WIP

Software/UPSoftware/sketch_jun30b/sketch_jun30b.ino

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+#include <SPI.h>;
+#include <mcp2515.h>;
+
+
+struct can_frame _frame;
+MCP2515 mcp2515(PIN_PA3);
+const byte SoftwareVersionHigh = 1;
+const byte SoftwareVersionLow = 0;
+const byte HardwareVersionHigh = 2;
+const byte HardwareVersionLow = 0;
+
+typedef struct
+{
+  int pin_id;
+  bool pin_state;
+  bool is_input;
+  byte meyPinId;
+
+  PinState() {}
+  void Init(int pin_id, byte meyPinId)
+  {
+    this->pin_id = pin_id;
+    this->pin_state = true;
+    this->is_input = true;
+    this->meyPinId = meyPinId;
+  }
+} PinState;
+
+int PinCount = 8;
+PinState PinPD2[8];
+byte DeviceId[2];
+
+
+
+void setup() {
+  SPI.begin();
+
+
+  PinPD2[0] = PinState();
+  PinPD2[0].Init(PIN_PC7, (byte) 1);
+
+  PinPD2[1] = PinState();
+  PinPD2[1].Init(PIN_PD0, (byte) 2);
+
+  PinPD2[2] = PinState();
+  PinPD2[2].Init(PIN_PD1, (byte) 3);
+
+  PinPD2[3] = PinState();
+  PinPD2[3].Init(PIN_PD2, (byte) 4);
+
+  PinPD2[4] = PinState();
+  PinPD2[4].Init(PIN_PD6, (byte) 5);
+
+  PinPD2[5] = PinState();
+  PinPD2[5].Init(PIN_PD5, (byte) 6);
+
+  PinPD2[6] = PinState();
+  PinPD2[6].Init(PIN_PD4, (byte) 7);
+
+  PinPD2[7] = PinState();
+  PinPD2[7].Init(PIN_PD3, (byte) 8);
+
+
+
+  _PROTECTED_WRITE(CLKCTRL.MCLKCTRLA,  CLKCTRL.MCLKCTRLA | 1 << 7);
+  mcp2515.reset();
+  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ); //Sets CAN at speed 500KBPS and Clock 8MHz
+  mcp2515.setNormalMode();
+
+  for (int i = 0; i <= PinCount - 1; i++)
+  {
+    pinMode(PinPD2[i].pin_id, INPUT_PULLUP);
+    PinPD2[i].pin_state = ReadPin(&PinPD2[i]);
+  }
+
+
+  DeviceId[0] = (SIGROW.SERNUM0 ^
+                 CircularShift(SIGROW.SERNUM2) << 1 ^
+                 CircularShift( CircularShift(SIGROW.SERNUM4)) ^
+                 CircularShift( CircularShift( CircularShift(SIGROW.SERNUM6))) ^
+                 CircularShift( CircularShift( CircularShift( CircularShift(SIGROW.SERNUM8)))));
+  DeviceId[1] = (SIGROW.SERNUM1 ^
+                 CircularShift(SIGROW.SERNUM3) << 1 ^
+                 CircularShift( CircularShift(SIGROW.SERNUM5)) ^
+                 CircularShift( CircularShift( CircularShift(SIGROW.SERNUM7))) ^
+                 CircularShift( CircularShift( CircularShift( CircularShift(SIGROW.SERNUM9)))));
+
+  SendSerialPackage();
+}
+
+bool debugFlag = false;
+void loop()
+{
+  for (int i = 0; i <= PinCount - 1; i++)
+  {
+    if (CheckPinStatus(&PinPD2[i]))
+      SendSwitchedTriggeredCanPackage(&PinPD2[i]);
+  }
+
+  if (mcp2515.readMessage(&_frame) == MCP2515::ERROR_OK)
+  {
+    debugFlag ^= true;
+
+    int meyPinId = _frame.data[0];
+    bool state = _frame.data[1] > 0;
+
+    PinState *adressedPin;
+    for (int i = 0; i <= PinCount - 1; i++)
+      if (PinPD2[i].meyPinId == meyPinId)
+      {
+        adressedPin = &PinPD2[i];
+        break;
+      }
+
+    if (adressedPin != NULL)
+    {
+      if (adressedPin->is_input == true)
+      {
+        pinMode(adressedPin->pin_id, OUTPUT);
+        adressedPin->is_input = false;
+      }
+      adressedPin->pin_state = state;
+      digitalWrite(adressedPin->pin_id, state);
+    }
+
+
+
+  }
+  delay(20);
+}
+
+byte CircularShift(byte b)
+{
+  return (b << 1) | (b >> 7 & 1);
+}
+
+uint32_t GetDeviceId(uint32_t canFrameId)
+{
+  return canFrameId & 0xFFFF;
+}
+
+uint32_t CreateCanId(uint32_t commandId)
+{
+  return ((commandId & 0xFFF) * 0x10000) | ( DeviceId[0] << 8) | (DeviceId[1]) | CAN_EFF_FLAG;
+}
+
+void SendSerialPackage()
+{
+  _frame.can_id = CreateCanId(0xFFFF);
+  _frame.can_dlc = 4;
+
+  _frame.data[0] = SoftwareVersionHigh;
+  _frame.data[1] = SoftwareVersionLow;
+  _frame.data[2] = HardwareVersionHigh;
+  _frame.data[3] = HardwareVersionLow;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
+}
+
+void SendSwitchedTriggeredCanPackage(PinState * state)
+{
+  _frame.can_id = CreateCanId(0x050);
+  _frame.can_dlc = 2;
+  _frame.data[0] = state->meyPinId;
+  _frame.data[1] = state->pin_state;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
+}
+
+void SendDoTriggerSwitchCanPackage(uint32_t targetCanId, byte pinId, byte state)
+{
+  _frame.can_id = CreateCanId(0x050);
+  _frame.can_dlc = 4;
+  _frame.data[0] = targetCanId & 0xFF;
+  _frame.data[1] = (targetCanId & 0xFF00) >> 8;
+  _frame.data[2] = pinId;
+  _frame.data[3] = state;
+  mcp2515.sendMessage(MCP2515::TXB1, &_frame);
+}
+
+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);
+}
+
+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;
+      return true;
+    }
+  }
+  return false;
+
+}