void eepromSaveByte(uint16_t pos, uint8_t value)
{
if (eepromReadByte(pos) != value)
{
eeprom_write_byte((uint8_t*)pos, value);
}
}
void eepromReadStr(uint16_t pos, char* target, uint8_t limit)
{
memset(target, '\0', limit);
for (uint8_t i=0; i<limit; i++)
{
target[i] = eepromReadByte(pos+i);
}
}
void updateSimpleSensors(void)
{
ADC_Init();
//Send ADC+digital pins
//ADC pins
for (uint8_t i=0; i<=7; i++)
{
uint8_t eepos = 100 + i;
simpleSensorTypes[i] = eepromReadByte(eepos);
if (simpleSensorTypes[i] == TYPE_ADC) //ADC
{
simpleSensorValues[i] = readAdc(i);
}
if (simpleSensorTypes[i] == TYPE_DIGIN) //DIGITAL
{
if (GETBIT(PINA, i) > 0)
simpleSensorValues[i] = 1;
else
simpleSensorValues[i] = 0;
}
}
ADCSRA &= ~(1 << ADEN); //disable ADC to save power
//Digital pins
for (uint8_t i=0; i<=3; i++)
{
uint8_t eepos = 110 + i;
simpleSensorTypes[i+8] = eepromReadByte(eepos);
if (simpleSensorTypes[i+8] == TYPE_DIGIN || simpleSensorTypes[i+8] == TYPE_DIGOUT) //DIGITAL
{
//Digital pins is C2-5
if (GETBIT(PINC, (i+2)) > 0)
simpleSensorValues[i+8] = 1;
else
simpleSensorValues[i+8] = 0;
}
}
//3=COUNTER, not handled here, 0=digital out
}
void loadSimpleSensorData()
{
for (uint16_t i=0; i<MAXSENSORS*SENSORSIZE; i++)
sensorValues[i] = 0;
for (uint16_t i=0; i<MAXSENSORS*8; i++)
sensorScan[i] = 0;
//To load initial type values from eeprom
for (int i=0; i<=7; i++)
{
uint8_t pos = 100+i;
simpleSensorTypes[i] = eepromReadByte(pos);
simpleSensorDebounce[i] = 0;
if (simpleSensorTypes[i] == 3) //counter
{
uint8_t eepos = 140 + (i*2);
simpleSensorValues[i] = eepromReadWord(eepos);
} else {
simpleSensorValues[i] = 0;
}
}
//To load initial type values from eeprom
for (int i=0; i<=3; i++)
{
uint8_t pos = 110+i;
simpleSensorTypes[i+8] = eepromReadByte(pos);
simpleSensorDebounce[i+8] = 0;
if (simpleSensorTypes[i+8] == 3) //counter
{
uint8_t eepos = 160 + (i*2);
simpleSensorValues[i+8] = eepromReadWord(eepos);
} else {
simpleSensorValues[i+8] = 0;
}
}
}
void i2c_read (uchar *addr, int alen, uchar *buffer, int len)
{
int i;
int len2, ptr;
/* printf("\naddr=%x alen=%x buffer=%x len=%x", addr[0], addr[1], *(short *)addr, alen, buffer, len); /###* test-only */
ptr = *(short *)addr;
/*
* Read till lword boundary
*/
len2 = 4 - (*(short *)addr & 0x0003);
for (i=0; i<len2; i++)
{
*buffer++ = eepromReadByte(ptr++);
}
/*
* Read all lwords
*/
len2 = (len - len2) >> 2;
for (i=0; i<len2; i++)
{
*(unsigned int *)buffer = eepromReadLong(ptr);
buffer += 4;
ptr += 4;
}
/*
* Read last bytes
*/
len2 = (*(short *)addr + len) & 0x0003;
for (i=0; i<len2; i++)
{
*buffer++ = eepromReadByte(ptr++);
}
}
void eeprom_mac_show(int index) {
int mac0, mac1, mac2, mac3, mac4, mac5;
int mac_offset;
mac_offset = NV_MAC_ADRS_OFFSET + (index * 8);
mac0 = eepromReadByte(mac_offset);
mac1 = eepromReadByte(mac_offset + 1);
mac2 = eepromReadByte(mac_offset + 2);
mac3 = eepromReadByte(mac_offset + 3);
mac4 = eepromReadByte(mac_offset + 4);
mac5 = eepromReadByte(mac_offset + 5);
printf ("MAC address = %02x:%02x:%02x:%02x:%02x:%02x\n",
mac0, mac1, mac2, mac3, mac4, mac5);
}
int main(void) {
sei();
uint8_t resetSource = MCUSR;
MCUSR = 0;
wdt_reset();
wdt_disable();
wdt_enable(WDTO_1S);
WDTCSR |= (1 << WDIE); //enable watchdog interrupt
wdt_reset();
cli();
clock_init();
usart_init(1000000, 9600);
stdout = &uart_str;
stderr = &uart_str;
stdin = &uart_str;
uip_ipaddr_t ipaddr;
struct timer periodic_timer, arp_timer;
uint16_t timer_OW, timer_Simple, timer_Count, timer_EEProm, timer_SendData, timer_IOalarm, timer_network;
timer_OW = 0;
timer_Simple = 0;
timer_Count = 0;
timer_EEProm = 0;
timer_SendData = 0;
timer_IOalarm = 0;
timer_network = 0;
if(resetSource & (1<<WDRF))
{
printf("Mega was reset by watchdog...\r\n");
}
if(resetSource & (1<<BORF))
{
printf("Mega was reset by brownout...\r\n");
}
if(resetSource & (1<<EXTRF))
{
printf("Mega was reset by external...\r\n");
}
if(resetSource & (1<<PORF))
{
printf("Mega was reset by power on...\r\n");
}
//else jtag (disabled)
//sensorScan = (uint8_t*) & tempbuf;
if (eepromReadByte(0) == 255 || eepromReadByte(11) == 255)
{
printf_P(PSTR("Setting default values\r\n"));
//Set defaults
eepromWriteByte(0, 0); //init
myip[0] = 192;
myip[1] = 168;
myip[2] = 1;
myip[3] = 67; //47 in final versions
netmask[0] = 255;
netmask[1] = 255;
netmask[2] = 255;
netmask[3] = 0;
gwip[0] = 192;
gwip[1] = 168;
gwip[2] = 1;
gwip[3] = 1;
dnsip[0] = 8;
dnsip[1] = 8;
dnsip[2] = 8;
dnsip[3] = 8;
eepromWriteByte(29, 80); //web port
eepromWriteByte(10, 0); //dhcp off
save_ip_addresses();
wdt_reset();
eepromWriteStr(200, "SBNG", 4); //default password
eepromWriteByte(204, '\0');
eepromWriteByte(205, '\0');
eepromWriteByte(206, '\0');
eepromWriteByte(207, '\0');
eepromWriteByte(208, '\0');
eepromWriteByte(209, '\0');
eepromWriteByte(100, 1); //Analog port 0 = ADC
eepromWriteByte(101, 1); //Analog port 1 = ADC
eepromWriteByte(102, 1); //Analog port 2 = ADC
eepromWriteByte(103, 1); //Analog port 3 = ADC
eepromWriteByte(104, 1); //Analog port 4 = ADC
eepromWriteByte(105, 1); //Analog port 5 = ADC
eepromWriteByte(106, 1); //Analog port 6 = ADC
eepromWriteByte(107, 1); //Analog port 7 = ADC
eepromWriteByte(110, 0); //Digital port 0 = OUT
eepromWriteByte(111, 0); //Digital port 1 = OUT
eepromWriteByte(112, 0); //Digital port 2 = OUT
eepromWriteByte(113, 0); //Digital port 3 = OUT
wdt_reset();
for (uint8_t alarm=1; alarm<=4; alarm++)
{
uint16_t pos = 400 + ((alarm-1)*15); //400 415 430 445
eepromWriteByte(pos+0, 0); //enabled
eepromWriteByte(pos+1, 0); //sensorid
eepromWriteByte(pos+2, 0); //sensorid
eepromWriteByte(pos+3, 0); //sensorid
eepromWriteByte(pos+4, 0); //sensorid
eepromWriteByte(pos+5, 0); //sensorid
eepromWriteByte(pos+6, 0); //sensorid
eepromWriteByte(pos+7, 0); //sensorid
eepromWriteByte(pos+8, 0); //sensorid
eepromWriteByte(pos+9, '<'); //type
eepromWriteByte(pos+10, 0); //value
eepromWriteByte(pos+11, 0); //target
eepromWriteByte(pos+12, 0); //state
eepromWriteByte(pos+13, 0); //reverse
eepromWriteByte(pos+14, 0); //not-used
}
eepromWriteByte(1, EEPROM_VERSION);
}
/*
findSystemID(systemID);
if (systemID[0] == 0) {
printf_P(PSTR("No system id found, add a DS2401 or use old software"));
// fprintf(&lcd_str, "?f?y0?x00No system id found?nAdd a DS2401 or use old software?n");
wdt_disable();
wdt_reset();
while (true);
} else {
*/
//MAC will be 56 51 99 36 14 00 with example system id
mymac[1] = systemID[1];
mymac[2] = systemID[2];
mymac[3] = systemID[3];
mymac[4] = systemID[4];
mymac[5] = systemID[5];
// }
// fprintf(&lcd_str, "?y1?x00ID: %02X%02X%02X%02X%02X%02X%02X%02X?n", systemID[0], systemID[1], systemID[2], systemID[3], systemID[4], systemID[5], systemID[6], systemID[7]);
loadSimpleSensorData();
//Set digital pins based on selections...
for (uint8_t i=8; i<=11; i++)
{
if (simpleSensorTypes[i] == 0)
{
//output
SETBIT(DDRC, (i-6));
} else {
//input
CLEARBIT(DDRC, (i-6));
}
}
network_init();
timer_set(&periodic_timer, CLOCK_SECOND / 2);
timer_set(&arp_timer, CLOCK_SECOND * 10);
uip_init();
//sættes hvert for sig for uip og enc, skal rettes til en samlet setting, så vi kan bruge mymac
struct uip_eth_addr mac = { {UIP_ETHADDR0, UIP_ETHADDR1, UIP_ETHADDR2, UIP_ETHADDR3, UIP_ETHADDR4, UIP_ETHADDR5} };
// struct uip_eth_addr mac = {mymac[0], mymac[1], mymac[2], mymac[3], mymac[4], mymac[5]};
uip_setethaddr(mac);
httpd_init();
/*
#ifdef __DHCPC_H__
dhcpc_init(&mac, 6);
#else
*/
uip_ipaddr(ipaddr, myip[0], myip[1], myip[2], myip[3]);
uip_sethostaddr(ipaddr);
uip_ipaddr(ipaddr, gwip[0], gwip[1], gwip[2], gwip[3]);
uip_setdraddr(ipaddr);
uip_ipaddr(ipaddr, netmask[0], netmask[1], netmask[2], netmask[3]);
uip_setnetmask(ipaddr);
//#endif /*__DHCPC_H__*/
printf("Setting ip to %u.%u.%u.%u \r\n", myip[0], myip[1], myip[2], myip[3]);
resolv_init();
uip_ipaddr(ipaddr, dnsip[0], dnsip[1], dnsip[2], dnsip[3]);
resolv_conf(ipaddr);
webclient_init();
printf("Stokerbot NG R3 ready - Firmware %u.%u ...\r\n", SBNG_VERSION_MAJOR, SBNG_VERSION_MINOR);
// fprintf(&lcd_str, "?y2?x00Firmware %u.%u ready.", SBNG_VERSION_MAJOR, SBNG_VERSION_MINOR);
// SPILCD_init();
wdt_reset();
while (1) {
//Only one event may fire per loop, listed in order of importance
//If an event is skipped, it will be run next loop
if (tickDiff(timer_Count) >= 1) {
timer_Count = tick;
wdt_reset(); //sikre at watchdog resetter os hvis timer systemet fejler, vi når her hvert 2ms
updateCounters(); //bør ske i en interrupt istedet, for at garentere 2ms aflæsning
} else if (tickDiffS(timer_IOalarm) >= 5) {
printf("Timer : IO alarm \r\n");
timer_IOalarm = tickS;
timedAlarmCheck();
} else if (tickDiffS(timer_OW) >= 2) {
printf("Timer : OW \r\n");
timer_OW = tickS;
updateOWSensors();
} else if (tickDiffS(timer_Simple) >= 5) {
printf("Timer : Simple\r\n");
timer_Simple = tickS;
updateSimpleSensors();
} else if (tickDiffS(timer_SendData) >= 59) {
printf("Timer : webclient \r\n");
timer_SendData = tickS;
webclient_connect();
} else if (tickDiffS(timer_EEProm) >= 60 * 30) {
printf("Timer : eeprom \r\n");
timer_EEProm = tickS;
timedSaveEeprom();
}
//Net handling below
if (tickDiff(timer_network) >= 1)
{
timer_network = tick;
uip_len = network_read();
if (uip_len > 0) {
if (BUF->type == htons(UIP_ETHTYPE_IP)) {
uip_arp_ipin();
uip_input();
if (uip_len > 0) {
uip_arp_out();
network_send();
}
} else if (BUF->type == htons(UIP_ETHTYPE_ARP)) {
uip_arp_arpin();
if (uip_len > 0) {
network_send();
}
}
} else if (timer_expired(&periodic_timer)) {
timer_reset(&periodic_timer);
//FLIPBIT(PORTC,5);
// printf("Timers : %u %u \r\n", tick, tickS);
for (uint8_t i = 0; i < UIP_CONNS; i++) {
uip_periodic(i);
if (uip_len > 0) {
uip_arp_out();
network_send();
}
}
#if UIP_UDP
for (uint8_t i = 0; i < UIP_UDP_CONNS; i++) {
uip_udp_periodic(i);
if (uip_len > 0) {
uip_arp_out();
network_send();
}
}
#endif /* UIP_UDP */
if (timer_expired(&arp_timer)) {
timer_reset(&arp_timer);
uip_arp_timer();
}
}
}
}
return 0;
}
void read_ip_addresses(void)
{
myip[0] = eepromReadByte(11);
myip[1] = eepromReadByte(12);
myip[2] = eepromReadByte(13);
myip[3] = eepromReadByte(14);
gwip[0] = eepromReadByte(15);
gwip[1] = eepromReadByte(16);
gwip[2] = eepromReadByte(17);
gwip[3] = eepromReadByte(18);
netmask[0] = eepromReadByte(19);
netmask[1] = eepromReadByte(20);
netmask[2] = eepromReadByte(21);
netmask[3] = eepromReadByte(22);
dnsip[0] = eepromReadByte(31);
dnsip[1] = eepromReadByte(32);
dnsip[2] = eepromReadByte(33);
dnsip[3] = eepromReadByte(34);
}
void timedAlarmCheck(void)
{
for (uint8_t alarm=1; alarm<=4; alarm++)
{
uint16_t pos = 400 + ((alarm-1)*15); //400 415 430 445
if (eepromReadByte(pos+0) == 1)
{
uint8_t sensorpos = findSensor(
eepromReadByte(pos+1),
eepromReadByte(pos+2),
eepromReadByte(pos+3),
eepromReadByte(pos+4),
eepromReadByte(pos+5),
eepromReadByte(pos+6),
eepromReadByte(pos+7),
eepromReadByte(pos+8));
int8_t value = (int8_t)sensorValues[(sensorpos*SENSORSIZE)+VALUE1];
char sign = sensorValues[(sensorpos*SENSORSIZE)+SIGN];
if (sign == '-') value *= -1;
int8_t target = eepromReadByteSigned(pos+10);
if (
(eepromReadByte(pos+9) == 1 && value < target)
||
(eepromReadByte(pos+9) == 2 && value == target)
||
(eepromReadByte(pos+9) == 3 && value > target)
)
{
//ALARM
//DDR=in/out PIN=value/pullup PORT=state
uint8_t pin = eepromReadByte(pos+11);
if (pin >= 1 && pin <= 4)
{
if (eepromReadByte(pos+12) == 1)
{
SETBIT(PORTC, (1+pin));
}
else
CLEARBIT(PORTC, (1+pin));
}
} else if (eepromReadByte(pos+13) == 1) {
//REVERSE
uint8_t pin = eepromReadByte(pos+11);
if (pin >= 1 && pin <= 4)
{
if (eepromReadByte(pos+12) == 1)
CLEARBIT(PORTC, (1+pin));
else
SETBIT(PORTC, (1+pin));
}
}
}
}
}
