/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
Mcu_Init();
Timebase_Init();
sei();
#if defined(UART_OUTPUT)
Serial_Init();
printf("\n------------------------------------------------------------\n");
printf( " CAN Test:\n");
printf( " Periodic Transmission on CAN\n");
printf( " CAN Dump\n");
printf( " CAN Echo\n");
printf( "------------------------------------------------------------\n");
printf("CanInit...");
if (Can_Init() != CAN_OK) {
printf("FAILED!\n");
printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
}
else {
printf("OK!\n");
printf("MCP2515 working fine\n");
}
#elif defined(LED_OUTPUT)
Can_Init();
#else
Can_Init();
#endif
uint32_t timeStamp = 0;
Can_Message_t txMsg;
Can_Message_t rxMsg;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.Id = SENDING_ID;
txMsg.DataLength = 2;
txMsg.Data.bytes[0] = 0x12;
txMsg.Data.bytes[1] = 0x34;
/* main loop */
while (1) {
/* service the CAN routines */
Can_Service();
/* send CAN message and check for CAN errors once every second */
if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
timeStamp = Timebase_CurrentTime();
/* send txMsg */
txMsg.Id = SENDING_ID;
Can_Send(&txMsg);
}
/* check if any messages have been received */
while (Can_Receive(&rxMsg) == CAN_OK) {
#if defined(UART_OUTPUT)
/* Dump message data on uart */
printf("\nPKT %#lx %u %u", rxMsg.Id, (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
for (uint8_t i=0; i<rxMsg.DataLength; i++) {
printf(" %#x", rxMsg.Data.bytes[i]);
}
#endif
/* Echo function */
if(rxMsg.Id == ECHO_RECEIVE_ID){
#if defined(UART_OUTPUT)
printf("\n\"ping\" received");
txMsg.Id = ECHO_SENDING_ID;
/* Send reply */
Can_Send(&txMsg);
printf("\nreply sent");
#else
txMsg.Id = ECHO_SENDING_ID;
/* Send reply */
Can_Send(&txMsg);
#endif
}
}
}
return 0;
}
/**
* Parses an incoming UART byte by maintaining a state machine. The UART
* bytes will build up a CAN message according to the protocol described here:
*
* http://www.arune.se/projekt/doku.php?id=homeautomation:pc-mjukvara
*
* @param c
* The received UART byte.
*/
void UartParseByte(uint8_t c) {
#if USE_STDCAN == 0
static Can_Message_t cm;
#else
static StdCan_Msg_t cm;
#endif
static uint8_t waitingMessage = 0;
static uint32_t startTime = 0;
static int8_t count = 0;
/* 50ms timeout */
if (waitingMessage && Timebase_PassedTimeMillis(startTime) > 50) {
waitingMessage = 0;
}
if (waitingMessage) {
/* save start time */
startTime = Timebase_CurrentTime();
/* UART END */
if (count >= 15) {
if (c == UART_END_BYTE) {
PORTC ^= (1<<PC0);
#if USE_STDCAN == 0
Can_Send(&cm);
#else
StdCan_Put(&cm);
#endif
}
waitingMessage = 0;
return;
}
/* data */
else if (count >= 7) {
#if USE_STDCAN == 0
cm.Data.bytes[count-7] = c;
#else
cm.Data[count-7] = c;
#endif
count++;
return;
}
/* data length */
else if (count >= 6) {
#if USE_STDCAN == 0
cm.DataLength = c;
#else
cm.Length = c;
#endif
count++;
return;
}
/* remote request flag */
else if (count >= 5) {
#if USE_STDCAN == 0
cm.RemoteFlag = c;
#endif
count++;
return;
}
/* extended */
else if (count >= 4) {
#if USE_STDCAN == 0
cm.ExtendedFlag = c;
#endif
count++;
return;
}
/* ident */
else if (count >= 0) {
cm.Id += ((uint32_t)c << (count*8));
count++;
return;
}
}
if (c == UART_START_BYTE && !waitingMessage) {
waitingMessage = 1;
startTime = Timebase_CurrentTime();
count = 0;
cm.Id = 0;
return;
}
}
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
uint8_t nSensors, i;
uint8_t subzero, cel, cel_frac_bits;
Mcu_Init();
Timebase_Init();
Serial_Init();
sei();
printf( "\nDS18X20 1-Wire-Reader\n" );
printf( "-----------------------" );
nSensors = search_sensors();
printf( "%i DS18X20 Sensor(s) available:\n", (int) nSensors );
for (i=0; i<nSensors; i++) {
printf("Sensor# %i is a ", (int) i+1);
if ( gSensorIDs[i][0] == DS18S20_ID)
printf("DS18S20/DS1820");
else printf("DS18B20");
printf(" which is ");
if ( DS18X20_get_power_status( &gSensorIDs[i][0] ) ==
DS18X20_POWER_PARASITE )
printf( "parasite" );
else printf( "externally" );
printf( " powered\n" );
}
printf("CanInit...\n");
if (Can_Init() != CAN_OK) {
printf("FAILED!\n");
}
else {
printf("OK!\n");
}
uint32_t timeStamp = 0;
Can_Message_t txMsg;
Can_Message_t rxMsg;
txMsg.DataLength = 2;
txMsg.Id = 0;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
/* main loop */
while (1) {
/* service the CAN routines */
Can_Service();
/* check if any messages have been received */
while (Can_Receive(&rxMsg) == CAN_OK) {
}
/* check temperature and send on CAN once every other second */
if (Timebase_PassedTimeMillis(timeStamp) >= 2000) {
timeStamp = Timebase_CurrentTime();
if ( DS18X20_start_meas( DS18X20_POWER_PARASITE, NULL ) == DS18X20_OK) {
printf("Measuring temperature... ");
delay_ms(DS18B20_TCONV_12BIT);
for ( i=0; i<nSensors; i++ ) {
if ( DS18X20_read_meas( &gSensorIDs[i][0], &subzero,
&cel, &cel_frac_bits) == DS18X20_OK ) {
//txMsg.Data.bytes[0] = subzero;
if (subzero) {
txMsg.Data.bytes[i*2] = -cel;
txMsg.Data.bytes[i*2+1] = ~(cel_frac_bits<<4);
} else {
txMsg.Data.bytes[i*2] = cel;
txMsg.Data.bytes[i*2+1] = (cel_frac_bits<<4);
}
}
else printf("CRC Error (lost connection?)\n");
}
txMsg.DataLength = nSensors*2;
printf("sending...\n");
/* send txMsg */
Can_Send(&txMsg);
}
else printf("Start meas. failed (short circuit?)\n");
}
}
return 0;
}
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
uint32_t timeStamp = 0, timeStampTurn = 0;
uint8_t buffering = FALSE, gpsMsg_received = FALSE, rxGps_element;
char buffer[100], rxGps;
/* GPGGA, Global positioning system fix data */
char gga_utc[7], gga_latitude[9], gga_latitude_NS, gga_longitude[10], gga_longitude_EW;
/* GPVTG, Course over ground and speed */
char vtg_course_true[6], vtg_course_magnetic[6], vtg_speed_kmh[6];
/* GPZDA, Time & Date */
char zda_time[7], zda_day[3], zda_month[3], zda_year[5];
char *pch;
Timebase_Init();
Serial_Init();
sei();
#if DEBUG
printf("\n------------------------------------------------------------\n");
printf( " CAN: GPS\n");
printf( "------------------------------------------------------------\n");
printf("CanInit...");
if (Can_Init() != CAN_OK) {
printf("FAILED!\n");
}else{
printf("OK!\n");
}
#else
Can_Init();
#endif
Can_Message_t txMsg;
Can_Message_t rxMsg;
txMsg.Id = GPS_CMD_SEND;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.DataLength = 3;
/* main loop */
while (1) {
/* service the CAN routines */
Can_Service();
/* check if any messages have been received */
while (Can_Receive(&rxMsg) == CAN_OK) {
/* This node that control a servo is adressed */
if( rxMsg.Id == GPS_CMD_GET ){
}
}
if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){
timeStamp = Timebase_CurrentTime();
/* Send blinds status to CAN */
}
/* Get data from GPS */
rxGps = uart_getc();
while( rxGps != UART_NO_DATA ){
/* '$' indicates start of message, start buffering */
if( rxGps == '$' ){
buffering = TRUE;
rxGps_element = 0;
}else if( rxGps == CR ){
/* End of message */
buffer[rxGps_element]='\0';
buffering = FALSE;
gpsMsg_received = TRUE;
}
if( buffering ){
buffer[ rxGps_element ] = rxGps;
rxGps_element++;
}
/* Get next character */
rxGps = uart_getc();
}
if( gpsMsg_received ){
/* One whole msg is completed, start compare and parse */
if( !strncmp(buffer, "GPGGA", 5) ){
/* Standard NMEA message, $GPGGA */
strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPGGA" */
/* Get UTC */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(gga_utc, pch);
/* Get latitude */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(gga_latitude, pch);
/* Get latitude N/S */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(gga_latitude_NS, pch);
/* Get longitude */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(gga_longitude, pch);
/* Get longitude E/W */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(gga_longitude_EW, pch);
}else if( !strncmp(buffer, "GPVTG", 5) ){
/* Standard NMEA message, $GPVTG */
strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPVTG" */
/* Get course over ground, true degree */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(vtg_course_true, pch);
/* Get course over ground, magnetic degree */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(vtg_course_magnetic, pch);
/* Get speed over ground, km/h */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(vtg_speed_kmh, pch);
}else if( !strncmp(buffer, "GPZDA", 5) ){
/* Standard NMEA message, $GPZDA */
strtok(buffer, GPS_MSG_DELIMITER); /* Throw away "GPZDA" */
/* Get time */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(zda_time, pch);
/* Get day, 0-31 */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(zda_day, pch);
/* Get month, 1-12 */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(zda_month, pch);
/* Get year */
pch = strtok(NULL, GPS_MSG_DELIMITER);
strcpy(zda_year, pch);
}
gpsMsg_received = FALSE; /* Get ready for next message */
}
}
return 0;
}
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
#if defined(USE_DS18S20)
uint8_t nSensors, i;
uint8_t subzero, cel, cel_frac_bits;
uint32_t timeStamp_DS = 0, timeStamp_DS_del = 0;
/* This is to identify and give the sensors correct ID
* TODO read ds18s20 serial id and that way give the "can id" */
uint16_t sensor_ds_id[] = {TEMPSENSORID_1, TEMPSENSORID_2, TEMPSENSORID_3, TEMPSENSORID_4};
#endif
#if defined(USE_TC1047)
uint32_t tcTemperature = 0, timeStamp_TC = 0;
adcTemperatureInit();
#endif
#if defined(USE_LDR)
uint32_t timeStamp_LDR = 0;
uint8_t ldr;
LDR_SensorInit();
#endif
sei();
Timebase_Init();
Can_Message_t txMsg;
txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
txMsg.DataLength = 4;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.Data.words[0] = APP_TYPE;
txMsg.Data.words[1] = APP_VERSION;
BIOS_CanSend(&txMsg);
#if defined(USE_DS18S20)
/* Make sure there is no more then 4 DS-sensors. */
nSensors = search_sensors();
#endif
txMsg.DataLength = 2;
/* main loop */
while (1) {
#if defined(USE_DS18S20)
/* check temperature and send on CAN */
if( Timebase_PassedTimeMillis(timeStamp_DS) >= DS_SEND_PERIOD ){
timeStamp_DS = Timebase_CurrentTime();
if ( DS18X20_start_meas( DS18X20_POWER_PARASITE, NULL ) == DS18X20_OK) {
delay_ms(DS18B20_TCONV_12BIT);
for ( i=0; i<nSensors; i++ ) {
if ( DS18X20_read_meas( &gSensorIDs[i][0], &subzero, &cel, &cel_frac_bits) == DS18X20_OK ) {
if (subzero) {
txMsg.Data.bytes[0] = -cel-1;
txMsg.Data.bytes[1] = ~(cel_frac_bits<<4);
}else{
txMsg.Data.bytes[0] = cel;
txMsg.Data.bytes[1] = (cel_frac_bits<<4);
}
}
/* Delay */
timeStamp_DS_del = Timebase_CurrentTime();
while(Timebase_PassedTimeMillis(timeStamp_DS_del) < DS_SEND_DELAY){}
/* send txMsg */
txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_TEMPERATURE << CAN_SHIFT_SNS_TYPE) | (NODE_ID << CAN_SHIFT_SNS_SID));
txMsg.Id |= ( sensor_ds_id[i] << CAN_SHIFT_SNS_ID); /* Set sensor id */
BIOS_CanSend(&txMsg);
}
}
}
#endif
#if defined(USE_TC1047)
#error tc1047 id is still not correct // FIXME
/* check temperature and send on CAN */
if( bios->timebase_get() - timeStamp_TC >= TC_SEND_PERIOD ){
timeStamp_TC = bios->timebase_get();
tcTemperature = getTC1047temperature();
txMsg.Data.bytes[0] = tcTemperature & 0x00FF;
txMsg.Data.bytes[1] = (tcTemperature & 0xFF00)>>8;
txMsg.DataLength = 2;
txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_TEMPERATURE << CAN_SHIFT_SNS_TYPE) | (NODE_ID << CAN_SHIFT_SNS_SID));
txMsg.Id |= (TEMPSENSORID_5 << CAN_SHIFT_SNS_ID); // sätt korrekt sensorid
BIOS_CanSend(&txMsg);
}
#endif
#if defined(USE_LDR)
/* check light and send on CAN */
if( Timebase_PassedTimeMillis(timeStamp_LDR) >= LDR_SEND_PERIOD ){
timeStamp_LDR = Timebase_CurrentTime();
ldr = (uint8_t)LDR_GetData(0);
txMsg.Data.bytes[0] = ldr;
txMsg.DataLength = 1;
txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_LIGHT << CAN_SHIFT_SNS_TYPE) | (LIGHTSENSORID_1 << CAN_SHIFT_SNS_ID) | (NODE_ID << CAN_SHIFT_SNS_SID));
BIOS_CanSend(&txMsg);
}
#endif
}