Initial commit
This commit is contained in:
Martin Linkwitz - NUC
@@ -1,255 +1,232 @@
|
||||
#include "MeyCan.h";
|
||||
#include <SPI.h>;
|
||||
#include <mcp2515.h>;
|
||||
|
||||
|
||||
PinState *MeyPin = NULL;
|
||||
CanInterface *CanBusses = NULL;
|
||||
uint16_t myDeviceId;
|
||||
byte _deviceTypeId = 0;
|
||||
byte _majorHardwareVersion = 0;
|
||||
byte _minorHardwareVersion = 0;
|
||||
|
||||
void SetupMeyPin(PinState *state)
|
||||
{
|
||||
pinMode(state->pin_id, OUTPUT);
|
||||
digitalWrite(state->pin_id, LOW);
|
||||
state->pin_state = false;
|
||||
}
|
||||
|
||||
void InitCanInterface(MCP2515 *interface, can_frame *frame) // can_frame is NULL. Reuse ForEach Method for smaller footprint
|
||||
{
|
||||
interface->reset();
|
||||
interface->setBitrate(CAN_500KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
|
||||
interface->setNormalMode();
|
||||
SendVersionPackage(interface);
|
||||
}
|
||||
|
||||
void ForEachCanInterface(void (*handle)(MCP2515 *canInterace))
|
||||
{
|
||||
CanBusses->ForEachInterface(handle);
|
||||
}
|
||||
|
||||
void SetupMeyCan(byte majorHardwareVersion, byte minorHardwareVersion, byte deviceTypeId)
|
||||
{
|
||||
_majorHardwareVersion = majorHardwareVersion;
|
||||
_minorHardwareVersion = minorHardwareVersion;
|
||||
_deviceTypeId = deviceTypeId;
|
||||
CalculateMyDeviceId();
|
||||
|
||||
if (MeyPin != NULL);
|
||||
MeyPin->ForEach(SetupMeyPin);
|
||||
|
||||
if (CanBusses != NULL)
|
||||
{
|
||||
CanBusses->ForEach(InitCanInterface, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
void AddCanInterface(byte pinId)
|
||||
{
|
||||
MCP2515* newCanInterface = new MCP2515(pinId);
|
||||
CanInterface* canInterface = new CanInterface();
|
||||
canInterface->interface = newCanInterface;
|
||||
|
||||
if (CanBusses == NULL)
|
||||
CanBusses = canInterface;
|
||||
else
|
||||
CanBusses->AddCanInterface(canInterface);
|
||||
}
|
||||
|
||||
void SetMeyPin(byte index, byte meyPinId, byte pinId)
|
||||
{
|
||||
PinState* newState = new PinState();
|
||||
newState->Init(pinId, (byte) meyPinId);
|
||||
|
||||
if (MeyPin == NULL)
|
||||
MeyPin = newState;
|
||||
else
|
||||
MeyPin->AddPinState(newState);
|
||||
}
|
||||
|
||||
|
||||
bool CheckPinStatus(PinState * state)
|
||||
{
|
||||
if (!state->is_input)
|
||||
return false;
|
||||
|
||||
bool newValue = ReadPin(state);
|
||||
|
||||
|
||||
if (newValue != state->pin_state)
|
||||
{
|
||||
delay(10);
|
||||
newValue = ReadPin(state);
|
||||
if (newValue != state->pin_state)
|
||||
{
|
||||
state->pin_state = newValue;
|
||||
SendSwitchedTriggeredCanPackage(state->meyPinId, state->pin_state);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void CheckMeyPinsTriggered()
|
||||
{
|
||||
MeyPin->ForEach(CheckPinStatus);
|
||||
}
|
||||
|
||||
bool ReadPin(PinState * state)
|
||||
{
|
||||
if (state->pin_id == PIN_PD2)
|
||||
return digitalReadFast(PIN_PD2);
|
||||
else if (state->pin_id == PIN_PC7)
|
||||
return digitalReadFast(PIN_PC7);
|
||||
else if (state->pin_id == PIN_PD1)
|
||||
return digitalReadFast(PIN_PD1);
|
||||
else if (state->pin_id == PIN_PD0)
|
||||
return digitalReadFast(PIN_PD0);
|
||||
else if (state->pin_id == PIN_PD6)
|
||||
return digitalReadFast(PIN_PD6);
|
||||
else if (state->pin_id == PIN_PD5)
|
||||
return digitalReadFast(PIN_PD5);
|
||||
else if (state->pin_id == PIN_PD4)
|
||||
return digitalReadFast(PIN_PD4);
|
||||
else if (state->pin_id == PIN_PD3)
|
||||
return digitalReadFast(PIN_PD3);
|
||||
else
|
||||
return digitalRead(state->pin_id);
|
||||
}
|
||||
|
||||
|
||||
void HandleFrame(can_frame *frame, MCP2515 *source)
|
||||
{
|
||||
CanBusses->ForEach(DoSendCanPkg, frame, source);
|
||||
HandleTriggerMeypinCanPackage(frame);
|
||||
}
|
||||
|
||||
void HandleTriggerMeypinCanPackage(can_frame *frame)
|
||||
{
|
||||
if (GetPackageType(frame->can_id) == TRIGGER_SWITCH_CAN_ID)
|
||||
{
|
||||
uint16_t adressedDeviceId = ((uint16_t )frame->data[0] << 8) | frame->data[1] ;
|
||||
if (adressedDeviceId != myDeviceId) return;
|
||||
|
||||
|
||||
byte meyPinId = frame->data[2];
|
||||
bool state = frame->data[3] > 0;
|
||||
|
||||
PinState *adressedPin = MeyPin->Find(meyPinId);
|
||||
|
||||
if (adressedPin != NULL)
|
||||
{
|
||||
if (adressedPin->is_input == true)
|
||||
{
|
||||
pinMode(adressedPin->pin_id, OUTPUT);
|
||||
adressedPin->is_input = false;
|
||||
}
|
||||
|
||||
bool pinChanged = adressedPin->pin_state != state;
|
||||
adressedPin->pin_state = state;
|
||||
|
||||
if (pinChanged) {
|
||||
digitalWrite(adressedPin->pin_id, state);
|
||||
SendSwitchedTriggeredCanPackage(adressedPin->meyPinId, state);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
byte CircularShift(byte b)
|
||||
{
|
||||
return (b << 1) | (b >> 7 & 1);
|
||||
}
|
||||
|
||||
uint16_t GetDeviceId(uint32_t canFrameId)
|
||||
{
|
||||
return canFrameId & 0xFFFF;
|
||||
}
|
||||
|
||||
uint16_t GetPackageType(uint32_t canFrameId)
|
||||
{
|
||||
return (canFrameId / 0x10000) & 0xFFF;
|
||||
}
|
||||
|
||||
byte GetDeviceIdLow() {
|
||||
return (SIGROW.SERNUM0 ^
|
||||
CircularShift(SIGROW.SERNUM2) << 1 ^
|
||||
CircularShift( CircularShift(SIGROW.SERNUM4)) ^
|
||||
CircularShift( CircularShift( CircularShift(SIGROW.SERNUM6))) ^
|
||||
CircularShift( CircularShift( CircularShift( CircularShift(SIGROW.SERNUM8)))));
|
||||
}
|
||||
|
||||
byte GetDeviceIdHigh() {
|
||||
return (SIGROW.SERNUM1 ^
|
||||
CircularShift(SIGROW.SERNUM3) << 1 ^
|
||||
CircularShift( CircularShift(SIGROW.SERNUM5)) ^
|
||||
CircularShift( CircularShift( CircularShift(SIGROW.SERNUM7))) ^
|
||||
CircularShift( CircularShift( CircularShift( CircularShift(SIGROW.SERNUM9)))));
|
||||
}
|
||||
|
||||
uint32_t CreateCanId(uint16_t commandId)
|
||||
{
|
||||
return ((((uint32_t)commandId) & 0xFFF) * 0x10000) | myDeviceId | CAN_EFF_FLAG;
|
||||
}
|
||||
|
||||
void SendVersionPackage(MCP2515 *interface)
|
||||
{
|
||||
can_frame toSend;
|
||||
toSend.can_id = CreateCanId(HELP_PACKAGE_CAN_ID);
|
||||
toSend.can_dlc = 5;
|
||||
|
||||
toSend.data[0] = SOFTWARE_VERSION_HIGH;
|
||||
toSend.data[1] = SOFTWARE_VERSION_LOW;
|
||||
toSend.data[2] = _majorHardwareVersion;
|
||||
toSend.data[3] = _minorHardwareVersion;
|
||||
toSend.data[4] = _deviceTypeId;
|
||||
|
||||
DoSendCanPkg(interface, &toSend);
|
||||
}
|
||||
|
||||
void BroadcastTriggerMeyPinCanPackage(uint16_t targetCanId, byte pinId, byte state)
|
||||
{
|
||||
can_frame toSend;
|
||||
|
||||
toSend.can_id = CreateCanId(TRIGGER_SWITCH_CAN_ID);
|
||||
toSend.can_dlc = 4;
|
||||
toSend.data[0] = (targetCanId & 0xFF00) >> 8;
|
||||
toSend.data[1] = targetCanId & 0xFF;
|
||||
toSend.data[2] = pinId;
|
||||
toSend.data[3] = state;
|
||||
|
||||
HandleFrame(&toSend, NULL);
|
||||
}
|
||||
|
||||
void SendSwitchedTriggeredCanPackage(byte pinId, int state)
|
||||
{
|
||||
can_frame toSend;
|
||||
toSend.can_id = CreateCanId(SWITCH_TRIGGERED_CAN_ID);
|
||||
toSend.can_dlc = 2;
|
||||
toSend.data[0] = pinId;
|
||||
toSend.data[1] = state;
|
||||
|
||||
DoSendCanPkg(&toSend);
|
||||
}
|
||||
|
||||
void DoSendCanPkg(can_frame *frame)
|
||||
{
|
||||
if (CanBusses != NULL)
|
||||
CanBusses->ForEach(DoSendCanPkg, frame);
|
||||
}
|
||||
|
||||
void DoSendCanPkg(MCP2515 *interface, can_frame *frame)
|
||||
{
|
||||
byte cnt = 0;
|
||||
while (interface->sendMessage(frame))
|
||||
{
|
||||
if (++cnt > 10) return;
|
||||
}
|
||||
}
|
||||
|
||||
void CalculateMyDeviceId()
|
||||
{
|
||||
myDeviceId = (GetDeviceIdHigh() << 8) | GetDeviceIdLow();
|
||||
}
|
||||
#include "MeyCan.h";
|
||||
#include <SPI.h>;
|
||||
#include <mcp2515.h>;
|
||||
|
||||
|
||||
PinState *MeyPin = NULL;
|
||||
CanInterface *CanBusses = NULL;
|
||||
uint16_t myDeviceId;
|
||||
byte _deviceTypeId = 0;
|
||||
byte _majorHardwareVersion = 0;
|
||||
byte _minorHardwareVersion = 0;
|
||||
void (*LocalPinChangedHandler)(can_frame *frame);
|
||||
|
||||
void SetupMeyPin(PinState *state) {
|
||||
pinMode(state->pin_id, OUTPUT);
|
||||
digitalWrite(state->pin_id, LOW);
|
||||
state->pin_state = false;
|
||||
}
|
||||
|
||||
void InitCanInterface(MCP2515 *interface, can_frame *frame) // can_frame is NULL. Reuse ForEach Method for smaller footprint
|
||||
{
|
||||
interface->reset();
|
||||
interface->setBitrate(CAN_1000KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
|
||||
interface->setNormalMode();
|
||||
SendVersionPackage(interface);
|
||||
}
|
||||
|
||||
void ForEachCanInterface(void (*handle)(MCP2515 *canInterace)) {
|
||||
CanBusses->ForEachInterface(handle);
|
||||
}
|
||||
|
||||
void SetupMeyCan(byte majorHardwareVersion, byte minorHardwareVersion, byte deviceTypeId) {
|
||||
_majorHardwareVersion = majorHardwareVersion;
|
||||
_minorHardwareVersion = minorHardwareVersion;
|
||||
_deviceTypeId = deviceTypeId;
|
||||
|
||||
if (MeyPin != NULL)
|
||||
;
|
||||
MeyPin->ForEach(SetupMeyPin);
|
||||
|
||||
if (CanBusses != NULL) {
|
||||
CanBusses->ForEach(InitCanInterface, NULL);
|
||||
}
|
||||
}
|
||||
|
||||
void AddCanInterface(byte pinId) {
|
||||
MCP2515 *newCanInterface = new MCP2515(pinId);
|
||||
CanInterface *canInterface = new CanInterface();
|
||||
canInterface->interface = newCanInterface;
|
||||
|
||||
if (CanBusses == NULL)
|
||||
CanBusses = canInterface;
|
||||
else
|
||||
CanBusses->AddCanInterface(canInterface);
|
||||
}
|
||||
|
||||
void AddLocalPinChangedHandler(void (*localPinChangedHandler)(can_frame *frame)) {
|
||||
LocalPinChangedHandler = localPinChangedHandler;
|
||||
}
|
||||
|
||||
void SetDevicedId(byte high, byte low) {
|
||||
myDeviceId = (high << 8) | low;
|
||||
}
|
||||
|
||||
void SetMeyPin(byte meyPinId, byte pinId) {
|
||||
PinState *newState = new PinState();
|
||||
newState->Init(pinId, (byte)meyPinId);
|
||||
|
||||
if (MeyPin == NULL)
|
||||
MeyPin = newState;
|
||||
else
|
||||
MeyPin->AddPinState(newState);
|
||||
}
|
||||
|
||||
|
||||
bool CheckPinStatus(PinState *state) {
|
||||
if (!state->is_input)
|
||||
return false;
|
||||
|
||||
bool newValue = ReadPin(state);
|
||||
|
||||
|
||||
if (newValue != state->pin_state) {
|
||||
delay(10);
|
||||
newValue = ReadPin(state);
|
||||
if (newValue != state->pin_state) {
|
||||
state->pin_state = newValue;
|
||||
SendSwitchedTriggeredCanPackage(state->meyPinId, state->pin_state);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void CheckMeyPinsTriggered() {
|
||||
MeyPin->ForEach(CheckPinStatus);
|
||||
}
|
||||
|
||||
bool ReadPin(PinState *state) {
|
||||
return digitalRead(state->pin_id);
|
||||
}
|
||||
|
||||
|
||||
void HandleFrame(can_frame *frame, MCP2515 *source) {
|
||||
CanBusses->ForEach(DoSendCanPkg, frame, source);
|
||||
HandleTriggerMeypinCanPackage(frame);
|
||||
}
|
||||
|
||||
void HandleTriggerMeypinCanPackage(can_frame *frame) {
|
||||
|
||||
|
||||
if (GetPackageType(frame->can_id) == TRIGGER_SWITCH_CAN_ID) {
|
||||
|
||||
|
||||
uint16_t adressedDeviceId = ((uint16_t)frame->data[0] << 8) | frame->data[1];
|
||||
if (adressedDeviceId != myDeviceId) return;
|
||||
|
||||
|
||||
byte meyPinId = frame->data[2];
|
||||
bool state = frame->data[3] > 0;
|
||||
|
||||
PinState *adressedPin = MeyPin->Find(meyPinId);
|
||||
|
||||
if (adressedPin != NULL) {
|
||||
if (adressedPin->is_input == true) {
|
||||
pinMode(adressedPin->pin_id, OUTPUT);
|
||||
adressedPin->is_input = false;
|
||||
}
|
||||
|
||||
bool pinChanged = adressedPin->pin_state != state;
|
||||
adressedPin->pin_state = state;
|
||||
|
||||
if (pinChanged) {
|
||||
digitalWrite(adressedPin->pin_id, state);
|
||||
SendSwitchedTriggeredCanPackage(adressedPin->meyPinId, state);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
byte CircularShift(byte b) {
|
||||
return (b << 1) | (b >> 7 & 1);
|
||||
}
|
||||
|
||||
uint16_t GetDeviceId(uint32_t canFrameId) {
|
||||
return canFrameId & 0xFFFF;
|
||||
}
|
||||
|
||||
uint16_t GetPackageType(uint32_t canFrameId) {
|
||||
return (canFrameId / 0x10000) & 0xFFF;
|
||||
}
|
||||
|
||||
|
||||
uint32_t CreateCanId(uint16_t commandId) {
|
||||
return ((((uint32_t)commandId) & 0xFFF) * 0x10000) | myDeviceId | CAN_EFF_FLAG;
|
||||
}
|
||||
|
||||
void SendVersionPackage(MCP2515 *interface) {
|
||||
can_frame toSend;
|
||||
toSend.can_id = CreateCanId(HELP_PACKAGE_CAN_ID);
|
||||
toSend.can_dlc = 5;
|
||||
|
||||
toSend.data[0] = SOFTWARE_VERSION_HIGH;
|
||||
toSend.data[1] = SOFTWARE_VERSION_LOW;
|
||||
toSend.data[2] = _majorHardwareVersion;
|
||||
toSend.data[3] = _minorHardwareVersion;
|
||||
toSend.data[4] = _deviceTypeId;
|
||||
|
||||
DoSendCanPkg(interface, &toSend);
|
||||
}
|
||||
|
||||
void BroadcastTriggerMeyPinCanPackage(uint16_t targetCanId, byte pinId, byte state) {
|
||||
can_frame toSend;
|
||||
|
||||
toSend.can_id = CreateCanId(TRIGGER_SWITCH_CAN_ID);
|
||||
toSend.can_dlc = 4;
|
||||
toSend.data[0] = (targetCanId & 0xFF00) >> 8;
|
||||
toSend.data[1] = targetCanId & 0xFF;
|
||||
toSend.data[2] = pinId;
|
||||
toSend.data[3] = state;
|
||||
|
||||
HandleFrame(&toSend, NULL);
|
||||
}
|
||||
|
||||
void BroadcastDebugPackage(uint8_t length, byte *data) {
|
||||
can_frame toSend;
|
||||
|
||||
toSend.can_id = CreateCanId(DEBUG_PKG_CAN_ID);
|
||||
toSend.can_dlc = length;
|
||||
for (int i = 0; i < length; i++) {
|
||||
toSend.data[i] = data[i];
|
||||
}
|
||||
|
||||
HandleFrame(&toSend, NULL);
|
||||
}
|
||||
void BroadcastDebugPackage(byte b0, byte b1) {
|
||||
byte data[2];
|
||||
data[0] = b0;
|
||||
data[1] = b1;
|
||||
BroadcastDebugPackage(2, data);
|
||||
}
|
||||
void BroadcastDebugPackage(byte b0, byte b1, byte b2) {
|
||||
byte data[3];
|
||||
data[0] = b0;
|
||||
data[1] = b1;
|
||||
data[2] = b2;
|
||||
BroadcastDebugPackage(3, data);
|
||||
}
|
||||
|
||||
void SendSwitchedTriggeredCanPackage(byte pinId, int state) {
|
||||
can_frame toSend;
|
||||
toSend.can_id = CreateCanId(SWITCH_TRIGGERED_CAN_ID);
|
||||
toSend.can_dlc = 2;
|
||||
toSend.data[0] = pinId;
|
||||
toSend.data[1] = state;
|
||||
|
||||
DoSendCanPkg(&toSend);
|
||||
if (LocalPinChangedHandler) {
|
||||
LocalPinChangedHandler(&toSend);
|
||||
}
|
||||
}
|
||||
|
||||
void DoSendCanPkg(can_frame *frame) {
|
||||
if (CanBusses != NULL)
|
||||
CanBusses->ForEach(DoSendCanPkg, frame);
|
||||
}
|
||||
|
||||
void DoSendCanPkg(MCP2515 *interface, can_frame *frame) {
|
||||
byte cnt = 0;
|
||||
while (interface->sendMessage(frame)) {
|
||||
if (++cnt > 10) return;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user