int elev_get_floor_sensor_signal(void) {
if (io_read_bit(SENSOR_FLOOR1))
return 0;
else if (io_read_bit(SENSOR_FLOOR2))
return 1;
else if (io_read_bit(SENSOR_FLOOR3))
return 2;
else if (io_read_bit(SENSOR_FLOOR4))
return 3;
else
return -1;
}
int ElevInterface::get_floor_sensor_signal(void) {
if (io_read_bit(SENSOR_FLOOR1)) {
return 0;
} else if (io_read_bit(SENSOR_FLOOR2)) {
return 1;
} else if (io_read_bit(SENSOR_FLOOR3)) {
return 2;
} else if (io_read_bit(SENSOR_FLOOR4)) {
return 3;
} else {
return -1;
}
}
int elev_get_button_signal(elev_button_type_t button, int floor) {
assert(floor >= 0);
assert(floor < N_FLOORS);
assert(button >= 0);
assert(button < N_BUTTONS);
return io_read_bit(button_channel_matrix[floor][button]);
}
static void *polling_thread(void *p)
{
// Store previous values of inputs, raise signal if changed between
// two polls.
static int prev_values[N_FLOORS][N_SIGNALS];
memset(prev_values, 0, sizeof(prev_values));
while (1) {
int type, floor;
for (type = 0; type < N_SIGNALS; type++){
for (floor = 0; floor < N_FLOORS; floor++){
int value = io_read_bit(signal_channel_matrix[floor][type]);
// If no associated callback: ignore.
if (callbacks_g[type] == NULL) {
;
}
// If value has not changed, ignore.
else if (value == prev_values[floor][type]) {
;
}
// Obstruction is raised on any edge, with new value as param.
else if (type == SIGNAL_TYPE_OBSTR) {
callbacks_g[type](0, value);
}
// STOP is called with no arguments, only when pushed (not when
// released).
else if (type == SIGNAL_TYPE_STOP && value == 1) {
callbacks_g[type](0, 0);
}
// Floor sensor is raised on any edge, entering and leaving floor,
// with floor and value (edge) as param.
else if (type == SIGNAL_TYPE_SENSOR) {
callbacks_g[type](floor, value);
}
// Other signals (CALL_UP, CALL_DOWN, COMMAND) are raised on
// rising edge only, with floor and type as parameters.
else if (value == 1) {
callbacks_g[type](floor, type);
}
// Store current value of signal to avoid multiple calls on the
// same signal.
prev_values[floor][type] = value;
// Obstr and stop is not floor dependent, so only loop once.
if (type == SIGNAL_TYPE_OBSTR || type == SIGNAL_TYPE_STOP)
break;
}
}
usleep(POLLING_INTERVAL);
}
return NULL;
}
int elev_get_button_signal(elev_button_type_t button, int floor) {
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 (io_read_bit(button_channel_matrix[floor][button]))
return 1;
else
return 0;
}
//own added function reads FLOOR_IND1 and FLOOR_IND2 and returns the floor number which the elevator was at.
//returns previous floor from 0 to 3
int ui_get_floor_indicator(void)
{
//int bit1 =io_read_bit(FLOOR_IND1);
//int bit2 =io_read_bit(FLOOR_IND2);
if (io_read_bit(FLOOR_IND1)==0 && io_read_bit(FLOOR_IND2)==0)
return 0;
if(io_read_bit(FLOOR_IND1) == 0 && io_read_bit(FLOOR_IND2) == 1)
return 1;
if(io_read_bit(FLOOR_IND1) == 1 && io_read_bit(FLOOR_IND2) == 0)
return 2;
if(io_read_bit(FLOOR_IND1) == 1 && io_read_bit(FLOOR_IND2) == 1)
return 3; // else
return -1; //for debugging purposes
}
int ui_get_button_signal(int button, 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);
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 (io_read_bit(button_channel_matrix[floor][button]))
return 1;
else
return 0;
}
int elev_get_stop_signal(void) {
return io_read_bit(STOP);
}
int elev_get_obstruction_signal(void) {
return io_read_bit(OBSTRUCTION);
}
int elev_get_motor_dir(void){
return io_read_bit(MOTORDIR);
}
void elev_toggle_stop_lamp() {
if(io_read_bit(LIGHT_STOP))
io_clear_bit(LIGHT_STOP);
else
io_set_bit(LIGHT_STOP);
}
int elev_if_emergency() {
return io_read_bit(LIGHT_STOP);
}
CallBack events_swi_cm920iap_handler (int swi_number, SwiRegs *r)
{
switch (swi_number)
{
/**********************************************************************
* SLOS SWI's
**********************************************************************/
case /* SWI */ SLOS:
switch (r->r[0])
{
/* -----------------------------------------------------------------
* Low level Debug SWI for debugging before the operating system is
* up and running. The following register hold the debug information.
*
* r8fiq - fatal error
* r9fiq - trace entry value
* r10fiq - trace exit value
*
* -----------------------------------------------------------------
*/
case /* SWI */ BringUp_Trace:
switch (r->r[1])
{
case 123: /* ENTRY into routine ...................... */
bringupSetR9fiq (r->r[2]);
break;
case 321: /* EXIT into routine ....................... */
bringupSetR10fiq (r->r[2]);
break;
}
break;
case /* SWI */ BringUp_FatalError:
bringupSetR8fiq (r->r[1]);
fatalerror: goto fatalerror; /* setup infinite loop ... */
break;
/* -----------------------------------------------------------------
* Device Driver SWI's for controlling and initializing device
* drivers
* -----------------------------------------------------------------
*/
case /* SWI */ Event_IODeviceInit:
io_initialize_drivers ();
break;
default:
/* ----------------------------------------------------------------
* switch to SYSTEM mode and switch ON IRQ interrupts.
* ----------------------------------------------------------------
*/
if (STATE!=1) {modifyControlCPSR (SYSTEM|IRQoN);}
switch (r->r[0])
{
case /* SWI */ Event_IODeviceOpen:
r->r[0] = (unsigned int) io_open_driver ((UID *)r->r[1],r->r[2],r->r[3]);
break;
case /* SWI */ Event_IODeviceClose:
r->r[0] = (unsigned int) io_close_driver ((device_treestr *)r->r[1],(UID)r->r[2]);
break;
case /* SWI */ Event_IODeviceWriteByte:
io_write_byte ((device_treestr *)r->r[1],(UID)r->r[2],(BYTE)r->r[3]);
break;
case /* SWI */ Event_IODeviceReadByte:
r->r[0] = (unsigned int) io_read_byte ((device_treestr *)r->r[1],(UID)r->r[2]);
break;
case /* SWI */ Event_IODeviceWriteBit:
io_write_bit ((device_treestr *)r->r[1],(UID)r->r[2],(UINT)r->r[3]);
break;
case /* SWI */ Event_IODeviceReadBit:
r->r[0] = (unsigned int) io_read_bit ((device_treestr *)r->r[1],(UID)r->r[2]);
break;
case /* SWI */ Event_IODeviceWriteBlock:
io_write_block ((device_treestr *)r->r[1],(UID)r->r[2],(void *)r->r[3]);
break;
case /* SWI */ Event_IODeviceReadBlock:
r->r[0] = (unsigned int) io_read_block ((device_treestr *)r->r[1],(UID)r->r[2]);
break;
}
if (STATE!=1) {modifyControlCPSR (SVC|IRQoFF);}
}
}
return ReportOK();
}
int elev_get_motor_direction(){
return io_read_bit(MOTORDIR);
}
