#include // ------------------------------------------------------------- // CANNode for Teensy 3.1/3.2 // // by wiebel // #include #include #include #include "CANNode.h" // Configuration #define NODE_ID 0x01 // Misc #define N_EVENTS 64 // size of events array #define N_SWITCHES 64 // size of switch array #define N_OUTPUTS 64 #define N_ACTIONS 64 #define DEBUG 0 // 1 for noisy serial #define LED 13 #define RELAY1 0 #define RELAY2 1 #define RELAY3 23 #define RELAY4 22 #define RELAY5 17 #define RELAY6 16 #define RELAY7 9 #define RELAY8 10 // Metro ticks in ms #define METRO_CAN_tick 1 #define METRO_OW_read_tick 20 #define METRO_OW_search_tick 10000 // CAN bus #define CAN_speed 125000 #define CAN_RS_PIN 2 // // OneWire #define OW_pin 14 #define TEST_ADDR "125B275000000026" #define DS2406_FAMILY 0x12 #define DS2406_WRITE_STATUS 0x55 #define DS2406_READ_STATUS 0xaa #define DS2406_CHANNEL_ACCESS 0xf5 #define DS2406_CHANNEL_CONTROL1 0x4c // 01001100 - Read Both Pins #define DS2406_CHANNEL_CONTROL2 0xff // for future dev #define SKIP_ROM 0xCC #define PIO_A 0x20 #define PIO_B 0x40 #define DS2406_BUF_LEN 10 // Definitions static uint8_t node_id PROGMEM= { NODE_ID }; static OW_switch_t switches[N_SWITCHES] PROGMEM={ // nick, addr[8], event_tag[sw1, sw2] { 1, { 0x12, 0x5b, 0x27, 0x50, 0x0, 0x0, 0x0, 0x26 }, { 1, 10 } }, { 0, { 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0 }, { 0, 0 } } }; static uint8_t switches_state[N_SWITCHES]; static outputs_t outputs[N_OUTPUTS] PROGMEM={ { GPIO, 0}, { GPIO, 1}, { GPIO, 23}, { GPIO, 22}, { GPIO, 17}, { GPIO, 16}, { GPIO, 9}, { GPIO, 10}, { NOP, 0xFF} }; static uint8_t outputs_state[N_OUTPUTS]; // ID: // 3 bit Prio, 2bit TYPE, 8bit DST, 8bit SRC, 8bit CMD/SEQ // Type: 0: CMD, 1: FIRST, 2: CONT, 3: LAST // CMD: static event_t tx_events[N_EVENTS] PROGMEM={ // | --- ID --- | // tag, prio, dst, cmd, data { 1, 0x03, 0xff, 0x03, 0x01}, { 2, 0x03, 0xff, 0x03, 0x02}, { 3, 0x03, 0xff, 0x03, 0x03}, { 4, 0x03, 0xff, 0x03, 0x04}, { 5, 0x03, 0xff, 0x03, 0x05}, { 6, 0x03, 0xff, 0x03, 0x06}, { 7, 0x03, 0xff, 0x03, 0x07}, { 8, 0x03, 0xff, 0x03, 0x08}, { 9, 0x03, 0xff, 0x03, 0x09}, { 10, 0x03, 0xff, 0x03, 0x01}, { 10, 0x03, 0xff, 0x03, 0x02}, { 10, 0x03, 0xff, 0x03, 0x03}, { 10, 0x03, 0xff, 0x03, 0x04}, { 10, 0x03, 0xff, 0x03, 0x05}, { 10, 0x03, 0xff, 0x03, 0x06}, { 10, 0x03, 0xff, 0x03, 0x07}, { 10, 0x03, 0xff, 0x03, 0x08}, // { 0x01, 0x0CFF0103, 1, { 0xDE, 0xAD } }, // { 0x01, 0x0102DEAD, 2, { 0xDE, 0xAD } }, // { 0x02, 0x0204BEEF, 4, { 0xDE, 0xAD, 0xBE, 0xEF } } { 0, 0, 0, 0, 0} }; static action_t action_map[N_ACTIONS] PROGMEM={ // tag, output_idx {1, 0}, {2, 1}, {3, 2}, {4, 3}, {5, 4}, {6, 5}, {7, 6}, {8, 7}, {9, 0},{9, 1},{9, 2},{9, 3},{9, 4},{9, 5},{9, 6},{9, 7}, }; // Initialisation // Misc #if DEBUG #define DEBUG_PRINT(a) Serial.print(a) #define DEBUG_PRINTLN(a) Serial.println(a) #define DEBUG_WRITE(a) Serial.write(a) #else #define DEBUG_PRINT(a) #define DEBUG_PRINTLN(a) #define DEBUG_WRITE(a) #endif /* DEBUG */ uint8_t led = LED; uint8_t state; uint8_t pin_state; // Metro Metro METRO_CAN = Metro(METRO_CAN_tick); Metro METRO_OW_read = Metro(METRO_OW_read_tick); Metro METRO_OW_search = Metro(METRO_OW_search_tick); // CAN bus FlexCAN CANbus(CAN_speed); // OneWire uint8_t addr[8]; uint8_t buffer[DS2406_BUF_LEN]; uint8_t readout,trig_event,event_idx,tmp; OneWire OW_1(OW_pin); telegram_comp_t mesg_comp; static CAN_message_t txmsg,rxmsg; static uint8_t hex[17] = "0123456789abcdef"; int txCount,rxCount; unsigned int txTimer,rxTimer; // Functions ------------------------------^------------------------- void PrintBytes(uint8_t* addr, uint8_t count, bool newline=0) { for (uint8_t i = 0; i < count; i++) { Serial.print(addr[i]>>4, HEX); Serial.print(addr[i]&0x0f, HEX); } if (newline) Serial.println(); } void DEBUG_Bytes(uint8_t* addr, uint8_t count, bool newline=0) { #if DEBUG for (uint8_t i = 0; i < count; i++) { Serial.print(addr[i]>>4, HEX); Serial.print(addr[i]&0x0f, HEX); } if (newline) Serial.println(); #endif } void print_OW_Device(uint8_t *addr) { for(int i = 0; i < 8; i++) { if(i != 0) { Serial.print(":"); } Serial.print(addr[i], HEX); } } uint8_t read_DS2406(uint8_t* addr) { OW_1.reset(); OW_1.select(addr); OW_1.write(DS2406_CHANNEL_ACCESS,1); OW_1.write(DS2406_CHANNEL_CONTROL1,1); OW_1.write(DS2406_CHANNEL_CONTROL2,1); tmp = OW_1.read(); OW_1.reset(); #if DEBUG PrintBytes(&tmp,1,1); #endif /* DEBUG */ return tmp; } uint8_t toggle_Pin(uint8_t pin){ digitalWrite(pin, !digitalRead(pin)); return digitalRead(pin); } uint32_t forgeid(event_t event){ return (event.prio<<26)+(event.dst<<16)+(NODE_ID<<8)+event.cmd; } telegram_comp_t parse_CAN(CAN_message_t mesg){ telegram_comp_t tmp; tmp.prio=mesg.id>>26; tmp.frametype=(mesg.id>>24) & 0x03; tmp.dst=(mesg.id>>16) & 0xFF; tmp.src=(mesg.id>>8) & 0xFF; tmp.cmd=mesg.id & 0xFF; tmp.length=mesg.len; for (uint8_t i = 0; i < mesg.len; i++) { tmp.buf[i] = mesg.buf[i]; } return tmp; } void send_event (uint8_t trig_event){ Serial.print(F("Sending event: ")); Serial.println(trig_event); for (uint8_t e_idx = 0; tx_events[e_idx].tag != 0; e_idx++) if ( tx_events[e_idx].tag == trig_event ) { txmsg.id = forgeid(tx_events[e_idx]); txmsg.len = 1; // txmsg.timeout = 100; txmsg.buf[0]= tx_events[e_idx].data; CANbus.write(txmsg); Serial.print(F("Sending to CAN ID: ")); Serial.print(txmsg.id); Serial.print(F("DATA: ")); Serial.println(txmsg.buf[0]); txmsg.len = 0; } } void take_action (action_type type, uint8_t tag ){ for (uint8_t i = 0; action_map[i].tag != 0 ; i++) { if ( action_map[i].tag == tag ) { switch ( type ) { case OFF: digitalWrite(outputs[action_map[i].outputs_idx].address,LOW); Serial.print(F("Switching OFF Output: ")); Serial.println(action_map[i].outputs_idx); break; case ON: digitalWrite(outputs[action_map[i].outputs_idx].address,HIGH); Serial.print(F("Switching ON Output: ")); Serial.println(action_map[i].outputs_idx); break; case TOGGLE: pin_state = toggle_Pin(outputs[action_map[i].outputs_idx].address); Serial.print(F("Toggeling Output: ")); Serial.print(action_map[i].outputs_idx); Serial.print(F("to new state: ")); Serial.println(pin_state); break; case VALUE: Serial.println(F("TBD")); break; } } } } // ------------------------------------------------------------- void setup(void) { Serial.begin(115200); pinMode(led, OUTPUT); digitalWrite(led, 1); //CAN bus pinMode(CAN_RS_PIN,OUTPUT); digitalWrite(CAN_RS_PIN,0); CANbus.begin(); txmsg.ext = 1; txmsg.timeout = 100; // outputs for (size_t i = 0; outputs[i].type != NOP; i++) { if (outputs[i].type == GPIO || outputs[i].type == PWM){ pinMode(outputs[i].address, OUTPUT); } } delay(100); Serial.println(F("Hello Teensy 3.2 CANode awakes.")); METRO_CAN.reset(); METRO_OW_read.reset(); METRO_OW_search.reset(); } // ------------------------------------------------------------- void loop(void) { // service software timers based on Metro tick if ( METRO_OW_search.check() ) { OW_1.reset_search(); while(OW_1.search(addr) == 1) { if ( OneWire::crc8( addr, 7) != addr[7]) { Serial.print("CRC is not valid!\n"); delay(10); return; } Serial.print("Found a device: "); print_OW_Device(addr); Serial.println(""); } } if (METRO_OW_read.check() ) { bool action[2]; readout = read_DS2406(switches[0].addr); if (switches_state[0] != readout) { tmp = readout ^ switches_state[0]; switches_state[0] = readout; action[0] = tmp & 0x04; action[1] = tmp & 0x08; } if (action[0]) { Serial.println("pioA toggled"); send_event(switches[0].event_tag[0]); } if (action[1]) { Serial.println("pioB toggled"); send_event(switches[0].event_tag[1]); } } if ( METRO_CAN.check() ) { if ( txTimer ) { --txTimer; } if ( rxTimer ) { --rxTimer; } } while ( CANbus.read(rxmsg) ) { //hexDump( sizeof(rxmsg), (uint8_t *)&rxmsg ); DEBUG_WRITE(rxmsg.buf[0]); rxCount++; Serial.print("GOT="); Serial.print(rxmsg.id,HEX); for (uint8_t i=0; i