << 8) + rxMsg->Data[7];
// pulses are already saved. eeprom_write_word_crc(EEDATA16.pulses_ee, 1200, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.min_ee, min, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.low_ee, low, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.high_ee, high, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.max_ee, max, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
break;
case CAN_MODULE_CMD_LINEARACT_CALIBRATION: // set limits to absolute maximum to allow full movement
min = 0;
low = 0;
high = 0xFFFF;
max = 0xFFFF;
if (rxMsg->Length >= 2) { // optional: set start position. Note! This will definitly ruin the old calibration.
pulses = (rxMsg->Data[0] << 8) + rxMsg->Data[1];
}
break;
default:
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 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 act_output_HandleMessage(StdCan_Msg_t *rxMsg)
{
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_OUTPUT &&
rxMsg->Header.ModuleId == act_output_ID)
{
uint8_t index = 0;
uint8_t value = 0;
switch (rxMsg->Header.Command)
{
case CAN_MODULE_CMD_PHYSICAL_SETPIN:
index = 0;
if (rxMsg->Length == 2) {
#ifdef act_output_CH0
if (rxMsg->Data[0] == 0) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH0PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH0);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH0);
#endif
}
index++;
#endif
#ifdef act_output_CH1
if (rxMsg->Data[0] == 1) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH1PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH1);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH1);
#endif
}
index++;
#endif
#ifdef act_output_CH2
if (rxMsg->Data[0] == 2) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH2PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH2);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH2);
#endif
}
index++;
#endif
#ifdef act_output_CH3
if (rxMsg->Data[0] == 3) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH3PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH3);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH3);
#endif
}
index++;
#endif
#ifdef act_output_CH4
if (rxMsg->Data[0] == 4) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH4PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH4);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH4);
#endif
}
index++;
#endif
#ifdef act_output_CH5
if (rxMsg->Data[0] == 5) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH5PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH5);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH5);
#endif
}
index++;
#endif
#ifdef act_output_CH6
if (rxMsg->Data[0] == 6) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH6PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH6);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH6);
#endif
}
index++;
#endif
#ifdef act_output_CH7
if (rxMsg->Data[0] == 7) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH7PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH7);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH7);
#endif
}
index++;
#endif
#ifdef act_output_CH8
if (rxMsg->Data[0] == 8) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH8PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH8);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH8);
#endif
}
index++;
#endif
#ifdef act_output_CH9
if (rxMsg->Data[0] == 9) {
chnValue[index] = rxMsg->Data[1];
#if act_output_CH9PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH9);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH9);
#endif
}
index++;
#endif
Timer_SetTimeout(act_output_STORE_VALUE_TIMEOUT, act_output_STORE_VALUE_TIMEOUT_TIME_S*1000, TimerTypeOneShot, 0);
StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
rxMsg->Length = 2;
while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
} else {
index = 0;
#ifdef act_output_CH0
if (rxMsg->Data[0] == 0) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH1
if (rxMsg->Data[0] == 1) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH2
if (rxMsg->Data[0] == 2) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH3
if (rxMsg->Data[0] == 3) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH4
if (rxMsg->Data[0] == 4) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH5
if (rxMsg->Data[0] == 5) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH6
if (rxMsg->Data[0] == 6) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH7
if (rxMsg->Data[0] == 7) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH8
if (rxMsg->Data[0] == 8) {value = chnValue[index];}
index++;
#endif
#ifdef act_output_CH9
if (rxMsg->Data[0] == 9) {value = chnValue[index];}
index++;
#endif
rxMsg->Data[1] = value;
StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
rxMsg->Length = 2;
while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
}
break;
}
}
}
