This commit is contained in:
Christian Kroll
parent
0705564d6d
commit
f2027360a0
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@ -6,7 +6,7 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <avr/pgmspace.h>
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#include "../compat/pgmspace.h"
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#include "../config.h"
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#include "../can/can.h"
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#include "../can/lap.h"
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@ -21,7 +21,7 @@
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#endif
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//hackhack
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extern can_addr myaddr;
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extern can_addr_t myaddr;
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//send a time request packet via can
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void time_request(void)
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@ -4,13 +4,19 @@
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#include "spi.h"
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#include "../borg_hw/borg_hw.h"
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#include <avr/pgmspace.h>
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#include <setjmp.h>
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#ifdef __AVR__
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# include <avr/pgmspace.h>
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# include <avr/interrupt.h>
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# include <avr/eeprom.h>
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#else
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# include "../compat/eeprom.h"
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#endif
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#include <string.h>
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can_addr myaddr;
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can_addr_t myaddr;
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extern jmp_buf newmode_jmpbuf;
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#ifdef LAP_TIME_EXTENSION
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@ -45,9 +51,11 @@ void process_mgt_msg(pdo_message *msg)
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switch(msg->cmd) {
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case FKT_MGT_RESET:
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#ifdef __AVR__
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timer0_off();
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cli();
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while(1);
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#endif
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break;
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case FKT_MGT_PING:
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rmsg = (pdo_message *)can_buffer_get();
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@ -79,22 +87,23 @@ void process_borg_msg(pdo_message *msg)
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case FKT_BORG_MODE:
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longjmp(newmode_jmpbuf, msg->data[0]);
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break;
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case FKT_BORG_SCROLLTEXT_RESET:
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for (i = 0; i < msg->dlc - 1; i++) {
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scrolltext_text[i] = msg->data[i];
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}
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scrolltext_text[i] = 0;
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break;
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case FKT_BORG_SCROLLTEXT_APPEND:
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j = 0;
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while(scrolltext_text[j]) j++;
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while (scrolltext_text[j])
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j++;
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for (i = 0; i < msg->dlc - 1; i++) {
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scrolltext_text[i + j] = msg->data[i];
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}
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scrolltext_text[i + j] = 0;
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break;
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#ifdef Hansi_hat_gelernt_Werte_vorher_zu_definieren
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@ -129,8 +138,7 @@ void process_borg_msg(pdo_message *msg)
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}
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}
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void bcan_process_messages()
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{
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void bcan_process_messages() {
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pdo_message *msg = (pdo_message*) can_get_nb();
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while (msg) {
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@ -144,6 +152,5 @@ void bcan_process_messages()
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process_borg_msg(msg);
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msg = (pdo_message*) can_get_nb();
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};
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}
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}
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63
can/can.c
63
can/can.c
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@ -1,7 +1,9 @@
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#ifndef __C64__
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#ifdef __AVR__
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#endif
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#define asm asm volatile
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#endif
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@ -121,6 +123,7 @@ void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val);
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unsigned char mcp_status();
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//unsigned char mcp_rx_status();
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#ifdef __AVR__
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// Functions
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/*
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unsigned char mcp_rx_status() {
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@ -159,8 +162,10 @@ void message_load(can_message_x * msg){
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spi_data(WRITE);
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spi_data(TXB0SIDH);
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spi_data( ((unsigned char)(msg->msg.port_src << 2)) | (msg->msg.port_dst >> 4 ) );
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spi_data( (unsigned char)((msg->msg.port_dst & 0x0C) << 3) | (1<<EXIDE) | (msg->msg.port_dst & 0x03) );
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spi_data(((unsigned char)(msg->msg.port_src << 2)) |
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(msg->msg.port_dst >> 4));
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spi_data((unsigned char)((msg->msg.port_dst & 0x0C) << 3) |
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(1<<EXIDE) | (msg->msg.port_dst & 0x03));
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spi_data(msg->msg.addr_src);
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spi_data(msg->msg.addr_dst);
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spi_data(msg->msg.dlc);
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@ -187,7 +192,8 @@ void message_fetch(can_message_x * msg){
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msg->msg.port_src = tmp1 >> 2;
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tmp2 = spi_data(0);
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tmp3 = (unsigned char)((unsigned char)(tmp2 >> 3) & 0x0C);
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msg->msg.port_dst = ((unsigned char)(tmp1 <<4 ) & 0x30) | tmp3 | (unsigned char)(tmp2 & 0x03);
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msg->msg.port_dst = ((unsigned char)(tmp1 <<4 ) & 0x30) | tmp3 |
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(unsigned char)(tmp2 & 0x03);
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msg->msg.addr_src = spi_data(0);
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msg->msg.addr_dst = spi_data(0);
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msg->msg.dlc = spi_data(0) & 0x0F;
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@ -198,9 +204,10 @@ void message_fetch(can_message_x * msg){
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mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
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}
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#ifdef CAN_INTERRUPT
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static can_message_x RX_BUFFER[CAN_RX_BUFFER_SIZE], TX_BUFFER[CAN_TX_BUFFER_SIZE];
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#ifdef CAN_INTERRUPT
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static can_message_x RX_BUFFER[CAN_RX_BUFFER_SIZE],
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TX_BUFFER[CAN_TX_BUFFER_SIZE];
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unsigned char RX_HEAD=0;volatile unsigned char RX_TAIL=0;
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unsigned char TX_HEAD= 0;volatile unsigned char TX_TAIL=0;
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static volatile unsigned char TX_INT;
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@ -240,7 +247,6 @@ ISR(INT0_vect) {
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#endif // CAN_HANDLEERROR
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}
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}
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#endif
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@ -303,7 +309,6 @@ void can_setmode( can_mode_t mode ) {
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mcp_write( CANCTRL, val );
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}
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void can_setfilter() {
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//RXM1 RXM0
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// 0 0 receive matching filter
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@ -364,12 +369,13 @@ void can_init(){
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#else
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#error Can Baudrate is only defined for 8, 16 and 20 MHz
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#endif
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mcp_write( CNF1, 0x40 | CNF1_T );
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mcp_write( CNF2, 0xf1 );
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mcp_write( CNF3, 0x05 );
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// configure IRQ
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// this only configures the INT Output of the mcp2515, not the int on the Atmel
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// configure IRQ: this only configures the INT Output of the mcp2515, not
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// the int on the Atmel
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mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
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can_setfilter();
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@ -377,11 +383,10 @@ void can_init(){
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#ifdef CAN_INTERRUPT
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// configure IRQ
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// this only configures the INT Output of the mcp2515, not the int on the Atmel
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// configure IRQ: this only configures the INT Output of the mcp2515,
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// not the int on the Atmel
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mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
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#ifdef __C64__
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#error not implemented yet
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#elif ATMEGA
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@ -392,10 +397,9 @@ void can_init(){
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MCUCR |= (1<<ISC01);
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GIMSK |= (1<<INT0);
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#endif //ATMEGA
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#else //CAN_INTERRUPT
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// configure IRQ
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// this only configures the INT Output of the mcp2515, not the int on the Atmel
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// configure IRQ: this only configures the INT Output of the mcp2515,
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// not the int on the Atmel
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mcp_write( CANINTE, (1<<RX0IE) ); //only turn RX int on
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#endif //CAN_INTERRUPT
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}
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@ -424,14 +428,12 @@ can_message * can_get(){
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return &(p->msg);
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}
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//marks a receive buffer as unused again so it can be overwritten in Interrupt
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void can_free(can_message * msg) {
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can_message_x * msg_x = (can_message_x *) msg;
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msg_x->flags = 0;
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}
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//returns pointer to the next can TX buffer
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can_message * can_buffer_get() {
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can_message_x *p;
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@ -441,7 +443,6 @@ can_message * can_buffer_get(){
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return &(p->msg);
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}
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//start transmitting can messages, and mark message msg as transmittable
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void can_transmit(can_message* msg2) {
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can_message_x* msg=(can_message_x*) msg2;
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}
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}
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}
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#else // NON INTERRUPT VERSION
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can_message_x RX_MESSAGE, TX_MESSAGE;
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can_message * can_get_nb() {
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//check the pin, that the MCP's Interrup output connects to
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//check the pin, that the MCP's interrupt output connects to
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if(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) {
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return 0;
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} else {
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@ -492,5 +491,25 @@ void can_transmit(can_message * msg){
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void can_free(can_message * msg) {
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}
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#endif /* CAN_INTERRUPT */
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#else /* ifdef __AVR__ */
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/* stubs for simulator */
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static can_message null_msg = {0};
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unsigned char mcp_status() {return 0;}
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void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val){}
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void message_load(can_message_x * msg){}
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void message_fetch(can_message_x * msg){}
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void mcp_reset(){}
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void mcp_write(unsigned char reg, unsigned char data){}
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unsigned char mcp_read(unsigned char reg){return 0;}
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void can_setmode(can_mode_t mode) {}
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void can_setfilter() {}
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void can_setled(unsigned char led, unsigned char state){}
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void delayloop(){}
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void can_init(){}
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can_message * can_get_nb(){return &null_msg;}
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can_message * can_get(){return &null_msg;}
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can_message * can_buffer_get(){return &null_msg;}
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void can_transmit(can_message * msg){}
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void can_free(can_message * msg){}
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#endif
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41
can/can.h
41
can/can.h
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@ -5,7 +5,7 @@
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* Simple CAN Library
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*
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* #define CAN_INTERRUPT 1 // set this to enable interrupt driven
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* and buffering version
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* // and buffering version
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* #define CAN_RX_BUFFER_SIZE 2 // only used for Interrupt
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* #define CAN_TX_BUFFER_SIZE 2 // only used for Interrupt
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*/
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@ -16,40 +16,38 @@
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#include <stdint.h>
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typedef unsigned char can_addr;
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typedef unsigned char can_port;
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typedef unsigned char can_addr_t;
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typedef unsigned char can_port_t;
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typedef uint16_t can_channel_t;
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typedef uint8_t can_subchannel_t;
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typedef struct
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{
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typedef struct {
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uint32_t id;
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uint8_t dlc;
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uint8_t data[8];
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} can_message_raw;
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typedef struct {
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can_addr addr_src;
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can_addr addr_dst;
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can_port port_src;
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can_port port_dst;
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char data[8];
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} can_message;
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typedef struct
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{
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typedef struct {
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can_channel_t channel;
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can_subchannel_t subchannel;
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can_addr addr_src;
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can_addr addr_dst;
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can_addr_t addr_src;
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can_addr_t addr_dst;
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uint8_t dlc;
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uint8_t data[8];
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} can_message_v2;
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typedef enum { normal, mode_sleep, loopback, listenonly, config } can_mode_t ;
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typedef enum {
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normal, mode_sleep, loopback, listenonly, config
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} can_mode_t;
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/*****************************************************************************
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* Global variables
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@ -58,7 +56,6 @@ typedef enum { normal, mode_sleep, loopback, listenonly, config } can_mode_t ;
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extern unsigned char can_error;
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#endif
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/*****************************************************************************
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* Management
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*/
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@ -68,7 +65,6 @@ void can_setfilter();
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void can_setmode( can_mode_t);
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void can_setled(unsigned char led, unsigned char state);
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/*****************************************************************************
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* Sending
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*/
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@ -76,7 +72,6 @@ void can_setled(unsigned char led, unsigned char state);
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can_message * can_buffer_get();
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void can_transmit(can_message *msg);
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/*****************************************************************************
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* Receiving
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*/
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@ -92,7 +87,6 @@ can_message *can_get_nb();
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void can_free(can_message * msg);
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#endif
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/*****************************************************************************
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* Sending
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*/
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@ -100,7 +94,6 @@ can_message *can_get_nb();
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can_message_raw * can_buffer_get_raw();
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void can_transmit_raw(can_message_raw *msg);
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/*****************************************************************************
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* Receiving
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*/
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@ -116,16 +109,12 @@ can_message_raw *can_get_raw_nb();
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void can_free_raw(can_message_raw * msg);
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#endif
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/*****************************************************************************
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* Sending
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*/
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void can_transmit_v2(can_message_v2 *msg);
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/*****************************************************************************
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* Receiving
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*/
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@ -134,6 +123,4 @@ can_message_v2 *can_get_v2_nb();
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void can_free_v2(can_message_v2 *msg);
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#endif
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18
can/lap.c
18
can/lap.c
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@ -9,8 +9,7 @@
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*/
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// send ping to dst
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void lap_ping( can_addr dst )
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{
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void lap_ping(can_addr_t dst) {
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pdo_message *msg = (pdo_message *) can_buffer_get();
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msg->addr_src = 0;
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@ -24,8 +23,7 @@ void lap_ping( can_addr dst )
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}
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// send reset request to dst
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void lap_reset( can_addr dst )
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{
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void lap_reset(can_addr_t dst) {
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pdo_message *msg = (pdo_message *) can_buffer_get();
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msg->addr_src = 0;
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@ -38,17 +36,6 @@ void lap_reset( can_addr dst )
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can_transmit((can_message *) msg);
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}
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|
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/*
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char *sdo_readbuf(lap_message *first_msg,
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unsigned char int length, unsigned char &reallength)
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@ -118,6 +105,5 @@ unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned
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can_transmit();
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}
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// XXX wait for ACK
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}
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*/
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74
can/lap.h
74
can/lap.h
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@ -15,10 +15,10 @@
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// "inherits" from can_message
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typedef struct {
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can_addr addr_src;
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can_addr addr_dst;
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can_port port_src;
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can_port port_dst;
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char cmd;
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uint16_t index;
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@ -28,10 +28,10 @@ typedef struct {
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// "inherits" from can_message
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typedef struct {
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can_addr addr_src;
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can_addr addr_dst;
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can_port port_src;
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can_port port_dst;
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char cmd;
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unsigned char data[7];
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|
|
@ -41,22 +41,55 @@ typedef struct{
|
|||
* Known ports and services
|
||||
*/
|
||||
|
||||
typedef enum { PORT_MGT=0x30, PORT_LAMPE=0x20, PORT_SDO=0x15, PORT_SDO_DATA=0x16, PORT_LAPD=0x18,
|
||||
PORT_BORG=0x23, PORT_MOOD=0x17, PORT_REMOTE=0x21, PORT_GATE=0x22, PORT_CHUCK=0x26 } ports;
|
||||
typedef enum {
|
||||
PORT_MGT = 0x30,
|
||||
PORT_LAMPE = 0x20,
|
||||
PORT_SDO = 0x15,
|
||||
PORT_SDO_DATA = 0x16,
|
||||
PORT_LAPD = 0x18,
|
||||
PORT_BORG = 0x23,
|
||||
PORT_MOOD = 0x17,
|
||||
PORT_REMOTE = 0x21,
|
||||
PORT_GATE = 0x22,
|
||||
PORT_CHUCK = 0x26
|
||||
} ports;
|
||||
|
||||
typedef enum { FKT_MGT_PING=0x00, FKT_MGT_PONG=0x01,
|
||||
FKT_MGT_RESET=0x02, FKT_MGT_AWAKE=0x03, FKT_MGT_TIMEREQUEST=0x04, FKT_MGT_TIMEREPLY=0x05 } lap_mgt_fkts;
|
||||
typedef enum {
|
||||
FKT_MGT_PING = 0x00,
|
||||
FKT_MGT_PONG = 0x01,
|
||||
FKT_MGT_RESET = 0x02,
|
||||
FKT_MGT_AWAKE = 0x03,
|
||||
FKT_MGT_TIMEREQUEST = 0x04,
|
||||
FKT_MGT_TIMEREPLY = 0x05
|
||||
} lap_mgt_fkts;
|
||||
|
||||
typedef enum { FKT_LAMPE_SET=0x00, FKT_LAMPE_SETMASK=0x01,
|
||||
FKT_LAMPE_SETDELAY=0x02, FKT_LAMPE_ADD=0x03 } lap_lampe_fkts;
|
||||
typedef enum {
|
||||
FKT_LAMPE_SET = 0x00,
|
||||
FKT_LAMPE_SETMASK = 0x01,
|
||||
FKT_LAMPE_SETDELAY = 0x02,
|
||||
FKT_LAMPE_ADD = 0x03
|
||||
} lap_lampe_fkts;
|
||||
|
||||
typedef enum { FKT_BORG_INFO=0x00, FKT_BORG_MODE=0x01, FKT_BORG_SCROLLTEXT_RESET=0x02,
|
||||
FKT_BORG_SCROLLTEXT_APPEND=0x03 } lap_borg_fkts;
|
||||
typedef enum {
|
||||
FKT_BORG_INFO = 0x00,
|
||||
FKT_BORG_MODE = 0x01,
|
||||
FKT_BORG_SCROLLTEXT_RESET = 0x02,
|
||||
FKT_BORG_SCROLLTEXT_APPEND = 0x03
|
||||
} lap_borg_fkts;
|
||||
|
||||
typedef enum { FKT_ONOFF_INFO=0, FKT_ONOFF_SET=1, FKT_ONOFF_GET=2,
|
||||
typedef enum {
|
||||
FKT_ONOFF_INFO = 0,
|
||||
FKT_ONOFF_SET = 1,
|
||||
FKT_ONOFF_GET = 2
|
||||
} lap_lapd_fkts;
|
||||
|
||||
typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOOD_ONOFF=0x03} lap_mood_fkts;
|
||||
typedef enum {
|
||||
FKT_MOOD_INFO = 0x00,
|
||||
FKT_MOOD_GET = 0x01,
|
||||
FKT_MOOD_SET = 0x02,
|
||||
FKT_MOOD_ONOFF = 0x03
|
||||
} lap_mood_fkts;
|
||||
|
||||
#define SDO_CMD_READ 0x20
|
||||
#define SDO_CMD_REPLY 0x21
|
||||
#define SDO_CMD_INFO 0x22
|
||||
|
|
@ -65,7 +98,6 @@ typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOO
|
|||
#define SDO_CMD_WRITE_BLK 0x48
|
||||
#define SDO_CMD_WRITE_BLK_ACK 0x49
|
||||
|
||||
|
||||
#define SDO_CMD_ERROR_INDEX 0x80
|
||||
|
||||
#define SDO_TYPE_UINT8_RO 0x00
|
||||
|
|
@ -84,10 +116,10 @@ typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOO
|
|||
*/
|
||||
|
||||
// send ping to dst
|
||||
void lap_ping( can_addr dst );
|
||||
void lap_ping(can_addr_t dst);
|
||||
|
||||
// send reset request to dst
|
||||
void lap_reset( can_addr dst );
|
||||
void lap_reset(can_addr_t dst);
|
||||
|
||||
#ifdef LAP_TIME_EXTENSION
|
||||
//variables to save the last received hours and minutes
|
||||
|
|
|
|||
11
can/spi.c
11
can/spi.c
|
|
@ -1,6 +1,10 @@
|
|||
#ifdef __AVR__
|
||||
#include <avr/io.h>
|
||||
#endif
|
||||
|
||||
#include "spi.h"
|
||||
|
||||
#ifdef __AVR__
|
||||
|
||||
void spi_init(){
|
||||
//set output SPI pins to output
|
||||
|
|
@ -53,3 +57,10 @@ unsigned char spi_data(unsigned char c) {
|
|||
return (c);
|
||||
}
|
||||
#endif
|
||||
|
||||
#else
|
||||
|
||||
void spi_init(){}
|
||||
unsigned char spi_data(unsigned char c){return 0;}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
18
can/spi.h
18
can/spi.h
|
|
@ -3,26 +3,8 @@
|
|||
|
||||
#include "../config.h"
|
||||
|
||||
/**
|
||||
* this enables the use of Hardware SPI on ATMEGA
|
||||
*
|
||||
* #define SPI_HARDWARE 1
|
||||
* #define SPI_PORT PORTB
|
||||
* #define SPI_PIN PINB
|
||||
* #define SPI_DDR DDRB
|
||||
*
|
||||
* #define SPI_PIN_MOSI PB5
|
||||
* #define SPI_PIN_MISO PB6
|
||||
* #define SPI_PIN_SCK PB7
|
||||
* #define SPI_PIN_SS PB4
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
void spi_init();
|
||||
|
||||
unsigned char spi_data(unsigned char c);
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue