int main(void )
{
setupHardware();
init_CIM_frame();
old_PIND=PIND;
old_PINB=PINB;
sei(); // enable global interrupts
while (1)
{
parse_CIM_protocol();
if (send_ADCFrame_now) // this is updated in the timer ISR !!
{
send_ADCFrame_now=0;
autoreply_num++;
if (autoreply_num==0) autoreply_num=0x80;
CIM_frame.cim_feature=ARDUINO_CIM_FEATURE_ADCREPORT;
CIM_frame.serial_number=autoreply_num;
CIM_frame.reply_code=CMD_EVENT_REPLY;
generate_ADCFrame();
reply_DataFrame();
//DDRB |= (1<<5); PORTB ^= (1<<5); // indicate frame send with led
}
if (check_PINChange_now) // this is updated in the timer ISR !!
{
check_PINChange_now=0;
// has a selected pin changed ?
if ( ((old_PIND ^ PIND) & PIND_Mask) || ((old_PINB ^ PINB) & PINB_Mask))
{
old_PIND=PIND;
old_PINB=PINB;
autoreply_num++;
if (autoreply_num==0) autoreply_num=0x80;
CIM_frame.cim_feature=ARDUINO_CIM_FEATURE_GET_PINVALUES;
CIM_frame.serial_number=autoreply_num;
CIM_frame.reply_code=CMD_EVENT_REPLY;
generate_PINFrame();
reply_DataFrame();
}
}
}
}
uint8_t process_ARE_frame(uint8_t status_code)
{
uint8_t ack_needed;
uint8_t data_size=0;
uint8_t command;
uint8_t bitmask = 0;
// LEDs_ToggleLEDs(LED0); // indicate correct frame
command=(uint8_t)ARE_frame.request_code;
CIM_frame.cim_feature=ARE_frame.cim_feature;
CIM_frame.serial_number=ARE_frame.serial_number;
CIM_frame.reply_code=(((uint16_t)status_code)<<8) + command;
data_size=(uint8_t)ARE_frame.data_size;
ack_needed=1;
// if ((status_code & (CIM_ERROR_INVALID_ARE_VERSION | CIM_ERROR_CRC_MISMATCH)) == 0)
if ((status_code & CIM_ERROR_INVALID_ARE_VERSION) == 0)
{
// UART_Print(" feature "); UART_Putchar(command);
// no serious packet error
switch (command) { // process requested command
case CMD_REQUEST_FEATURELIST:
if (data_size==0) {
reply_FeatureList(); // reply requested feature list
ack_needed=0;
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case CMD_REQUEST_RESET_CIM:
if (data_size!=0) status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case CMD_REQUEST_START_CIM:
if (data_size==0) {
enable_timer_ISR();
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case CMD_REQUEST_STOP_CIM:
if (data_size==0) {
// LEDs_ToggleLEDs(LED4); // indicate reset CIM
first_packet=1; // reset first frame indicator etc.
disable_timer_ISR();
DDRD = 0x00;
servo3_en = 0;
disable_PWM(3);
servo5_en = 0;
disable_PWM(5);
servo6_en = 0;
disable_PWM(6);
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case CMD_REQUEST_READ_FEATURE: // read feature from CIM
switch (ARE_frame.cim_feature) {
case ARDUINO_CIM_FEATURE_UNIQUENUMBER: // read unique serial number
if (data_size==0) {
reply_UniqueNumber();
ack_needed=0;
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case ARDUINO_CIM_FEATURE_GET_PINVALUES:
generate_PINFrame();
reply_DataFrame();
ack_needed=0;
break;
case ARDUINO_CIM_FEATURE_ADCREPORT:
generate_ADCFrame();
reply_DataFrame();
ack_needed=0;
break;
default: // not a valid read feature;
status_code |= CIM_ERROR_INVALID_FEATURE;
}
break;
case CMD_REQUEST_WRITE_FEATURE: // write feature to CIM
switch (ARE_frame.cim_feature) { // which feature address ?
case ARDUINO_CIM_FEATURE_SET_PINDIRECTION: // set DDR registers
if (data_size==2) {
DDRD=ARE_frame.data[0];
DDRB=ARE_frame.data[1];
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case ARDUINO_CIM_FEATURE_SET_PINSTATE: // set PORT registers
if (data_size==2) {
//check for running PWM
bitmask = 0xFF;
if(is_active_PWM(3)) bitmask &= ~(1<<PD3);
if(is_active_PWM(6)) bitmask &= ~(1<<PD5);
if(is_active_PWM(5)) bitmask &= ~(1<<PD6);
if(servo3_en) bitmask &= ~(1<<PD3);
if(servo5_en) bitmask &= ~(1<<PD5);
if(servo6_en) bitmask &= ~(1<<PD6);
PORTD=ARE_frame.data[0] & bitmask;
PORTB=ARE_frame.data[1];
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case ARDUINO_CIM_FEATURE_SET_ADCPERIOD:
if (data_size==2) {
cli();
ADC_updatetime= (uint16_t)ARE_frame.data[0];
ADC_updatetime+= ((uint16_t)ARE_frame.data[1])<<8;
sei();
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case ARDUINO_CIM_FEATURE_SET_PINMASK:
if (data_size==2) {
//check for running PWM
bitmask = 0xFF;
if(is_active_PWM(3)) bitmask &= ~(1<<PD3);
if(is_active_PWM(5)) bitmask &= ~(1<<PD5);
if(is_active_PWM(6)) bitmask &= ~(1<<PD6);
if(servo3_en) bitmask &= ~(1<<PD3);
if(servo5_en) bitmask &= ~(1<<PD5);
if(servo6_en) bitmask &= ~(1<<PD6);
PIND_Mask=ARE_frame.data[0] & bitmask;
PINB_Mask=ARE_frame.data[1];
PCMSK0 = ARE_frame.data[1] & 0x3F; //enable pin change sensing on pins PB0-PB5 (PB6-7 are not connected)
PCMSK2 = ARE_frame.data[0] & bitmask; //pin change sensing enable on port D
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
case ARDUINO_CIM_FEATURE_SET_PWM:
if (data_size==2) {
switch(ARE_frame.data[0] & 0xF0) //high nibble: operational mode of the output pin (PWM 1kHz-28kHz, servo or disabled)
{
case 0x10: // Servo output
switch(ARE_frame.data[0] & 0x0F) //low nibble: selected output pin
{
case 0x03: //output pin 3
disable_PWM(3);
servo3_en = 1;
servo[0] = ARE_frame.data[1] * 79 + 13000; //extend range to timer values
DDRD |= (1<<PD3);
enable_servo_ISR();
break;
case 0x05: //output pin 5
disable_PWM(5);
servo5_en = 1;
servo[1] = ARE_frame.data[1] * 79 + 13000; //extend range to timer values
DDRD |= (1<<PD5);
enable_servo_ISR();
break;
case 0x06: //output pin 6
disable_PWM(6);
servo6_en = 1;
servo[2] = ARE_frame.data[1] * 79 + 13000; //extend range to timer values
DDRD |= (1<<PD6);
enable_servo_ISR();
break;
}
break;
case 0x20: //PWM 500Hz output
switch(ARE_frame.data[0] & 0x0F) //low nibble: selected output pin
{
case 0x03: //output pin 3
servo3_en = 0;
pwm3 = ARE_frame.data[1];
enable_PWM_500Hz(3);
break;
case 0x05: //output pin 5
servo5_en = 0;
pwm5 = ARE_frame.data[1];
enable_PWM_500Hz(5);
break;
case 0x06: //output pin 6
servo6_en = 0;
pwm6 = ARE_frame.data[1];
enable_PWM_500Hz(6);
break;
}
break;
//disabled due to speed limitations of the controller
/*case 0x30: //PWM 10kHz output
switch(ARE_frame.data[0] & 0x0F) //low nibble: selected output pin
{
case 0x03: //output pin 3
pwm3 = ARE_frame.data[1];
enable_PWM_10kHz(3);
break;
case 0x05: //output pin 5
pwm5 = ARE_frame.data[1];
enable_PWM_10kHz(5);
break;
case 0x06: //output pin 6
pwm6 = ARE_frame.data[1];
enable_PWM_10kHz(6);
break;
}
break;
case 0x40: //PWM 28kHz output
switch(ARE_frame.data[0] & 0x0F) //low nibble: selected output pin
{
case 0x03: //output pin 3
pwm3 = ARE_frame.data[1];
enable_PWM_28kHz(3);
break;
case 0x05: //output pin 5
pwm5 = ARE_frame.data[1];
enable_PWM_28kHz(5);
break;
case 0x06: //output pin 6
pwm6 = ARE_frame.data[1];
enable_PWM_28kHz(6);
break;
}
break;*/
default: //default: disable
switch(ARE_frame.data[0] & 0x0F) //low nibble: selected output pin
{
case 0x03: //output pin 3
DDRD &= ~(1<<PD3);
PORTD &= ~(1<<PD3);
servo3_en = 0;
disable_PWM(3);
if(!(servo5_en | servo6_en)) disable_servo_ISR();
break;
case 0x05: //output pin 5
DDRD &= ~(1<<PD5);
PORTD &= ~(1<<PD5);
servo5_en = 0;
disable_PWM(5);
if(!(servo3_en | servo6_en)) disable_servo_ISR();
break;
case 0x06: //output pin 6
DDRD &= ~(1<<PD6);
PORTD &= ~(1<<PD6);
servo6_en = 0;
disable_PWM(6);
if(!(servo3_en | servo5_en)) disable_servo_ISR();
break;
}
break;
}
} else status_code |= CIM_ERROR_INVALID_FEATURE;
break;
default: // not a valid write feature;
status_code |= CIM_ERROR_INVALID_FEATURE;
}
}
}
if (status_code & CIM_ERROR_INVALID_FEATURE) { // invalid data size or feature
// LEDs_ToggleLEDs(LED5); // indicate wrong feature
// UART_Print(" invalid data size or no feature ");
}
if (ack_needed) {
reply_Acknowledge();
}
return(1);
}