Merge branch 'dev' of https://github.com/team178/ToF-CAN into dev

.gitignore

@@ -30,3 +30,5 @@
 *.exe
 *.out
 *.app
+
+*.lck

firmware/ToF-CAN-Firmware/Release/default eeprom.hex

@@ -0,0 +1,2 @@
+:020000002006D8
+:00000001FF

firmware/ToF-CAN-Firmware/libs/mcp2515/mcp2515.c

@@ -142,22 +142,22 @@ bool mcp2515_init(void)
 	spi_putc(SPI_WRITE);
 	spi_putc(CNF3);
 
-	spi_putc((1<<PHSEG21));		// Bitrate 125 kbps at 16 MHz
-	spi_putc((1<<BTLMODE)|(1<<PHSEG11));
-	spi_putc((1<<BRP2)|(1<<BRP1)|(1<<BRP0));
+	spi_putc(0x04);		// Bitrate 1 Mbps at 20 MHz
+	spi_putc(0x89);
+	spi_putc(0x00);
 
 	// activate interrupts
 	spi_putc((1<<RX1IE)|(1<<RX0IE));
 	SET(MCP2515_CS);
 
 	// test if we could read back the value => is the chip accessible?
-	if (mcp2515_read_register(CNF1) != ((1<<BRP2)|(1<<BRP1)|(1<<BRP0))) {
+	if (mcp2515_read_register(CNF1) != 0x00) {
 		return false;
 	}
 
-	mcp2515_write_register(CNF1, 0x04);
+	mcp2515_write_register(CNF1, 0x00);
 
-	// deaktivate the RXnBF Pins (High Impedance State)
+	// deactivate the RXnBF Pins (High Impedance State)
 	mcp2515_write_register(BFPCTRL, 0);
 
 	// set TXnRTS as inputs

firmware/ToF-CAN-Firmware/main.cpp

@@ -6,7 +6,6 @@
  */ 
 
 
-// TODO: do we need to switch to an external oscillator?
 /*
  * Fuses Set to:
  * Low:  0xE2
@@ -21,13 +20,13 @@
 #include <stdlib.h>
 #include <avr/pgmspace.h>
 #include <avr/interrupt.h>
+#include <avr/eeprom.h> 
 
 #define TWBR TWBR0
 #define TWCR TWCR0
 #define TWSR TWSR0
 #define TWDR TWDR0
 
-
 #define SPDR SPDR0
 #define SPCR SPCR0
 #define SPSR SPSR0
@@ -43,7 +42,48 @@
 #define PIN_LED_G DDD5
 #define PIN_LED_R DDD7
 
-#define CAN_BUS_ADDR 0x620
+#define DEFAULT_CAN_BUS_ADDR 0x620
+#define EEPROM_ADDR_LOCATION 0x0000
+
+#define ERROR_NONE 0
+#define ERROR_OUT_OF_RANGE 1
+#define ERROR_WRITING_TO_CAN 2
+#define ERROR_INIT_CAN 3
+#define ERROR_INIT_VL53L0X 3
+
+#define COLOR_OFF 0
+#define COLOR_RED 1
+#define COLOR_GREEN 2
+#define COLOR_BLUE 3
+
+int errorCode = ERROR_NONE;
+uint32_t canBusAddr;
+
+
+void setColor(int color) {
+	switch(color){
+		case COLOR_RED:
+			PORTD &= ~(1<<PIN_LED_G);
+			PORTD &= ~(1<<PIN_LED_B);
+			PORTD |= (1<<PIN_LED_R);
+			break;
+		case COLOR_GREEN:
+			PORTD &= ~(1<<PIN_LED_R);
+			PORTD &= ~(1<<PIN_LED_B);
+			PORTD |= (1<<PIN_LED_G);
+			break;
+		case COLOR_BLUE:
+			PORTD &= ~(1<<PIN_LED_R);
+			PORTD &= ~(1<<PIN_LED_G);
+			PORTD |= (1<<PIN_LED_B);
+			break;
+		default:
+			PORTD &= ~(1<<PIN_LED_R);
+			PORTD &= ~(1<<PIN_LED_G);
+			PORTD &= ~(1<<PIN_LED_B);
+		break;
+	}
+}
 
 void init_uart(uint16_t baudrate) {
 
@@ -79,11 +119,11 @@ void print_can_message(tCAN *message)
 	uint8_t length = message->header.length;
 
 	printf("id:     0x%3x\r\n", message->id);
-	printf("laenge: %d\r\n", length);
+	printf("length: %d\r\n", length);
 	printf("rtr:    %d\r\n", message->header.rtr);
 
 	if (!message->header.rtr) {	
-		printf("daten:  ");
+		printf("data:  ");
 
 		for (uint8_t i = 0; i < length; i++) {
 			printf("0x%02x ", message->data[i]);
@@ -94,8 +134,8 @@ void print_can_message(tCAN *message)
 
 Adafruit_VL53L0X tof = Adafruit_VL53L0X();
 
-char buffer[16];
-uint16_t count = 0;
+uint8_t count = 0;
+
 int main(void)
 {
 	static FILE uart_stdout;
@@ -105,66 +145,97 @@ int main(void)
 	DDRD |= (1<<PIN_LED_B);
 	DDRD |= (1<<PIN_LED_G);
 	DDRD |= (1<<PIN_LED_R);
+
+	setColor(COLOR_RED);
 
 	init_uart(9600);
-	_delay_us(200);
+	_delay_ms(500);
 
-	//sei();
 	if (!mcp2515_init()) {
 		uart_puts("Can't communicate with MCP2515!\r\n");
+		errorCode = ERROR_INIT_CAN;
 		for (;;);
 	}
 	else {
 		uart_puts("MCP2515 is active\r\n");
 	}
 	i2c_init();
-	tof.begin();
+	if(!tof.begin()){
+		uart_puts("Can't connect to VL53L0X!");
+		errorCode = ERROR_INIT_VL53L0X;
+	}
 
+	uint32_t newAddr = eeprom_read_word(EEPROM_ADDR_LOCATION);
+	if(newAddr >= 0x0620 && newAddr <0x1000) {
+		printf("Got CAN address in EEPROM: 0x%04x!\r\n", newAddr);
+		canBusAddr = newAddr;
+	} else {		
+		printf("Bad CAN address in EEPROM, defaulting to 0x%04x!\r\n", DEFAULT_CAN_BUS_ADDR);
+	}	
+
+	_delay_ms(500);
 
 	VL53L0X_RangingMeasurementData_t measure;
 	tCAN message;
 
-	message.id = CAN_BUS_ADDR;
+	message.id = canBusAddr;
 	message.header.rtr = 0;
-	message.header.length = 2;
-	message.data[0] = 0xab;
-	message.data[1] = 0xcd;
-		
+	message.header.length = 3;
+	message.data[0] = 0x00; // byte error code
+	message.data[1] = 0x00; // byte H
+	message.data[2] = 0x00; // byte L
 
-	//printf("\r\nwechsle zum Loopback-Modus\r\n");
-	//mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
 
 	mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
-    printf("CNF1: 0x%02x\r\n", mcp2515_read_register(CNF1));
 	while (1) 
     {
+		if(errorCode != ERROR_INIT_CAN && errorCode != ERROR_INIT_VL53L0X) {
+			tof.rangingTest(&measure, false);
+			if (measure.RangeStatus != 4) {
+				uint16_t distance = measure.RangeMilliMeter;
+				if(distance < 8191) {
+					printf("Distance (mm): %u, range status:%d\r\n", distance, measure.RangeStatus);
+
+					message.data[1] = (distance>>8) & 0xFF;
+					message.data[2] = (distance) & 0xFF;
+
+					errorCode = ERROR_NONE;
+				} else {
+					// sometimes we get a bad reading of 8191 or 8192?
+					errorCode = ERROR_OUT_OF_RANGE;
+				}
+			} else {
+				// OUT OF RANGE
+				errorCode = ERROR_OUT_OF_RANGE;
+			}
+		}
+
 
-		tof.rangingTest(&measure, false);
-		if (measure.RangeStatus != 4) {
-			uint16_t distance = measure.RangeMilliMeter;
-			printf("Distance (mm): %ld", distance);
-			uart_puts(buffer);
-			uart_puts("\r\n");
-
-			message.data[0]= (distance>>8) && 0xFF;
-			message.data[1]= (distance) && 0xFF;
-
-			if (mcp2515_send_message(&message)) {
-				uart_puts("sent them bytes");
+		message.data[0] = errorCode;
+
+		if (mcp2515_send_message(&message)) {
+			//uart_puts("sent them bytes\r\n");
+		} else {
+			uart_puts("Error writing message to can bus!\r\n");
+			print_can_message(&message);
+			errorCode = ERROR_WRITING_TO_CAN;
+		}
+
+	    _delay_ms(15);
+		if(errorCode == ERROR_NONE) {
+			setColor(COLOR_GREEN);
+		} else if(errorCode == ERROR_OUT_OF_RANGE) {
+			setColor(COLOR_BLUE);
+		} else if(errorCode == ERROR_WRITING_TO_CAN) {
+			if(count<3) { 
+				setColor(COLOR_RED);
 			} else {
-				uart_puts("Error writing message to can bus!\r\n");
-				print_can_message(&message);
+				setColor(COLOR_OFF);
 			}
-
 		} else {
-			// OUT OF RANGE
+			setColor(COLOR_RED);
 		}
-
-	    PORTD |= (1<<PIN_LED_B);
-	    _delay_ms(1);
-	    PORTD &= ~(1<<PIN_LED_B);
-	    _delay_ms(999);
-	    count++;
+		if(++count>4) count = 0;
     }
 }
 

hardware/CAN TOF.brd

@@ -2228,7 +2228,7 @@ design rules under a new name.</description>
 <attribute name="SPICEPREFIX" value="R" x="-2.54" y="33.02" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="14.605" y="36.83" size="1.27" layer="27"/>
 </element>
-<element name="Q1" library="crystal" library_urn="urn:adsk.eagle:library:204" package="CTS406" package3d_urn="urn:adsk.eagle:package:12089/1" value="8MHz" x="27.94" y="31.75" smashed="yes">
+<element name="Q1" library="crystal" library_urn="urn:adsk.eagle:library:204" package="CTS406" package3d_urn="urn:adsk.eagle:package:12089/1" value="20MHz" x="27.94" y="31.75" smashed="yes">
 <attribute name="MF" value="" x="3.81" y="7.62" size="1.778" layer="27" display="off"/>
 <attribute name="MPN" value="" x="3.81" y="7.62" size="1.778" layer="27" display="off"/>
 <attribute name="NAME" x="25.4" y="34.29" size="0.8128" layer="25"/>
@@ -2284,24 +2284,6 @@ design rules under a new name.</description>
 <attribute name="SPICEPREFIX" value="R" x="29.845" y="11.43" size="1.778" layer="27" rot="R270" display="off"/>
 <attribute name="VALUE" x="27.305" y="12.065" size="1.27" layer="27" rot="R270"/>
 </element>
-<element name="Q2" library="crystal" library_urn="urn:adsk.eagle:library:204" package="CTS406" package3d_urn="urn:adsk.eagle:package:12089/1" value="16MHz" x="3.81" y="-5.08" smashed="yes">
-<attribute name="MF" value="" x="-5.08" y="5.08" size="1.778" layer="27" display="off"/>
-<attribute name="MPN" value="" x="-5.08" y="5.08" size="1.778" layer="27" display="off"/>
-<attribute name="NAME" x="1.27" y="-2.54" size="1.27" layer="25"/>
-<attribute name="OC_FARNELL" value="unknown" x="-5.08" y="5.08" size="1.778" layer="27" display="off"/>
-<attribute name="OC_NEWARK" value="unknown" x="-5.08" y="5.08" size="1.778" layer="27" display="off"/>
-<attribute name="VALUE" x="1.27" y="-8.89" size="1.27" layer="27"/>
-</element>
-<element name="C8" library="rcl" library_urn="urn:adsk.eagle:library:334" package="C0402" package3d_urn="urn:adsk.eagle:package:23626/2" value="20pF" x="1.27" y="-12.7" smashed="yes">
-<attribute name="NAME" x="0.635" y="-12.065" size="1.27" layer="25"/>
-<attribute name="SPICEPREFIX" value="C" x="-6.35" y="-3.81" size="1.778" layer="27" display="off"/>
-<attribute name="VALUE" x="0.635" y="-14.605" size="1.27" layer="27"/>
-</element>
-<element name="C9" library="rcl" library_urn="urn:adsk.eagle:library:334" package="C0402" package3d_urn="urn:adsk.eagle:package:23626/2" value="20pF" x="1.27" y="-17.78" smashed="yes">
-<attribute name="NAME" x="0.635" y="-17.145" size="1.27" layer="25"/>
-<attribute name="SPICEPREFIX" value="C" x="-6.35" y="-8.89" size="1.778" layer="27" display="off"/>
-<attribute name="VALUE" x="0.635" y="-19.685" size="1.27" layer="27"/>
-</element>
 </elements>
 <signals>
 <signal name="+5V">
@@ -2532,10 +2514,6 @@ design rules under a new name.</description>
 <vertex x="0" y="0"/>
 <vertex x="33.02" y="0"/>
 </polygon>
-<contactref element="C8" pad="2"/>
-<contactref element="C9" pad="2"/>
-<wire x1="1.92" y1="-12.7" x2="1.92" y2="-17.78" width="0" layer="19" extent="1-1"/>
-<wire x1="7.62" y1="4.445" x2="1.92" y2="-12.7" width="0" layer="19" extent="1-16"/>
 </signal>
 <signal name="INT0">
 <contactref element="U1" pad="32"/>
@@ -3028,20 +3006,6 @@ design rules under a new name.</description>
 <wire x1="2.54" y1="12.85875" x2="2.54" y2="12.905" width="0.2032" layer="1"/>
 <via x="3.96875" y="11.90625" extent="1-16" drill="0.35"/>
 </signal>
-<signal name="N$12">
-<contactref element="C8" pad="1"/>
-<contactref element="Q2" pad="1"/>
-<contactref element="U1" pad="8"/>
-<wire x1="1.61" y1="-6.28" x2="14.4526" y2="32.76" width="0" layer="19" extent="1-16"/>
-<wire x1="0.62" y1="-12.7" x2="1.61" y2="-6.28" width="0" layer="19" extent="1-1"/>
-</signal>
-<signal name="N$13">
-<contactref element="C9" pad="1"/>
-<contactref element="Q2" pad="3"/>
-<contactref element="U1" pad="7"/>
-<wire x1="6.01" y1="-3.88" x2="14.4526" y2="33.56" width="0" layer="19" extent="1-16"/>
-<wire x1="0.62" y1="-17.78" x2="6.01" y2="-3.88" width="0" layer="19" extent="1-1"/>
-</signal>
 </signals>
 <mfgpreviewcolors>
 <mfgpreviewcolor name="soldermaskcolor" color="0xC8008000"/>