void restoreOutputStates(void) {
int idx = 0;
byte o1 = eeRead(EE_PORTSTAT + 0);
byte o2 = eeRead(EE_PORTSTAT + 1);
for (idx = 0; idx < 8; idx++) {
if ((Ports[idx].cfg & 0x01) == 0) {
byte o = (o1 >> idx) & 0x01;
writeOutput(idx, o);
}
}
void setupIO(byte clr) {
int idx = 0;
// all digital I/O
ADCON0 = 0x00;
ADCON1 = 0x0F;
TRISBbits.TRISB5 = 0; // LED1 cbus activity
TRISBbits.TRISB7 = 0; // LED2 learning mode
TRISBbits.TRISB6 = 0; // LED3 running
TRISAbits.TRISA2 = 1; /* SW */
TRISCbits.TRISC0 = 1; /* RFID1 */
TRISCbits.TRISC1 = 1; /* RFID2 */
TRISCbits.TRISC2 = 1; /* RFID3 */
TRISCbits.TRISC3 = 1; /* RFID4 */
TRISCbits.TRISC4 = 1; /* RFID8 */
TRISCbits.TRISC5 = 1; /* RFID7 */
TRISCbits.TRISC6 = 1; /* RFID6 */
TRISCbits.TRISC7 = 1; /* RFID5 */
TRISAbits.TRISA0 = 1; /* SENS1 */
TRISAbits.TRISA1 = 1; /* SENS2 */
TRISAbits.TRISA3 = 1; /* SENS3 */
TRISAbits.TRISA4 = 1; /* SENS4 */
TRISAbits.TRISA5 = 1; /* SENS5 */
TRISBbits.TRISB0 = 1; /* SENS6 */
TRISBbits.TRISB4 = 1; /* SENS7 */
TRISBbits.TRISB1 = 1; /* SENS8 */
LED1 = PORT_OFF;
LED2 = PORT_OFF;
LED3 = PORT_OFF;
if (checkFlimSwitch() || eeRead(EE_CLEAN) == 0xFF) {
eeWrite(EE_CLEAN, 0);
for (idx = 0; idx < 16; idx++) {
eeWriteShort(EE_PORT_ADDR + 2 * idx, idx + 1);
}
for (idx = 0; idx < 5 * 5; idx++) {
eeWrite(EE_RFID + idx, 0);
}
}
for (idx = 0; idx < 8; idx++) {
RFID[idx].addr = eeReadShort(EE_PORT_ADDR + 2 * idx);
Sensor[idx].addr = eeReadShort(EE_PORT_ADDR + 16 + 2 * idx);
// read rfid for SoD
RFID[idx].data[0] = eeRead(EE_SCANRFID + idx * 5 + 0);
RFID[idx].data[1] = eeRead(EE_SCANRFID + idx * 5 + 1);
RFID[idx].data[2] = eeRead(EE_SCANRFID + idx * 5 + 2);
RFID[idx].data[3] = eeRead(EE_SCANRFID + idx * 5 + 3);
RFID[idx].data[4] = eeRead(EE_SCANRFID + idx * 5 + 4);
}
for (idx = 0; idx < 5; idx++) {
AllowedRFID[idx].data[0] = eeRead(EE_RFID + idx * 5 + 0);
AllowedRFID[idx].data[1] = eeRead(EE_RFID + idx * 5 + 1);
AllowedRFID[idx].data[2] = eeRead(EE_RFID + idx * 5 + 2);
AllowedRFID[idx].data[3] = eeRead(EE_RFID + idx * 5 + 3);
AllowedRFID[idx].data[4] = eeRead(EE_RFID + idx * 5 + 4);
}
}
void main(void) {
unsigned char swTrig = 0;
byte l3 = 1;
lDelay();
Wait4NN = FALSE;
isLearning = FALSE;
led1timer = 0;
doSOD = 0;
ioIdx = 0;
doEV = 0;
evIdx = 0;
NV1 = eeRead(EE_NV);
initIO();
resetOutputs();
NN_temp = eeRead(EE_NN) * 256;
NN_temp += eeRead(EE_NN + 1);
if (NN_temp == 0 || NN_temp == 0xFFFF)
NN_temp = DEFAULT_NN;
CANID = eeRead(EE_CANID);
if (CANID == 0 || CANID == 0xFF)
CANID = NN_temp & 0xFF;
initCAN();
delay();
restoreOutputStates();
delay();
SOD = eeRead(EE_SOD) * 256;
SOD += eeRead(EE_SOD + 1);
if (SOD == 0 || SOD == 0xFFFF)
SOD = DEFAULT_SOD;
// Loop forever (nothing lasts forever...)
while (1) {
CANMsg cmsg;
unsigned char txed = 0;
LED3 = PORT_ON;
l3 ^= 1;
// Check for Rx packet and setup pointer to it
while (canbusRecv(&cmsg)) {
// Decode the new command
LED1 = 1;
led1timer = 20;
txed = parseCmd(&cmsg);
}
LED3 = PORT_OFF;
doTimedOff(ioIdx);
if (checkInput(ioIdx, doSOD)) {
ioIdx++;
if (ioIdx >= 16) {
ioIdx = 0;
doSOD = 0;
}
}
if (l3) {
if (doPortEvent(evIdx)) {
evIdx++;
if (evIdx >= 16) {
evIdx = 0;
doEV = 0;
}
}
}
if (checkFlimSwitch() && !swTrig) {
swTrig = 1;
} else if (!checkFlimSwitch() && swTrig) {
swTrig = 0;
if (Wait4NN) {
Wait4NN = 0;
LED2 = 0;
} else {
CANMsg canmsg;
LED2 = 1;
canmsg.b[d0] = OPC_RQNN;
canmsg.b[d1] = NN_temp / 256;
canmsg.b[d2] = NN_temp % 256;
canmsg.b[dlc] = 3;
canbusSend(&canmsg);
Wait4NN = 1;
}
}
}
}
void setupIO(byte clr) {
int idx = 0;
byte firstTime = eeRead(EE_FIRSTTIME);
// all digital I/O
ADCON0 = 0x00;
ADCON1 = 0x0F;
TRISBbits.TRISB6 = 0; /* LED1 */
TRISBbits.TRISB7 = 0; /* LED2 */
TRISBbits.TRISB5 = 0; /* LED3 */
TRISAbits.TRISA2 = 1; /* Push button */
LED1 = 0;
LED2 = 0;
LED3 = 0;
if (firstTime == 0xFF) {
eeWrite(EE_FIRSTTIME, 0);
clr = TRUE;
}
// following presets are written to eeprom if the flim switch is preshed at boot
// preset port 1-8 as output
for (idx = 0; idx < 8; idx++) {
Ports[idx].cfg = PORTCFG_OUT;
Ports[idx].status = 0;
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = 0;
Ports[idx].addr = idx + 1;
if (clr) {
eeWrite(EE_PORTCFG + idx, Ports[idx].cfg);
eeWriteShort(EE_PORTNN + (2 * idx), Ports[idx].evtnn);
eeWriteShort(EE_PORTADDR + (2 * idx), Ports[idx].addr);
}
}
// preset port 9-16 as input with off delay
for (idx = 8; idx < 16; idx++) {
Ports[idx].cfg = PORTCFG_IN | PORTCFG_OFFDELAY;
Ports[idx].status = 0;
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = 0;
Ports[idx].addr = idx + 1;
if (clr) {
eeWrite(EE_PORTCFG + idx, Ports[idx].cfg);
eeWriteShort(EE_PORTNN + (2 * idx), Ports[idx].evtnn);
eeWriteShort(EE_PORTADDR + (2 * idx), Ports[idx].addr);
}
}
if (clr) {
eeWrite(EE_PORTSTAT + 0, 0);
eeWrite(EE_PORTSTAT + 1, 0);
}
for (idx = 0; idx < 16; idx++) {
Ports[idx].cfg = eeRead(EE_PORTCFG + idx);
if ((Ports[idx].cfg & PORTCFG_IO) == PORTCFG_OUT)
Ports[idx].status = eeRead(EE_PORTSTAT + idx);
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = eeReadShort(EE_PORTNN + (2 * idx));
Ports[idx].addr = eeReadShort(EE_PORTADDR + (2 * idx));
}
for (idx = 0; idx < 16; idx++)
configPort(idx);
}
/*
* ee_read_short() - read a short (16 bit) word from EEPROM
*
* Data is stored in little endian format
*/
unsigned short eeReadShort(unsigned char addr) {
unsigned char byte_addr = addr;
unsigned short ret = eeRead(byte_addr++);
ret = ret | ((unsigned short) eeRead(byte_addr) << 8);
return ret;
}