1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
|
/*
* Copyright (c) 2006, Benedikt Sauter <sauter@empronix.com>
* All rights reserved.
*
* Short descripton of file:
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the FH Augsburg nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <stdlib.h>
#include <avr/io.h>
#include <stdint.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include "common.h"
#include "protocol.h"
#include "io.h"
#include "93c46.h"
void common_latency_timer_init(void)
{
// us = 256 - x/2
octopus.latency_timer = 206; // 255 = 2us, 254 = 4us ...
#ifdef OCTOPUS_CAN
TIMSK0 = (1<<TOIE0); /* enable TCNT0 overflow */
TCNT0 = octopus.latency_timer; /* TCNT0 Timer auf 50ms einstellen */
TCCR0A = 3; /* count with cpu clock/32 */
#else
TIMSK = (1<<TOIE0); /* enable TCNT0 overflow */
TCNT0 = octopus.latency_timer; /* TCNT0 Timer auf 50ms einstellen */
TCCR0 = 3; /* count with cpu clock/32 */
#endif
}
void common_scheduler(void){}
void common_scheduler_add(int id,void(*userFunc)(void)){}
void common_parser(char *buf)
{
switch(buf[0])
{
case CMD_GET_HW_ID:
common_hwdesc();
break;
default:
;
}
}
void common_init(void)
{
uint8_t i;
for(i=1;i<=19;i++)
{
io_init(i);
io_set_pin(i, 0);
}
for(i=24;i<=42;i++)
{
io_init(i);
io_set_pin(i, 0);
}
}
void common_hwdesc(void)
{
answer[0] = CMD_GET_HW_ID;
answer[1] = RSP_OK;
answer[2] = 11;
answer[3] = 'o'; answer[4] = 'c';answer[5] = 't';answer[6] = 'o';
#ifdef OCTOPUS_CAN
answer[7] = 'c'; answer[8] = 'a';answer[9] = 'n';answer[10] = '_';
#else
answer[7] = 'p'; answer[8] = 'u';answer[9] = 's';answer[10] = '_';
#endif
answer[11] = '0'; answer[12] = '1';
answer[13] = 0;
CommandAnswer(14);
}
|
