void sns_power_Process(void)
{
if (StoreInEEPROM == 1)
{
StoreInEEPROM = 0;
eeprom_write_word_crc(EEDATA16.EnergyCounterUpper, (uint16_t)((EnergyCounter>>16) & 0xffff), WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.EnergyCounterLower, (uint16_t)(EnergyCounter & 0xffff), WITH_CRC);
#ifdef POWER_SNS_PIN_ch2
eeprom_write_word_crc(EEDATA16.EnergyCounterUpper_ch2, (uint16_t)((EnergyCounter_ch2>>16) & 0xffff), WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.EnergyCounterLower_ch2, (uint16_t)(EnergyCounter_ch2 & 0xffff), WITH_CRC);
#endif
}
void act_linearAct_Init(void)
{
#if act_linearAct_USEEEPROM==1
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
pulses = eeprom_read_word(EEDATA16.pulses_ee);
min = eeprom_read_word(EEDATA16.min_ee);
low = eeprom_read_word(EEDATA16.low_ee);
high = eeprom_read_word(EEDATA16.high_ee);
max = eeprom_read_word(EEDATA16.max_ee);
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_word_crc(EEDATA16.pulses_ee, 1200, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.min_ee, 300, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.low_ee, 815, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.high_ee, 5600, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.max_ee, 6100, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
#else
// Only for testing/debugging...
pulses = 1200;
min = 300;
low = 815;
high = 5600;
max = 6100;
#endif
// PD5 (EXP_G) is used as Timer1 input. Hardwired, no move possible!
gpio_set_in(EXP_G);
gpio_set_pullup(EXP_G);
//PORTD &= ~(_BV(DIR_RELAY) | _BV(ON_RELAY));
gpio_clr_pin(RELAY_ON);
gpio_clr_pin(RELAY_DIR);
// initiera utgångar
//DDRD = (_BV(DIR_RELAY) | _BV(ON_RELAY));
gpio_set_out(RELAY_ON);
gpio_set_out(RELAY_DIR);
// Start report timer
Timer_SetTimeout(act_linearAct_TIMER_report, act_linearAct_ReportInterval*1000 , TimerTypeFreeRunning, 0);
#if (USE_STIMULI == 1)
// Set stimuli as an output
gpio_set_out(STIMULI);
Timer_SetTimeout(act_linearAct_TIMER_stimuli, 10, TimerTypeFreeRunning,0);
#endif
}
void linearAct_cleanUp (uint8_t dummy) {
if (stopfactor) {
stopfactor = 0;
// Add number of pulses
if (direction == UP) {
pulses += TCNT1; // adjust official counter
// keep track on how far beyond target we have moved
if (TCNT1 > OCR1A) latest_stop_pulses_up = (uint8_t) TCNT1 - OCR1A;
else latest_stop_pulses_up = 0;
}
else {
pulses -= TCNT1;
// keep track on how far beyond target we have moved
if (TCNT1 > OCR1A) latest_stop_pulses_down = (uint8_t) TCNT1 - OCR1A;
else latest_stop_pulses_down = 0;
}
TCCR1B = 0;
TCNT1 = 0; // reset counter before next run
direction = 0;
eeprom_write_word_crc(EEDATA16.pulses_ee, pulses, WITH_CRC);
//printf("In linearAct_cleanUp\n");
Timer_SetTimeout(act_linearAct_TIMER_report, act_linearAct_ReportInterval*1000 , TimerTypeFreeRunning, 0);
linearAct_sendPosition(0);
}
}
void sns_VoltageCurrent_Init(void)
{
#ifdef sns_VoltageCurrent_USEEEPROM
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
blablaX = eeprom_read_byte(EEDATA.x);
blablaY = eeprom_read_word(EEDATA.y);
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_byte_crc(EEDATA.x, 0xAB, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA.y, 0x1234, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
#endif
// to use PCINt lib, call this function: (the callback function look as a timer callback function)
// Pcint_SetCallbackPin(sns_VoltageCurrent_PCINT, EXP_C , &sns_VoltageCurrent_pcint_callback);
ADC_Init();
#ifdef sns_VoltageCurrent_SEND_PERIOD
Timer_SetTimeout(sns_VoltageCurrent_TIMER, sns_VoltageCurrent_SEND_PERIOD*1000 , TimerTypeFreeRunning, 0);
#else
#ifdef sns_VoltageCurrent_SEND_PERIOD_MS
Timer_SetTimeout(sns_VoltageCurrent_TIMER, sns_VoltageCurrent_SEND_PERIOD_MS , TimerTypeFreeRunning, 0);
#endif
#endif
}
void sns_power_Init(void)
{
#ifdef sns_power_USEEEPROM
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
sns_power_ReportInterval = eeprom_read_byte(EEDATA.reportInterval);
EnergyCounter = eeprom_read_word(EEDATA16.EnergyCounterLower);
EnergyCounter += (((uint32_t)(eeprom_read_word(EEDATA16.EnergyCounterUpper)))<<16);
#ifdef POWER_SNS_PIN_ch2
EnergyCounter_ch2 = eeprom_read_word(EEDATA16.EnergyCounterLower_ch2);
EnergyCounter_ch2 += (((uint32_t)(eeprom_read_word(EEDATA16.EnergyCounterUpper_ch2)))<<16);
#endif
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_byte_crc(EEDATA.reportInterval, sns_power_SEND_PERIOD, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.EnergyCounterUpper, 0, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.EnergyCounterLower, 0, WITHOUT_CRC);
#ifdef POWER_SNS_PIN_ch2
eeprom_write_word_crc(EEDATA16.EnergyCounterUpper_ch2, 0, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.EnergyCounterLower_ch2, 0, WITHOUT_CRC);
#endif
EEDATA_UPDATE_CRC;
sns_power_ReportInterval = eeprom_read_byte(EEDATA.reportInterval);
}
#endif
///Initialize hardware etc
gpio_set_in(POWER_SNS_PIN); // Set to input
gpio_set_pin(POWER_SNS_PIN); // Enable pull-up
Pcint_SetCallbackPin(sns_power_PCINT, POWER_SNS_PIN, &sns_power_pcint_callback);
MeasurmentBufferPointer = 0;
#ifdef POWER_SNS_PIN_ch2
gpio_set_in(POWER_SNS_PIN_ch2); // Set to input
gpio_set_pin(POWER_SNS_PIN_ch2); // Enable pull-up
Pcint_SetCallbackPin(sns_power_PCINT_ch2, POWER_SNS_PIN_ch2, &sns_power_pcint_callback_ch2);
MeasurmentBufferPointer_ch2 = 0;
#endif
Timer_SetTimeout(sns_power_SEND_TIMER, sns_power_ReportInterval*1000 , TimerTypeFreeRunning, 0);
#if sns_power_SEND_1_MIN_AVG == 1
Timer_SetTimeout(sns_power_SEND_TIMER_1_MIN_AVG, 60000-10 , TimerTypeFreeRunning, &sns_power_timer_callback);
#endif
}
void chn_ChnMaster_Init(void)
{
#ifdef chn_ChnMaster_USEEEPROM
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
blablaX = eeprom_read_byte(EEDATA.x);
blablaY = eeprom_read_word(EEDATA.y);
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_byte_crc(EEDATA.x, 0xAB, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA.y, 0x1234, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
#endif
///TODO: Initialize hardware etc here
// to use PCINt lib, call this function: (the callback function look as a timer callback function)
// Pcint_SetCallbackPin(chn_ChnMaster_PCINT, EXP_C , &chn_ChnMaster_pcint_callback);
}
void act_linearAct_HandleMessage(StdCan_Msg_t *rxMsg)
{
uint16_t i;
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_LINEARACT &&
rxMsg->Header.ModuleId == act_linearAct_ID)
{
switch (rxMsg->Header.Command) {
case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
act_linearAct_ReportInterval = rxMsg->Data[0];
Timer_SetTimeout(act_linearAct_TIMER_report, act_linearAct_ReportInterval*1000 , TimerTypeFreeRunning, 0);
break;
case CAN_MODULE_CMD_LINEARACT_POSITION:
if (rxMsg->Length >= 3) { // remain forward compatible by allowing longer messages, but not shorter
if (rxMsg->Data[2] != 0) {
Timer_SetTimeout(act_linearAct_TIMER_report, 750 , TimerTypeFreeRunning, 0);
linearAct_setPosition(((uint16_t)rxMsg->Data[0] << 8) + rxMsg->Data[1]);
} else { // Data[2] signals moving speed, where zero stands for stop and also triggers transmission of limits
linearAct_stop();
// wait until complete stop (with timeout)
i = 0;
do {
if (direction == 0) break;
_delay_ms(10);
i++;
} while (i < 200);
linearAct_sendPosition(0);
linearAct_sendLimits(0);
}
}
break;
case CAN_MODULE_CMD_LINEARACT_LIMITS:
if (rxMsg->Length == 8) {
min = (rxMsg->Data[0] << 8) + rxMsg->Data[1];
low = (rxMsg->Data[2] << 8) + rxMsg->Data[3];
high = (rxMsg->Data[4] << 8) + rxMsg->Data[5];
max = (rxMsg->Data[6] << 8) + rxMsg->Data[7];
// pulses are already saved. eeprom_write_word_crc(EEDATA16.pulses_ee, 1200, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.min_ee, min, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.low_ee, low, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.high_ee, high, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA16.max_ee, max, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
break;
case CAN_MODULE_CMD_LINEARACT_CALIBRATION: // set limits to absolute maximum to allow full movement
min = 0;
low = 0;
high = 0xFFFF;
max = 0xFFFF;
if (rxMsg->Length >= 2) { // optional: set start position. Note! This will definitly ruin the old calibration.
pulses = (rxMsg->Data[0] << 8) + rxMsg->Data[1];
}
break;
default:
break;
}
}
}
