void __led_set(led_id_t mask, int state)
{
if (STATUS_LED_RED == mask) {
if (STATUS_LED_ON == state)
red_LED_on();
else
red_LED_off();
} else if (STATUS_LED_GREEN == mask) {
if (STATUS_LED_ON == state)
green_LED_on();
else
green_LED_off();
}
}
void __led_toggle(led_id_t mask)
{
if (STATUS_LED_RED == mask) {
if (STATUS_LED_ON == saved_state[STATUS_LED_RED])
red_LED_off();
else
red_LED_on();
} else if (STATUS_LED_GREEN == mask) {
if (STATUS_LED_ON == saved_state[STATUS_LED_GREEN])
green_LED_off();
else
green_LED_on();
}
}
/***** main loop *****/
int main(){
unsigned char i;
init_status = no_init;
volatile U8 led_toggle_counter = 0;
U8 reset_cause = MCUSR;
MCUSR = 0x00;
//red_LED_toggle();
//external crystal, no prescaler
CLKPR = 0x80; CLKPR = 0x00;
//prepare the incremental_in_value_packet
incremental_in_value_packet.id = 0x07;
incremental_in_value_packet.length = 6;
for (i = 0; i < incremental_in_value_packet.length; i++) {
incremental_in_value_packet.data[i] = 0;
}
//prepare the init_ack_async_packet
init_ack_sync_packet.id = 0x02;
init_ack_sync_packet.length = 1;
init_ack_sync_packet.data[0] = 0x14;
communication_init();
//EICRA = 0x0C; //INT1 pin triggers async interrupt on rising edge
//EICRB = 0xAA; //INT7-4 pins trigger sync interrupt on falling edge
//EIMSK = 0xF2; //INT7-4 and INT1 are enabled
//global interrupt enable
sei();
if (prepare_rx(1,0x01,0xFF,incoming_init)) red_LED_on(); //debug for incoming message
//TWBR = reset_cause;
update_DA_A(STOP_DA_VAL);
update_DA_B(STOP_DA_VAL);
update_DA_C(STOP_DA_VAL);
DA_LDAC_high();
DA_LDAC_low();
green_LED_on();
while(1){
if (init_status == init_2){
init_status = running;
prepare_rx(3, 0x05, 0xFF, incoming_stop);
prepare_rx(4, 0x06, 0xFF, incoming_DA_out_value);
prepare_rx(6, 0x0B, 0xFF, incoming_request_incremental_value);
prepare_rx(7, 0x0E, 0xFF, incoming_sync_command);
}
if (init_status == running) {
prepare_incremental_in_value_packet();
while(!can_tx(5, &incremental_in_value_packet)) {};
if ((++led_toggle_counter) == 0xFF) {
yellow_LED_toggle();
led_toggle_counter = 0;
}
}
}
return 0;
}
