OSS
/
CANNode
0
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 Commits
4 Branches
2 Tags
11 MiB
 
 
 
 
Branch: master
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'master'
${ noResults }
CANNode/src/CANNode.cpp

435 lines
12 KiB
Raw Permalink Blame History

// #include <Arduino.h>
// -------------------------------------------------------------
// CANNode for Teensy 3.1/3.2
// GPLv2
// by wiebel (c) 2015-2018
#include <vector>
#include <Metro.h>
#include <FlexCAN.h>
#include <OneWire.h>
#include "CANNode.h"
// For Node definition:
//#include "Node_1_def.h" // Dachstuhl
#include "Node_2_def.h" // Werkstatt
//#include "Node_3_def.h" // Keller
// 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_speed 125000
#define CAN_RS_PIN 2 //
#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 0xcc // 11001100 - Read Both Pins, reset alarm
#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
// 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;
bool action[2];
// 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);
// FLEXCAN0_MCR &= ~FLEXCAN_MCR_SRX_DIS;
// OneWire
uint8_t addr[8];
uint8_t data[8];
uint8_t buffer[DS2406_BUF_LEN];
uint8_t readout,recheck,trig_event,event_idx,tmp;
OneWire OW_1(OW_pin);
telegram_comp_t mesg_comp;
static CAN_message_t global_txmsg,rxmsg;
CAN_message_t txmsg;
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 event2id(event_t event){
return (event.prio<<26)+(event.dst<<16)+(NODE_ID<<8)+event.cmd;
}
uint32_t forgeid(uint8_t prio, uint8_t dst, uint8_t cmd, uint8_t type=0){
// CMD:
// Type: 0: SINGLE, 1: FIRST, 2: CONT, 3: LAST
return (prio<<26)+(type<<24)+(dst<<16)+(NODE_ID<<8)+cmd;
}
int CAN_send(uint8_t prio, uint8_t dst, uint8_t cmd, uint8_t* data, uint8_t data_size, uint8_t type=0){
txmsg.ext = 1;
txmsg.timeout = 100;
txmsg.id = forgeid(prio, dst, cmd, type);
txmsg.len = data_size;
for (uint8_t i = 0; i < txmsg.len; i++) { txmsg.buf[i] = data[i]; }
return CANbus.write(txmsg);
// txmsg.buf[0]++;
// txmsg.len = 0;
}
int CAN_send(uint8_t prio, uint8_t dst, uint8_t cmd, uint8_t data, uint8_t type=0){
txmsg.ext = 1;
txmsg.timeout = 100;
txmsg.id = forgeid(prio, dst, cmd, type);
txmsg.len = 1;
txmsg.buf[0] = data;
return CANbus.write(txmsg);
// txmsg.buf[0]++;
// txmsg.len = 0;
}
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.ext = 1;
txmsg.timeout = 100;
txmsg.id = event2id(tx_events[e_idx]);
txmsg.len = 1;
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.buf[0]++;
// txmsg.len = 0;
}
}
void take_action (cmd_type type, uint8_t tag ){
for (uint8_t i = 0; action_map[i].tag != 0 ; i++) {
if ( action_map[i].tag == tag ) {
bool old_state = digitalRead(outputs[action_map[i].outputs_idx].address);
switch ( type ) {
case OFF:
digitalWrite(outputs[action_map[i].outputs_idx].address,LOW ^ outputs[action_map[i].outputs_idx].invert);
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 ^ outputs[action_map[i].outputs_idx].invert);
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 ^ outputs[action_map[i].outputs_idx].invert);
break;
case VALUE:
Serial.println(F("TBD"));
break;
}
bool new_state = digitalRead(outputs[action_map[i].outputs_idx].address);
if ( old_state == new_state) {
data[0]=action_map[i].outputs_idx;
data[1]=new_state ^ outputs[action_map[i].outputs_idx].invert;
Serial.println(F("Sending nochange to CAN"));
CAN_send(NOTIFY, 0x0, STATE_OUT, data, 2);
}
else {
data[0]=action_map[i].outputs_idx;
data[1]=new_state ^ outputs[action_map[i].outputs_idx].invert;
Serial.println(F("Sending change to CAN"));
CAN_send(NOTIFY, 0x0, NEWSTATE_OUT, data, 2);
}
}
}
}
// -------------------------------------------------------------
void setup(void)
{
Serial.begin(115200);
pinMode(led, OUTPUT);
digitalWrite(led, 1);
OW_1.reset_search();
//CAN bus
pinMode(CAN_RS_PIN,OUTPUT);
digitalWrite(CAN_RS_PIN,0);
CANbus.begin();
// outputs
for (size_t i = 0; outputs[i].type != NOP; i++) {
if (outputs[i].type == GPIO || outputs[i].type == PWM){
//digitalWrite(outputs[i].address, LOW ^ outputs[action_map[i].outputs_idx].invert);
pinMode(outputs[i].address, OUTPUT);
if (outputs[i].init != 0 ) {
digitalWrite(outputs[i].address, HIGH ^ outputs[i].invert );
}
else {
digitalWrite(outputs[i].address, LOW ^ outputs[i].invert );
}
}
}
for (uint8_t s_idx = 0; switches[s_idx].nick != 0; ++s_idx ){
switches_state[s_idx] = read_DS2406(switches[s_idx].addr);
}
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;
}
bool new_owd=1;
for (uint8_t s_idx = 0; switches[s_idx].nick != 0; ++s_idx ){
bool cmp = 1;
for ( uint8_t i = 0; i < 8; i++){
if ( switches[s_idx].addr[i] != addr[i] ){
cmp = 0;
break;
}
}
if ( cmp ) {
new_owd=0;
break;
}
}
if (new_owd) {
// send new ID to all
Serial.print("Found a device: ");
print_OW_Device(addr);
Serial.println();
CAN_send(NOTIFY, 0x0, NEW_TWID, addr, sizeof(addr));
}
}
}
if (METRO_OW_read.check() ) {
int8_t retry = 0;
for (uint8_t s_idx = 0; switches[s_idx].nick != 0; ++s_idx ){
readout = read_DS2406(switches[s_idx].addr);
if (readout == 255){
if (switches_state[s_idx] != 255) {
++retry;
if (retry <= 3) {
#if DEBUG
Serial.print(F("Retrying "));
Serial.print(switches[s_idx].nick);
Serial.print(F(" for "));
Serial.println(retry);
#endif /* DEBUG */
--s_idx; }
else { retry=0;}
}
continue;
}
// if ((switches_state[s_idx] != readout) && (readout != 255 )) {
if (switches_state[s_idx] != readout) {
delay(1);
recheck = read_DS2406(switches[s_idx].addr);
if (readout == recheck) {
tmp = readout ^ switches_state[s_idx];
switches_state[s_idx] = readout;
action[0] = tmp & 0x08;
action[1] = tmp & 0x04;
}
}
if (action[0]) {
Serial.print("pioA of switch ");
Serial.print(switches[s_idx].nick);
if (readout & 0x08) {
Serial.println(F(" is now OFF"));
data[0]=switches[s_idx].nick;
data[1]=0;
CAN_send(NOTIFY, 0x0, STATE_IN, data, 2);
send_event(switches[s_idx].event_tag[0]);
} else {
Serial.println(F(" is now ON"));
data[0]=switches[s_idx].nick;
data[1]=1;
CAN_send(NOTIFY, 0x0, STATE_IN, data, 2);
send_event(switches[s_idx].event_tag[1]);
}
action[0] = 0;
}
if (action[1]) {
Serial.print("pioB of switch ");
Serial.print(switches[s_idx].nick);
if (readout & 0x04) {
Serial.println(F(" is now OFF"));
data[0]=switches[s_idx].nick;
data[1]=2;
CAN_send(NOTIFY, 0x0, STATE_IN, data, 2);
send_event(switches[s_idx].event_tag[2]);
} else {
Serial.println(F(" is now ON"));
data[0]=switches[s_idx].nick;
data[1]=3;
CAN_send(NOTIFY, 0x0, STATE_IN, data, 2);
send_event(switches[s_idx].event_tag[3]);
}
action[1] = 0;
}
}
}
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<rxmsg.len; i++){
Serial.print(":");
Serial.print(rxmsg.buf[i],HEX);
}
Serial.println();
mesg_comp= parse_CAN(rxmsg);
if (mesg_comp.dst == 0xFF || mesg_comp.dst == NODE_ID ) {
switch (mesg_comp.cmd) {
// OFF
case 0x00 :
take_action(OFF, mesg_comp.buf[0]);
break;
// ON
case 0x01 :
take_action(ON, mesg_comp.buf[0]);
break;
// VALUE
case 0x02 :
break;
// TOGGLE
case 0x03:
take_action(TOGGLE, mesg_comp.buf[0]);
break;
}
}
rxCount = 0;
}
// txTimer = 10;//milliseconds
// if (txmsg.len != 0){
// Serial.print("PUT=");
// Serial.print(txmsg.id,HEX);
// for (uint8_t i=0; i<txmsg.len; i++){
// Serial.print(":");
// Serial.print(txmsg.buf[i],HEX);
// }
// Serial.print("\n");
// CANbus.write(txmsg);
// txmsg.buf[0]++;
// txmsg.len = 0;
// }
}