Michael Waiblinger
9 years ago
2 changed files with 298 additions and 0 deletions
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#include <Arduino.h> |
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// -------------------------------------------------------------
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// CANNode for Teensy 3.1/3.2
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//
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// by wiebel
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//
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#include <Metro.h> |
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#include <FlexCAN.h> |
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#include <OneWire.h> |
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#include "CANNode.h" |
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// Configuration
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// Misc
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#define N_EVENTS 64 // size of events array
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#define N_SWITCHES 64 // size of switch array
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#define DEBUG 0 // 1 for noisy serial
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#define LED 13 |
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// Metro ticks in ms
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#define METRO_CAN_tick 1 |
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#define METRO_OW_read_tick 20 |
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#define METRO_OW_search_tick 10000 |
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// CAN bus
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#define CAN_speed 125000 |
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#define CAN_RS_PIN 2 //
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// OneWire
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#define OW_pin 14 |
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#define TEST_ADDR "125B275000000026" |
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#define DS2406_FAMILY 0x12 |
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#define DS2406_WRITE_STATUS 0x55 |
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#define DS2406_READ_STATUS 0xaa |
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#define DS2406_CHANNEL_ACCESS 0xf5 |
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#define DS2406_CHANNEL_CONTROL1 0x4c // 01001100 - Read Both Pins
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#define DS2406_CHANNEL_CONTROL2 0xff // for future dev
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#define SKIP_ROM 0xCC |
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#define PIO_A 0x20 |
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#define PIO_B 0x40 |
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#define DS2406_BUF_LEN 10 |
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// Definitions
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static OW_switch_t switches[N_SWITCHES]; |
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static event_t events[N_EVENTS]; |
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// Initialisation
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// Misc
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#if DEBUG |
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#define DEBUG_PRINT(a) Serial.print(a) |
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#define DEBUG_WRITE(a) Serial.write(a) |
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#else |
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#define DEBUG_PRINT(a) |
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#define DEBUG_WRITE(a) |
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#endif /* DEBUG */ |
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int led = LED; |
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// Metro
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Metro METRO_CAN = Metro(METRO_CAN_tick); |
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Metro METRO_OW_read = Metro(METRO_OW_read_tick); |
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Metro METRO_OW_search = Metro(METRO_OW_search_tick); |
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// CAN bus
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FlexCAN CANbus(CAN_speed); |
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// OneWire
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uint8_t addr[8]; |
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uint8_t buffer[DS2406_BUF_LEN]; |
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uint8_t readout,trig_event,event_idx,tmp; |
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OneWire OW_1(OW_pin); |
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static CAN_message_t txmsg,rxmsg; |
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static uint8_t hex[17] = "0123456789abcdef"; |
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int txCount,rxCount; |
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unsigned int txTimer,rxTimer; |
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// Functions -------------------------------------------------------
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void PrintBytes(uint8_t* addr, uint8_t count, bool newline=0) { |
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for (uint8_t i = 0; i < count; i++) { |
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Serial.print(addr[i]>>4, HEX); |
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Serial.print(addr[i]&0x0f, HEX); |
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} |
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if (newline) |
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Serial.println(); |
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} |
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void DEBUG_Bytes(uint8_t* addr, uint8_t count, bool newline=0) { |
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#if DEBUG |
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for (uint8_t i = 0; i < count; i++) { |
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Serial.print(addr[i]>>4, HEX); |
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Serial.print(addr[i]&0x0f, HEX); |
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} |
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if (newline) |
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Serial.println(); |
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#endif |
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} |
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void print_OW_Device(uint8_t *addr) { |
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for(int i = 0; i < 8; i++) { |
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if(i != 0) { |
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Serial.print(":"); |
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} |
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Serial.print(addr[i], HEX); |
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} |
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} |
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uint8_t read_DS2406(uint8_t* addr) { |
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// We're using a temporary switch object here only because we're
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// discovering them dynamically. Depending on your app, you may
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// already know the serial number of the device you intend to
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// control and will use it there.
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OW_1.reset(); |
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OW_1.select(addr); |
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OW_1.write(DS2406_CHANNEL_ACCESS,1); |
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OW_1.write(DS2406_CHANNEL_CONTROL1,1); |
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OW_1.write(DS2406_CHANNEL_CONTROL2,1); |
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tmp = OW_1.read(); |
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OW_1.reset(); |
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#if DEBUG |
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PrintBytes(&tmp,1,1); |
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#endif /* DEBUG */ |
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return tmp; |
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} |
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// -------------------------------------------------------------
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void setup(void) |
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{ |
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// Misc
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// Most clumsy way later to be put in eeprom or s/th
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switches[0].nick = 1; |
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switches[0].addr[0] = 0x12, |
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switches[0].addr[1] = 0x5b; |
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switches[0].addr[2] = 0x27; |
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switches[0].addr[3] = 0x50; |
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switches[0].addr[4] = 0x0; |
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switches[0].addr[5] = 0x0; |
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switches[0].addr[6] = 0x0; |
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switches[0].addr[7] = 0x26; |
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switches[0].event_id[0] = 0x01; |
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switches[0].event_id[1] = 0x02; |
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events[0].id =0x01; |
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events[0].telegram.id = 0x0102DEAD; |
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events[0].telegram.len = 2; |
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events[0].telegram.buf[0] = 0xDE; |
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events[0].telegram.buf[1] = 0xAD; |
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events[1].id =0x02; |
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events[1].telegram.id = 0x0204BEEF; |
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events[1].telegram.len = 2; |
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events[1].telegram.buf[0] = 0xBE; |
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events[1].telegram.buf[1] = 0xEF; |
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//{ 0x02040608, 2, { 0xbe, 0xef }}};
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Serial.begin(115200); |
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pinMode(led, OUTPUT); |
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digitalWrite(led, 1); |
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//CAN bus
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pinMode(CAN_RS_PIN,OUTPUT); |
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digitalWrite(CAN_RS_PIN,0); |
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CANbus.begin(); |
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txmsg.ext = 1; |
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txmsg.timeout = 100; |
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delay(100); |
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Serial.println(F("Hello Teensy 3.2 CANode awakes.")); |
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METRO_CAN.reset(); |
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METRO_OW_read.reset(); |
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METRO_OW_search.reset(); |
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} |
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// -------------------------------------------------------------
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void loop(void) |
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{ |
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// service software timers based on Metro tick
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if ( METRO_OW_search.check() ) { |
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OW_1.reset_search(); |
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while(OW_1.search(addr) == 1) { |
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if ( OneWire::crc8( addr, 7) != addr[7]) { |
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Serial.print("CRC is not valid!\n"); |
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delay(100); |
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return; |
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} |
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Serial.print("Found a device: "); |
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print_OW_Device(addr); |
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Serial.println(""); |
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} |
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} |
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if (METRO_OW_read.check() ) { |
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bool action[2]; |
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readout = read_DS2406(switches[0].addr); |
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if (switches[0].state != readout) { |
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tmp = readout ^ switches[0].state; |
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switches[0].state = readout; |
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action[0] = tmp & 0x04; |
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action[1] = tmp & 0x08; |
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} |
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if (action[0]) { |
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Serial.print("pioA toggled"); |
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digitalWrite(led, !digitalRead(led)); |
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trig_event = switches[0].event_id[0]; |
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// might need queuing
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event_idx = 0; |
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} |
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if (action[1]) { |
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Serial.print("pioB toggled"); |
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digitalWrite(led, !digitalRead(led)); |
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trig_event= switches[0].event_id[1]; |
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event_idx = 0; |
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} |
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} |
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if ( METRO_CAN.check() ) { |
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if ( txTimer ) { |
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--txTimer; |
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} |
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if ( rxTimer ) { |
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--rxTimer; |
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} |
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} |
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if ( txmsg.len == 0 && trig_event != 0 ) { |
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if ( events[event_idx].id == trig_event ) { |
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txmsg.id = events[event_idx].telegram.id; |
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txmsg.len = events[event_idx].telegram.len; |
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for (uint i=0;i<txmsg.len;i++){ |
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txmsg.buf[i] = events[event_idx].telegram.buf[i]; |
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} |
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} |
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if ( events[event_idx].id == 0) { trig_event = 0; } |
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event_idx++; |
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} |
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// if not time-delayed, read CAN messages and print 1st byte
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if ( !rxTimer ) { |
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while ( CANbus.read(rxmsg) ) { |
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//hexDump( sizeof(rxmsg), (uint8_t *)&rxmsg );
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DEBUG_WRITE(rxmsg.buf[0]); |
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rxCount++; |
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} |
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} |
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// insert a time delay between transmissions
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if ( !txTimer ) { |
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// if frames were received, print the count
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if ( rxCount ) { |
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//#if DEBUG
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Serial.write('='); |
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Serial.print(rxCount); |
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Serial.print(",Hello="); |
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Serial.print(rxmsg.id,HEX); |
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//#endif
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rxCount = 0; |
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} |
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txTimer = 100;//milliseconds
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//txmsg.len = 8;
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//txmsg.id = 0x222;
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//for( int idx=0; idx<8; ++idx ) {
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// txmsg.buf[idx] = '0'+idx;
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//}
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// send 6 at a time to force tx buffering
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// txCount = 16;
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//digitalWrite(led, 1);
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// Serial.println(".");
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//while ( txCount-- ) {
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if (txmsg.len != 0){ |
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Serial.print("Sending to CAN"); |
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Serial.print(txmsg.id,HEX); |
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CANbus.write(txmsg); |
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txmsg.buf[0]++; |
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//}
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txmsg.len = 0; |
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} |
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// digitalWrite(led, 0);
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// time delay to force some rx data queue use
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rxTimer = 3;//milliseconds
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} |
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} |
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@ -0,0 +1,19 @@ |
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#include <Arduino.h> |
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typedef struct CAN_telegram_t { |
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uint32_t id; |
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uint8_t len; |
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uint8_t buf[8]; |
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} CAN_telegram_t; |
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typedef struct OW_switch_t { |
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uint8_t nick; |
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uint8_t addr[8]; |
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uint8_t state; |
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uint8_t event_id[2]; |
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} OW_switch_t; |
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typedef struct event_t { |
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uint8_t id; |
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CAN_telegram_t telegram; |
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} event_t; |
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