void elev_set_speed(int speed)
{
// In order to sharply stop the elevator, the direction bit is toggled
// before setting speed to zero.
static int last_speed = 0;
// If to start (speed > 0)
if (speed > 0)
io_clear_bit(MOTORDIR);
else if (speed < 0)
io_set_bit(MOTORDIR);
// If to stop (speed == 0)
else if (last_speed < 0)
io_clear_bit(MOTORDIR);
else if (last_speed > 0)
io_set_bit(MOTORDIR);
last_speed = speed ;
// Write new setting to motor.
io_write_analog(MOTOR, 2048 + 2*abs(speed));
//printf(__FILE__ ": Speed set to %d\n", speed);
}
void elev_set_floor_indicator(int floor) {
assert(floor >= 0);
assert(floor < N_FLOORS);
// Binary encoding. One light must always be on.
if (floor & 0x02)
io_set_bit(LIGHT_FLOOR_IND1);
else
io_clear_bit(LIGHT_FLOOR_IND1);
if (floor & 0x01)
io_set_bit(LIGHT_FLOOR_IND2);
else
io_clear_bit(LIGHT_FLOOR_IND2);
}
void elev_set_floor_indicator(int floor)
{
assert(floor >= 0);
assert(floor < N_FLOORS);
if (floor & 0x02)
io_set_bit(FLOOR_IND1);
else
io_clear_bit(FLOOR_IND1);
if (floor & 0x01)
io_set_bit(FLOOR_IND2);
else
io_clear_bit(FLOOR_IND2);
}
void elev_set_door_open_lamp(int value) {
if (value) {
io_set_bit(LIGHT_DOOR_OPEN);
} else {
io_clear_bit(LIGHT_DOOR_OPEN);
}
}
void elev_set_stop_lamp(int value) {
if (value) {
io_set_bit(LIGHT_STOP);
} else {
io_clear_bit(LIGHT_STOP);
}
}
//elev_get_stop_signal=value
void ui_set_stop_lamp(int value)
{
if (value)
io_set_bit(LIGHT_STOP);
else
io_clear_bit(LIGHT_STOP);
}
void ui_set_door_open_lamp(int value)
{
if (value)
io_set_bit(DOOR_OPEN);
else
io_clear_bit(DOOR_OPEN);
}
void ui_set_floor_indicator(int floor)
{
// assert crashes the program deliberately if it's condition does not hold,
// and prints an informative error message. Useful for debugging.
//assert(floor >= 0);
//assert(floor < N_FLOORS);
if (floor & 0x02)
io_set_bit(FLOOR_IND1);
else
io_clear_bit(FLOOR_IND1);
if (floor & 0x01)
io_set_bit(FLOOR_IND2);
else
io_clear_bit(FLOOR_IND2);
}
void elev_set_button_lamp(elev_direction_t lamp, int floor, int value)
{
assert(floor >= 0);
assert(floor < N_FLOORS);
if (value == 1)
io_set_bit(lamp_channel_matrix[floor][lamp]);
else
io_clear_bit(lamp_channel_matrix[floor][lamp]);
}
void elev_set_motor_direction(elev_motor_direction_t dirn) {
if (dirn == 0){
io_write_analog(MOTOR, 0);
} else if (dirn > 0) {
io_clear_bit(MOTORDIR);
io_write_analog(MOTOR, 2800);
} else if (dirn < 0) {
io_set_bit(MOTORDIR);
io_write_analog(MOTOR, 2800);
}
}
void ElevInterface::set_motor_direction(elev_motor_direction_t dirn) {
if (dirn == 0) {
io_write_analog(MOTOR, 0);
} else if (dirn > 0) {
io_clear_bit(MOTORDIR);
io_write_analog(MOTOR, MOTOR_SPEED);
} else if (dirn < 0) {
io_set_bit(MOTORDIR);
io_write_analog(MOTOR, MOTOR_SPEED);
}
}
void elev_set_button_lamp(elev_button_type_t button, int floor, int value) {
assert(floor >= 0);
assert(floor < N_FLOORS);
assert(!(button == BUTTON_CALL_UP && floor == N_FLOORS - 1));
assert(!(button == BUTTON_CALL_DOWN && floor == 0));
assert(button == BUTTON_CALL_UP || button == BUTTON_CALL_DOWN || button == BUTTON_COMMAND);
if (value)
io_set_bit(lamp_channel_matrix[floor][button]);
else
io_clear_bit(lamp_channel_matrix[floor][button]);
}
void elev_set_button_lamp(elev_button_type_t button, int floor, int value) {
assert(floor >= 0);
assert(floor < N_FLOORS);
assert(button >= 0);
assert(button < N_BUTTONS);
if (value) {
io_set_bit(lamp_channel_matrix[floor][button]);
} else {
io_clear_bit(lamp_channel_matrix[floor][button]);
}
}
//maybe let the queue arrays in queues handle button lamps?
//to decrease dependancy
void ui_set_button_lamp(int button, int floor, int value)
{
// assert crashes the program deliberately if it's condition does not hold,
// and prints an informative error message. Useful for debugging.
assert(floor >= 0);
assert(floor < N_FLOORS);
// assert(!(button == BUTTON_CALL_UP && floor == N_FLOORS-1));
// assert(!(button == BUTTON_CALL_DOWN && floor == 0));
// assert(button == BUTTON_CALL_UP || button == BUTTON_CALL_DOWN || button == BUTTON_COMMAND);
if (value == 1)
io_set_bit(lamp_channel_matrix[floor][button]);
else
io_clear_bit(lamp_channel_matrix[floor][button]);
}
void elev_toggle_stop_lamp() {
if(io_read_bit(LIGHT_STOP))
io_clear_bit(LIGHT_STOP);
else
io_set_bit(LIGHT_STOP);
}