96 lines
1.9 KiB
C
96 lines
1.9 KiB
C
#include <inttypes.h>
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#include <stdbool.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <can.h>
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#include <messages.h>
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static bool report_change = false;
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static void init() {
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// Enable GPIO: PB2, PB3, PB4 output, low; PB5 input, pull-up on
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PORTB = (PORTB & ~(_BV(PB2) | _BV(PB3) | _BV(PB4))) | _BV(PB5);
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DDRB = (DDRB & ~_BV(PB5)) | (_BV(PB2) | _BV(PB3) | _BV(PB4));
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// Initialize CAN interface
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can_init(BITRATE_125_KBPS);
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// Regular receive/transmit mode
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can_set_mode(NORMAL_MODE);
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// Filter for messages addressed to us (RTR on)
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can_filter_t us = {
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.id = CAN_HOSTID_DISPLAY,
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.mask = CAN_HOSTID_MASK,
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.flags = {
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.rtr = 1,
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.extended = 0,
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},
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};
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can_set_filter(0, &us);
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// Filter for public messages (RTR off)
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can_filter_t pub = {
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.id = CAN_HOSTID_BROADCAST,
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.mask = CAN_HOSTID_MASK,
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.flags = {
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.rtr = 0,
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.extended = 0,
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},
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};
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can_set_filter(1, &pub);
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// Enable interrupts to start reception
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sei();
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}
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static void send_status() {
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uint8_t status = 0;
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if (can_check_free_buffer()) {
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can_t msg = {
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.id = CAN_MSG_DISPLAY_STATUS,
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.flags = {
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.rtr = 0,
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},
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.length = 2,
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.data = { (uint8_t) (status >> 8), (uint8_t) status, },
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};
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can_send_message(&msg);
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}
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}
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static void write_display(uint8_t command, const uint8_t *data, uint8_t length) {
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}
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static void loop() {
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// Check for new messages
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if (can_check_message()) {
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can_t msg = { 0 };
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uint8_t status = can_get_message(&msg);
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if (status != 0) {
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switch (msg.id) {
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case CAN_MSG_DISPLAY_STATUS:
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send_status();
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break;
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case CAN_MSG_DISPLAY_CMD:
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if (msg.length >= 1) {
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write_display(msg.data[0], &msg.data[1], msg.length - 1);
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}
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break;
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case CAN_MSG_AUTO_STATUS:
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if (msg.length == 1) {
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report_change = msg.data[0] ? true : false;
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}
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break;
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}
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}
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}
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}
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int main() {
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init();
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while (1) {
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loop();
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}
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}
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