01_Extruder_IO_offload/main.c

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h> // WatchDog          
#include <stdint.h>
#include <string.h>

#include "avrIOhelper/io-helper.h"
#include "millis.h"
#include "uart.h"
#include "modbus.h"

volatile uint32_t inputEdgesBoth;
volatile uint32_t inputEdgesFalling;
volatile uint32_t inputEdgesRising;

// Timer0
// 1ms IRQ
// Used for millis() timing
void timer0_init()
{
    TCCR0A = (1<<WGM01); //TIMER0 SET-UP: CTC MODE
    TCCR0B = (1<<CS01)|(1<<CS00); // PS 1:64
    OCR0A = 249; // 1ms reach for clear (16mz:64=>250kHz:250-=>1kHz)
    TIMSK0 |= 1<<OCIE0A;	 //IRQ on TIMER0 output compareA
}

void timer2_init()
{
    TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
    TCCR2B|=(1<<CS21); //prescaler 8
    OCR2A = 200;
	TIMSK2|=(1<<OCIE2A);
}

void modbusGet(void) {
	if (modbusGetBusState() & (1<<ReceiveCompleted))
	{
        switch(rxbuffer[1]) {
            case fcPresetSingleRegister:
            case fcPresetMultipleRegisters:
            case fcReadHoldingRegisters:
                modbusExchangeRegisters((void *)outStates,0,1);
                break;
            case fcReadInputRegisters:
                if(modbusRequestedAddress() < 100)
                    modbusExchangeRegisters((void *)inStates,0,nrOfInputs/16);
                else if(modbusRequestedAddress() < 200){
                    modbusExchangeRegisters((void *)&inputEdgesBoth,100,nrOfInputs/16);
                    for(uint16_t i = modbusDataLocation - 100; i < modbusDataLocation-100+(modbusDataAmount*16); i++)
                        inputEdgesBoth &= ~(1 << i);
                }
                else if(modbusRequestedAddress() < 300){
                    modbusExchangeRegisters((void *)&inputEdgesFalling,200,nrOfInputs/16);
                    for(uint16_t i = modbusDataLocation - 200; i < modbusDataLocation-200+(modbusDataAmount*16); i++)
                        inputEdgesFalling &= ~(1 << i);
                }
                else if(modbusRequestedAddress() < 400){
                    modbusExchangeRegisters((void *)&inputEdgesRising,300,nrOfInputs/16);
                    for(uint16_t i = modbusDataLocation - 300; i < modbusDataLocation-300+(modbusDataAmount*16); i++)
                        inputEdgesRising &= ~(1 << i);
                }
                break;

            case fcReadInputStatus:
                if(modbusRequestedAddress() < 100)
                    modbusExchangeBits(inStates,0,nrOfInputs);
                else if(modbusRequestedAddress() < 200){
                    modbusExchangeBits((void*)&inputEdgesBoth,100,nrOfInputs);
                    for(uint16_t i = modbusDataLocation - 100; i < modbusDataLocation+modbusDataAmount-100; i++)
                        inputEdgesBoth &= ~(1 << i);
                }
                else if(modbusRequestedAddress() < 300){
                    modbusExchangeBits((void*)&inputEdgesFalling,200,nrOfInputs);
                    for(uint16_t i = modbusDataLocation - 200; i < modbusDataLocation+modbusDataAmount-200; i++)
                        inputEdgesFalling &= ~(1 << i);
                }
                else if(modbusRequestedAddress() < 400){
                    modbusExchangeBits((void*)&inputEdgesRising,300,nrOfInputs);
                    for(uint16_t i = modbusDataLocation - 300; i < modbusDataLocation+modbusDataAmount-300; i++)
                        inputEdgesRising &= ~(1 << i);
                }
                break;

            case fcForceMultipleCoils:
            case fcForceSingleCoil:
            case fcReadCoilStatus:
                if(modbusRequestedAddress() < 100)
                    modbusExchangeBits(outStates,0,nrOfOutputs);
                else if(modbusRequestedAddress() < 200)
                    modbusExchangeBits(outStatesBlinking,100,nrOfOutputs);
                else if(modbusRequestedAddress() < 300){
                    uint8_t outStatesToggle[sizeof(outStates)];
                    memset(outStatesToggle, 0, sizeof(outStatesToggle));
                    modbusExchangeBits(outStatesToggle,200,nrOfOutputs);
                    for(uint8_t i=0; i<sizeof(outStates); i++){
                        outStates[i] ^= outStatesToggle[i];
                    }
                }

                break;

            default:
                modbusSendException(ecIllegalFunction);
                break;
        }
	}
}

int main()
{
    wdt_enable(WDTO_2S);  // set up wdt reset interval 2 second

    uart_init();

    ioHelperIoConf();
    timer0_init();// Timer0 millis engine init

    modbusSetAddress(4);
    modbusInit();
    timer2_init();

    sei();

    set_Output(LED_EXTR_FEHLER, BLINK);
    uint32_t timer_blink_outs = millis();

    printf("moin\n");
    while(1)
    {
        wdt_reset(); // wdt reset ~ every <2000ms
        ioHelperReadPins();
        ioHelperDebounce();
        ioHelperEdgeDetector();

        inputEdgesBoth    |= inStatesBothEdges[0]   | ((uint32_t)inStatesBothEdges[1]<<8)   | ((uint32_t)inStatesBothEdges[2] << 16)   | ((uint32_t)inStatesBothEdges[3]<<24);
        inputEdgesFalling |= inStatesFallingEdge[0] | ((uint32_t)inStatesFallingEdge[1]<<8) | ((uint32_t)inStatesFallingEdge[2] << 16) | ((uint32_t)inStatesFallingEdge[3]<<24);
        inputEdgesRising  |= inStatesRisingEdge[0]  | ((uint32_t)inStatesRisingEdge[1]<<8)  | ((uint32_t)inStatesRisingEdge[2] << 16)  | ((uint32_t)inStatesRisingEdge[3]<<24);

        modbusGet();

        // Toggle all outs which are set to blinking
        if(millis() - timer_blink_outs > 500){
            ioHelperBlinkOuts();
            timer_blink_outs = millis();
        }

        ioHelperSetOuts();

    }
}

ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
	modbusTickTimer();
}