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_Init(void)
{
#if act_output_USEEEPROM==1
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
uint8_t index = 0;
#ifdef act_output_CH0
chnValue[index] = eeprom_read_byte(EEDATA.ch0);
index++;
#endif
#ifdef act_output_CH1
chnValue[index] = eeprom_read_byte(EEDATA.ch1);
index++;
#endif
#ifdef act_output_CH2
chnValue[index] = eeprom_read_byte(EEDATA.ch2);
index++;
#endif
#ifdef act_output_CH3
chnValue[index] = eeprom_read_byte(EEDATA.ch3);
index++;
#endif
#ifdef act_output_CH4
chnValue[index] = eeprom_read_byte(EEDATA.ch4);
index++;
#endif
#ifdef act_output_CH5
chnValue[index] = eeprom_read_byte(EEDATA.ch5);
index++;
#endif
#ifdef act_output_CH6
chnValue[index] = eeprom_read_byte(EEDATA.ch6);
index++;
#endif
#ifdef act_output_CH7
chnValue[index] = eeprom_read_byte(EEDATA.ch7);
index++;
#endif
#ifdef act_output_CH8
chnValue[index] = eeprom_read_byte(EEDATA.ch8);
index++;
#endif
#ifdef act_output_CH9
chnValue[index] = eeprom_read_byte(EEDATA.ch9);
index++;
#endif
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
#ifdef act_output_CH0
eeprom_write_byte_crc(EEDATA.ch0, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH1
eeprom_write_byte_crc(EEDATA.ch1, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH2
eeprom_write_byte_crc(EEDATA.ch2, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH3
eeprom_write_byte_crc(EEDATA.ch3, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH4
eeprom_write_byte_crc(EEDATA.ch4, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH5
eeprom_write_byte_crc(EEDATA.ch5, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH6
eeprom_write_byte_crc(EEDATA.ch6, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH7
eeprom_write_byte_crc(EEDATA.ch7, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH8
eeprom_write_byte_crc(EEDATA.ch8, 0x00, WITHOUT_CRC);
#endif
#ifdef act_output_CH9
eeprom_write_byte_crc(EEDATA.ch9, 0x00, WITHOUT_CRC);
#endif
EEDATA_UPDATE_CRC;
}
#endif
///Initialize hardware
uint8_t index = 0;
#if act_output_CH0PCA95xxIO==1 |act_output_CH1PCA95xxIO==1 | act_output_CH2PCA95xxIO==1 | act_output_CH3PCA95xxIO==1 | act_output_CH4PCA95xxIO==1 | act_output_CH5PCA95xxIO==1 | act_output_CH6PCA95xxIO==1 | act_output_CH7PCA95xxIO==1
Pca95xx_Init(0);
#endif
#ifdef act_output_CH0
#if act_output_CH0PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH0);
gpio_set_out(act_output_CH0);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH0);
Pca95xx_set_out(act_output_CH0);
#endif
index++;
#endif
#ifdef act_output_CH1
#if act_output_CH1PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH1);
gpio_set_out(act_output_CH1);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH1);
Pca95xx_set_out(act_output_CH1);
#endif
index++;
#endif
#ifdef act_output_CH2
#if act_output_CH2PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH2);
gpio_set_out(act_output_CH2);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH2);
Pca95xx_set_out(act_output_CH2);
#endif
index++;
#endif
#ifdef act_output_CH3
#if act_output_CH3PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH3);
gpio_set_out(act_output_CH3);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH3);
Pca95xx_set_out(act_output_CH3);
#endif
index++;
#endif
#ifdef act_output_CH4
#if act_output_CH4PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH4);
gpio_set_out(act_output_CH4);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH4);
Pca95xx_set_out(act_output_CH4);
#endif
index++;
#endif
#ifdef act_output_CH5
#if act_output_CH5PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH5);
gpio_set_out(act_output_CH5);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH5);
Pca95xx_set_out(act_output_CH5);
#endif
index++;
#endif
#ifdef act_output_CH6
#if act_output_CH6PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH6);
gpio_set_out(act_output_CH6);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH6);
Pca95xx_set_out(act_output_CH6);
#endif
index++;
#endif
#ifdef act_output_CH7
#if act_output_CH7PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH7);
gpio_set_out(act_output_CH7);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH7);
Pca95xx_set_out(act_output_CH7);
#endif
index++;
#endif
#ifdef act_output_CH8
#if act_output_CH8PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH8);
gpio_set_out(act_output_CH8);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH8);
Pca95xx_set_out(act_output_CH8);
#endif
index++;
#endif
#ifdef act_output_CH9
#if act_output_CH9PCA95xxIO==0
gpio_set_statement(chnValue[index],act_output_CH9);
gpio_set_out(act_output_CH9);
#else
Pca95xx_set_statement(chnValue[index],act_output_CH9);
Pca95xx_set_out(act_output_CH9);
#endif
index++;
#endif
}
void act_protectedOutput_Init() {
/*
* Init target state vector, in case EEPROM is disabled
*/
for (uint8_t i=0; i<act_protectedOutput_CH_COUNT; i++) {
chTargetState[i] = 0;
}
/*
* Configure DIAG input pin
*/
if (act_protectedOutput_DIAG_PIN_PULL_ENABLED) {
// if DIAG is asserted low, we need pull-up
gpio_set_statement(act_protectedOutput_DIAG_PIN_POLARITY == 0 ? 1 : 0, DIAG_PIN);
}
gpio_set_in(DIAG_PIN);
Pcint_SetCallbackPin(act_protectedOutput_DIAG_PIN_PCINT, DIAG_PIN, &pcIntCallback);
/*
* Read EEPROM data
*/
#if act_protectedOutput_EEPROM_ENABLED == 1
if (EEDATA_OK) {
#if act_protectedOutput_CH_COUNT >= 1
chTargetState[0] = eeprom_read_byte(EEDATA.ch0);
#endif
#if act_protectedOutput_CH_COUNT >= 2
chTargetState[1] = eeprom_read_byte(EEDATA.ch1);
#endif
#if act_protectedOutput_CH_COUNT >= 3
chTargetState[2] = eeprom_read_byte(EEDATA.ch2);
#endif
#if act_protectedOutput_CH_COUNT >= 4
chTargetState[3] = eeprom_read_byte(EEDATA.ch3);
#endif
}
else {
//The CRC of the EEPROM is not correct, store default values and update CRC
#if act_protectedOutput_CH_COUNT >= 1
eeprom_write_byte_crc(EEDATA.ch0, 0x00, WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 2
eeprom_write_byte_crc(EEDATA.ch1, 0x00, WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 3
eeprom_write_byte_crc(EEDATA.ch2, 0x00, WITHOUT_CRC);
#endif
#if act_protectedOutput_CH_COUNT >= 4
eeprom_write_byte_crc(EEDATA.ch3, 0x00, WITHOUT_CRC);
#endif
EEDATA_UPDATE_CRC;
}
#endif
/*
* Configure OUTPUT pins
*/
#if act_protectedOutput_CH_COUNT >= 1
gpio_set_statement(CH0_OFF, CH0_PIN);
gpio_set_out(act_protectedOutput_CH0);
#endif
#if act_protectedOutput_CH_COUNT >= 2
gpio_set_statement(CH1_OFF, CH1_PIN);
gpio_set_out(act_protectedOutput_CH1);
#endif
#if act_protectedOutput_CH_COUNT >= 3
gpio_set_statement(CH2_OFF, CH2_PIN);
gpio_set_out(act_protectedOutput_CH2);
#endif
#if act_protectedOutput_CH_COUNT >= 4
gpio_set_statement(CH3_OFF, CH3_PIN);
gpio_set_out(act_protectedOutput_CH3);
#endif
diagState = DIAG_NORMAL;
}
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;
}
}
}
static void updateOutput(uint8_t skipDiagCheck) {
#if act_protectedOutput_CH_COUNT >= 1
if (chTargetState[0] == 0) {
gpio_set_statement(CH0_OFF, CH0_PIN);
}
else if (chTargetState[0] == 1) {
if (diagState == DIAG_NORMAL || skipDiagCheck) {
gpio_set_statement(CH0_ON, CH0_PIN);
}
else {
// DIAG override, we cannot set ON state right now
gpio_set_statement(CH0_OFF, CH0_PIN);
}
}
#endif
#if act_protectedOutput_CH_COUNT >= 2
if (chTargetState[1] == 0) {
gpio_set_statement(CH1_OFF, CH1_PIN);
}
else if (chTargetState[1] == 1) {
if (diagState == DIAG_NORMAL || skipDiagCheck) {
gpio_set_statement(CH1_ON, CH1_PIN);
}
else {
// DIAG override, we cannot set ON state right now
gpio_set_statement(CH1_OFF, CH1_PIN);
}
}
#endif
#if act_protectedOutput_CH_COUNT >= 3
if (chTargetState[2] == 0) {
gpio_set_statement(CH2_OFF, CH2_PIN);
}
else if (chTargetState[2] == 1) {
if (diagState == DIAG_NORMAL || skipDiagCheck) {
gpio_set_statement(CH2_ON, CH2_PIN);
}
else {
// DIAG override, we cannot set ON state right now
gpio_set_statement(CH2_OFF, CH2_PIN);
}
}
#endif
#if act_protectedOutput_CH_COUNT >= 4
if (chTargetState[3] == 0) {
gpio_set_statement(CH3_OFF, CH3_PIN);
}
else if (chTargetState[3] == 1) {
if (diagState == DIAG_NORMAL || skipDiagCheck) {
gpio_set_statement(CH3_ON, CH3_PIN);
}
else {
// DIAG override, we cannot set ON state right now
gpio_set_statement(CH3_OFF, CH3_PIN);
}
}
#endif
}
