main.c

/*
 * FF:Actuator_2018.c
 *
 * Created: 21/12/17 22:00
 * Author : Johannes Nadler
 */ 

#define ACTUATOR_CAN_ID 0x120		// CAN ID from actuator to controller (transmit) (120 for MC_1/right, 220 for MC_2/left)
#define CONTROLLER_CAN_ID 0x251		// CAN ID from controller to actuator	(receive) (251 for MC_1/right, 261 for MC_2/left)


#ifndef F_CPU
	#define F_CPU 8000000UL
#endif


//#include <stdlib.h>
//#include <stdint.h>
#include <avr/io.h>
#include <avr/eeprom.h>
#include <util/delay.h>
#include <math.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>


#include "UniversalModuleDrivers/timer.h"
#include "UniversalModuleDrivers/can.h"
#include "UniversalModuleDrivers/rgbled.h"
#include "AVR-UART-lib/usart.h"
#include "UniversalModuleDrivers/timer16.h"


// TASK IDs
#define TASK_LED	0
#define TASK_UART_READ	1
#define TASK_P_CONTROLLER	2
#define TASK_UART_WRITE 3
#define TASK_CAN_TX	4
#define TASK_CAN_RX	5
#define TASK_SINE 6

// CAN Types
CanMessage_t rxFrame;
CanMessage_t txFrame;

volatile int16_t adcReading = 0;
int8_t data;
int16_t adr;


int main (void)
{	
	
	rgbled_init();
	rgbled_turn_on(LED_BLUE);
	char msg[22]; // heading, 20 digit bytes, NULL
	
	i2c_init();
	ads_1115_write_config();
	
	uart_init(BAUD_CALC(500000)); // 8n1 transmission is set as default
	uart_puts("Ei gude wie?");
	can_init(0,0);
	sei();
	
	
	task_start(TASK_LED, 1000);	//task 1 is due after 1000 interrupt cycles 
	task_start(TASK_UART_WRITE,50);
	task_start(TASK_UART_READ,50);
	task_start(TASK_CAN_TX, 100);
	task_start(TASK_CAN_RX, 10);
	

	while(1){
			
		}
		if (task_is_due(TASK_LED)){
			rgbled_toggle(LED_BLUE);
			task_is_done(TASK_LED);
		}
		if (task_is_due(TASK_UART_WRITE)){
/*
			x=ads_1115_get_reading();
			uart_putint(getEncoderSpeed());
			uart_puts("|");
			uart_putint(getEncoderAngle());
			uart_puts("|");
			uart_putint(x);
			uart_puts("\r\n");

						uart_putint(x);
						uart_puts("|");
						uart_putint(e);
						uart_puts("|");
						uart_putint(u);
						uart_puts("|");
						uart_puts("|");
						uart_putint(closest_gear);
						uart_puts("|");
						uart_putint(near_gear);
						uart_puts("|");
						uart_putint(is_stuck);
						uart_puts("\r\n");
						*/
			task_is_done(TASK_UART_WRITE);
		}
		if (task_is_due(TASK_UART_READ)){
			if(uart_AvailableBytes()!=0){
				
				//uart0_getlnToFirstWhiteSpace(msg, 12);	// reads until first white space
				uart0_getln(msg, 22);						// reads until \r\n
				/*
				if(strcmp(msg, "release") == 0){
					 pwm_stop();
					 task_stop(TASK_SINE);
					 timer_stop(6);
				}
				if(strcmp(msg, "start") == 0) pwm_start();
				if(strcmp(msg, "setFirstGearPos") == 0) {
					eeprom_write_word ((uint16_t *)46, x);
					firstGearPosition = x;
				}
				if(strcmp(msg, "setSecondGearPos") == 0) {
					eeprom_write_word ((uint16_t *)44, x);
					secondGearPosition = x;
				}
				if(strcmp(msg, "setIdlePos") == 0) {
					eeprom_write_word ((uint16_t *)42, x);
					idlePosition = x;
				}
				if(strcmp(msg, "f") == 0) {
					reference_gear = 1;
					x_ref = firstGearPosition;
				}
				if(strcmp(msg, "s") == 0) {
					reference_gear = 2;
					x_ref = secondGearPosition;
				}
				if(strcmp(msg, "n") == 0) {
					reference_gear = 0;
					x_ref = idlePosition;
				}
				if(strcmp(msg, "sine") == 0) {
					timer_start(6);	
					task_start(TASK_SINE,5);
				}
				
				if(atoi(msg)!=0){
				}
				*/
				uart_flush();
			}	
						
			task_is_done(TASK_UART_READ);
		}
		if(task_is_due(TASK_CAN_TX)){
			// Send message
			/*
			txFrame.id = ACTUATOR_CAN_ID;
			txFrame.length = 5;
			
			txFrame.data.i16[0] = getEncoderSpeed16();
			txFrame.data.u8[2] = current_gear;
			txFrame.data.u8[3] = closest_gear;
			txFrame.data.u8[4] = near_gear;
			
			
			can_send_message(&txFrame);
			*/
		task_is_done(TASK_CAN_TX);
		}
		if (task_is_due(TASK_CAN_RX)){
			// Read message
			CanMessage_t rx;
			if (can_read_message_if_new(&rx)){
				adr = rx.id;
				data = rx.data.u8[0];
				if(rx.id == CONTROLLER_CAN_ID) {//receiving can messages from the motor controller
					/*	
					if(rx.data.u8[0]==0){ reference_gear = 0; x_ref = idlePosition;}
					if(rx.data.u8[0]==1){ reference_gear = 1; x_ref = firstGearPosition;}
					if(rx.data.u8[0]==2){ reference_gear = 2; x_ref = secondGearPosition;}
					*/
				}
			}
			task_is_done(TASK_CAN_RX);
		}
		if (task_is_due(TASK_P_CONTROLLER)){
			
		}
		if(task_is_due(TASK_SINE)){
			//x_ref = sin((double)timer_elapsed_ms(6)/500)*8000+10000;
			task_is_done(TASK_SINE);
		}
	}
}