/*
!!!! This function is designed for the controller !!!!!
Purpose: Send out instructions from the elevator car node
Input: Requests from the car node
*/
void Car(unsigned char sub_comp, unsigned char instruction)
{
static unsigned char data[DATA_LENGTH];
switch(sub_comp)
{
// Floor button
case FLOOR_BUTTON:
// From the elevator car node to the disance sensor
/*data[0] = PID;
data[1] = SET_POINT;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(PID, 0x00, 0x00, DATA_LENGTH, data);*/
// From the car back to the car
data[0] = CAR;
data[1] = BUTTON_INDICATOR_ON;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(CAR, 0x00, 0x00, DATA_LENGTH, data);
switch(instruction)
{
case 3:
LCDprintf("\nGo To: 1 \r",0);
break;
case 4:
LCDprintf("\nGo To: 2 \r",0);
break;
case 5:
LCDprintf("\nGo To: 3 \r",0);
break;
}
break;
case 1:
data[0] = CAR;
data[1] = 1;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(CAR, 0x00, 0x00, DATA_LENGTH, data);
break;
// E-Stop
case E_STOP:
break;
}
}
/*
!!!! This function is designed for the controller !!!!!
Purpose: To send the commands to each floor node as needed
*/
void Floor(unsigned char floor, unsigned char sub_comp, unsigned char instruction)
{
unsigned char data[DATA_LENGTH];
if(sub_comp == CALL_SWITCH1)
{
// Send led light so the user knows the car is coming
data[0] = floor;
data[1] = CALL_LED1;
data[2] = ON;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(floor, 0x00, 0x00, DATA_LENGTH, data);
switch(floor)
{
case F1:
LCDprintf("\nGo To: 1 \r",0);
break;
case F2:
LCDprintf("\nGo To: 2 \r",0);
break;
case F3:
LCDprintf("\nGo To: 3 \r",0);
break;
}
data[0] = PID;
data[1] = SET_POINT;
data[2] = floor;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(PID, 0x00, 0x00, DATA_LENGTH, data);
}
else if(sub_comp == CALL_SWITCH2)
{
data[0] = floor;
data[1] = CALL_LED2;
data[2] = ON;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(floor, 0x00, 0x00, DATA_LENGTH, data);
switch(floor)
{
case F1:
LCDprintf("\nGo To: 1 \r",0);
//dest_floor = F1;
break;
case F2:
LCDprintf("\nGo To: 2 \r",0);
break;
case F3:
LCDprintf("\nGo To: 3 \r",0);
break;
}
data[0] = PID;
data[1] = SET_POINT;
data[2] = floor;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(PID, 0x00, 0x00, DATA_LENGTH, data);
}
}
void button_down(byte my_floor) {
CANframe txframe;
LED2 = 1;
#ifdef USE_LCD
LCDclear();
LCDprintf("Floor: %d\nDir: %s", my_floor, "down");
#endif
// Message to controller; down button pressed
txframe.id = MSCAN_CTL_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_BUTTON_CALL;
txframe.payload[1] = my_floor;
txframe.payload[2] = BUTTON_DOWN;
CANsend(&txframe);
}
void callbox(byte my_floor) {
byte rxmessage[PAYLOAD_SIZE]; // Received data payload
static byte floor, direction;
word distance;
static byte flag_dist_init = 0;
CANframe txframe; // Transmitted CAN frame
floor = 0xFF; // Start at false floor
direction = DIRECTION_STATIONARY; // Assume starting car direction is stationary
if (!flag_dist_init){
dist_init();
flag_dist_init = 1;
}
if(SW1 && !sw1_pressed) {
sw1_pressed = 1;
button_up(my_floor);
}
if(SW2 && !sw2_pressed) {
sw2_pressed = 1;
button_down(my_floor);
}
if(!SW1) sw1_pressed = 0;
if(!SW2) sw2_pressed = 0;
runSerialCAN(MSCAN_NODE_ID);
if(data_available()) {
CANget(rxmessage);
switch(rxmessage[0]) {
case CMD_LOCATION:
floor = rxmessage[1];
direction = rxmessage[2];
#ifdef USE_LCD
LCDclear();
LCDprintf("Floor: %d\nDir: %d", floor, direction);
#endif
#ifdef USE_LED7
led7_write(led7_table[floor]);
#endif
break;
case CMD_BUTTON_CALL:
rxmessage[1] == DIRECTION_UP ? button_up(my_floor) : button_down(my_floor);
break;
case CMD_ERROR:
#ifdef USE_LCD
LCDclear();
LCDprintf("Error condition\nreceived!");
#endif
break;
default:
#ifdef USE_LCD
LCDclear();
LCDputs("Unknown command");
#endif
break;
}
// Turn off indicator LED once car has reached local floor
if(floor == my_floor) {
LED1 = 0; LED2 = 0;
}
}
// Sonar sensor currently attached to callbox 1
// Send off distance message to controller node
if (my_floor == FLOOR1) {
distance = dist_read();
txframe.id = MSCAN_CTL_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_DISTANCE;
txframe.payload[1] = (distance & 0xFF00) >> 8;
txframe.payload[2] = (distance & 0x00FF);
CANsend(&txframe);
}
/*
* Elevator car functionality
* -
*/
void car(void) {
byte ret;
byte sw1_pressed = 0, sw2_pressed = 0;
char *command, *floor, *direction;
byte cur_floor;
byte elevatorDirection = 0xFF;
CANframe txframe; // Transmitted CAN frames
byte rxmessage[PAYLOAD_SIZE]; // Received data payload
cur_floor = 0;
// Message to controller; floor 1
txframe.id = MSCAN_CTL_ID;
txframe.priority = 0x01;
txframe.length = 2;
txframe.payload[0] = CMD_BUTTON_CAR;
txframe.payload[2] = DIRECTION_STATIONARY;
if(BTN_FLOOR1) {
if (BUTTON_FL1 > cur_floor) {
elevatorDirection = DIRECTION_DOWN;
} else if (BUTTON_FL1 < cur_floor) {
elevatorDirection = DIRECTION_UP;
} else {
elevatorDirection = DIRECTION_STATIONARY;
}
txframe.payload[1] = BUTTON_FL1;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(BTN_FLOOR2) {
if (BUTTON_FL2 > cur_floor) {
elevatorDirection = DIRECTION_DOWN;
} else if (BUTTON_FL2 < cur_floor) {
elevatorDirection = DIRECTION_UP;
} else {
elevatorDirection = DIRECTION_STATIONARY;
}
txframe.payload[1] = BUTTON_FL2;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(BTN_FLOOR3) {
if (BUTTON_FL3 > cur_floor) {
elevatorDirection = DIRECTION_DOWN;
} else if (BUTTON_FL3 < cur_floor) {
elevatorDirection = DIRECTION_UP;
} else {
elevatorDirection = DIRECTION_STATIONARY;
}
txframe.payload[1] = BUTTON_FL3;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(BTN_DROPEN) {
txframe.payload[1] = BUTTON_DOOR_OPEN;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(BTN_DRCLOSE) {
txframe.payload[1] = BUTTON_DOOR_CLOSE;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(BTN_ESTOP) {
txframe.payload[1] = BUTTON_STOP;
txframe.payload[2] = elevatorDirection;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
// CAN bus <-> serial link
// Check for new incoming messages and send out received messages via serial
runSerialCAN(MSCAN_NODE_ID);
if(data_available()) {
CANget(rxmessage);
switch(rxmessage[0]) {
case CMD_LOCATION:
command = "Loc";
break;
case CMD_BUTTON_CALL:
command = "Call";
break;
case CMD_BUTTON_CAR:
command = "Car";
break;
case CMD_DISP_APPEND:
command = "Disp";
break;
case CMD_ERROR:
command = "Err";
break;
default:
// Command didn't match known commands!
goto car_cmd_error;
}
switch(rxmessage[1]) {
case FLOOR1:
floor = "1";
cur_floor = 1;
break;
case FLOOR2:
floor = "2";
cur_floor = 2;
break;
case FLOOR3:
floor = "3";
cur_floor = 3;
break;
default:
// Command didn't match known commands!
goto car_cmd_error;
}
// Turn off LED when car arrives at requested floor
if ( rxmessage[0] == CMD_LOCATION ) {
if( rxmessage[1] == FLOOR1 ) {
LED1 = 0;
}
if( rxmessage[1] == FLOOR2 ) {
LED2 = 0;
}
/*if( rxmessage[1] == FLOOR3 ) {
LED3 = 0;
}*/
}
#ifdef USE_LED7
led7_write(led7_table[cur_floor]);
#endif
#ifdef USE_LCD
LCDhome();
LCDclear();
LCDprintf("Command: %s\nFloor%s", command, floor);
#endif
return;
car_cmd_error:
//LCDhome();
//LCDclear();
//LCDprintf("Error in\ncommand");
return;
}
}
/*
* Controller functionality
* - Send elevator location messages to callboxes
* - Listen for button press messages
*/
void controller() {
byte sw1_pressed = 0, sw2_pressed = 0;
byte rxmessage[PAYLOAD_SIZE]; // Received data payload
byte button_pressed;
byte next_floor;
char *button_floor_str, *button_direction_str;
byte update_lcd = 1;
byte cycle_count = 0;
word distance; // car height in cm, distance measurement in mm
byte cur_floor;
byte last_floor = 0;
//byte b; // used for debug manual frame sending testing
dist_init();
mctrl_init(); // Initialize servo motor controller
for(;;) {
mctrl_update();
cycle_count++;
if ( cycle_count == 10 ) {
update_lcd = 1;
cycle_count = 0;
}
if ( update_lcd ) {
update_lcd = 0;
/*
#ifdef USE_LCD
if ( cur_floor == 0 ) {
LCDclear();
LCDputs("No car");
} else {
LCDclear();
LCDprintf("%dmm/F%d", car_height, cur_floor);
}
#endif
*/
}
// CAN bus <-> serial link
// Check for new incoming messages and send out received messages via serial
runSerialCAN(MSCAN_NODE_ID);
/*
while ( sci_bytesAvailable() ) {
sci_readByte(&b);
lcd_putc(b);
} */
if(data_available()) {
CANget(rxmessage);
switch(rxmessage[0]) {
case CMD_BUTTON_CALL:
button_pressed = rxmessage[1];
addToQueue(button_pressed);
next_floor = peekNextFloor();
pid_setpoint(FLOOR2SETPOINT(next_floor));
switch(cur_floor) {
case FLOOR1:
button_floor_str = "1";
break;
case FLOOR2:
button_floor_str = "2";
break;
case FLOOR3:
button_floor_str = "3";
break;
default:
break;
}
if(next_floor == cur_floor) {
button_direction_str = "stat";
} else if(next_floor > cur_floor) {
button_direction_str = "up ";
} else {
button_direction_str = "down";
}
#ifdef USE_LCD
LCDhome();
LCDprintf("\nFloor%s Dir %s", button_floor_str, button_direction_str);
#else
#ifdef USE_LCD2
lcd_goto(0x10); // Start at second line
lcd_puts("Floor");
lcd_puts(button_floor_str);
lcd_puts(" Dir ");
lcd_puts(button_direction_str);
#endif
#endif
break;
case CMD_BUTTON_CAR:
button_pressed = rxmessage[1];
if(button_pressed == BUTTON_STOP) {
// call emergency stop function
} else if(button_pressed < BUTTON_DOOR_CLOSE) {
addToQueue(button_pressed);
}
next_floor = peekNextFloor();
pid_setpoint(FLOOR2SETPOINT(next_floor));
switch(cur_floor) {
case FLOOR1:
button_floor_str = "1";
break;
case FLOOR2:
button_floor_str = "2";
break;
case FLOOR3:
button_floor_str = "3";
break;
default:
break;
}
if(next_floor == cur_floor){
button_direction_str = "stat";
}else if(next_floor > cur_floor){
button_direction_str = "up ";
}else {
button_direction_str = "down";
}
#ifdef USE_LCD
LCDhome();
LCDprintf("\nFloor%s Dir %s", button_floor_str, button_direction_str);
#endif
#ifdef USE_LCD2
lcd_goto(0x10); // Start at second line
lcd_puts("Floor");
lcd_puts(button_floor_str);
lcd_puts(" Dir ");
lcd_puts(button_direction_str);
#endif
break;
case CMD_DISTANCE:
distance = (rxmessage[1] << 8) | rxmessage[2];
pid_feedback(distance);
if (distance < SETPOINT_F1 + FLOOR_MARGIN) cur_floor = FLOOR1;
if (distance > SETPOINT_F2 - FLOOR_MARGIN && distance < SETPOINT_F2 + FLOOR_MARGIN) cur_floor = FLOOR2;
if (distance > SETPOINT_F3 - FLOOR_MARGIN && distance < SETPOINT_F3 + FLOOR_MARGIN) cur_floor = FLOOR3;
if ( distance > 1500 ) {
cur_floor = 0;
#ifdef USE_LED7
led7_write(led7_bars[1]);
#endif
} else {
#ifdef USE_LED7
led7_write(led7_table[cur_floor]);
#endif
if ( cur_floor != last_floor ) {
update_floor(cur_floor);
last_floor = cur_floor;
// if we have reached the target floor, pop off the top of the queue
// TODO: change name of getNextFloor() to be more descriptive
if(cur_floor == next_floor){
getNextFloor();
next_floor = peekNextFloor();
pid_setpoint(FLOOR2SETPOINT(next_floor));
}
}
}
#ifdef USE_LCD
LCDhome();
LCDprintf("Dist: %4d", distance);
#endif
break;
case CMD_ERROR:
break;
default:
#ifdef USE_LCD
LCDclear();
LCDputs("\nUnknown command");
#endif
#ifdef USE_LCD2
lcd_goto(0x10); // Start at second line
lcd_puts("Unknown command");
#endif
break;
}
}
delay_ms(100);
}
}
void main(void) {
char i, j;
unsigned char txbuff[8] = "";
word distance = 0;
CANMessage message = { 0x00, 0x00, 0x00, {0}};
unsigned char curFloor = 0;
unsigned char elevatorDirection = 0;
unsigned char callButtonsPressed[2][NUM_FLOORS] = { 0 };
unsigned char panelButtonsPressed[NUM_FLOORS] = { 0 };
unsigned char panicButton = 0;
unsigned char elevatorTarget = 0;
unsigned char targetFound = 0;
timer_init();
LCDinit();
initCan();
j=0;
while (!(CANCTL0 & 0x10));
CANRFLG = 0xC3;
CANRIER = 0x01;
//LCDprintf("Hello World");
usonic_init();
EnableInterrupts;
for(;;) {
LCDclear();
//get elevator distance
distance = usonic_getDistance();
//generalized for NUM_FLOORS, for a given floor offset to the ground floor, and distance between floors (left in big if statement in case
//distance between floors is non-constant
for(i=0; i< NUM_FLOORS; i++){
if (distance < (FLOOR_OFFSET + (FLOOR_DISTANCE*i) + ELEV_THRESHOLD) && distance > (FLOOR_OFFSET + (FLOOR_DISTANCE*i) - ELEV_THRESHOLD)) {
//LCDprintf("1st Floor!\n %d mm", distance);
curFloor = i+1;
}
}
/*if (distance < (ELEV_1ST + ELEV_THRESHOLD) && distance > (ELEV_1ST - ELEV_THRESHOLD)) {
//LCDprintf("1st Floor!\n %d mm", distance);
curFloor = 1;
} else if (distance < (ELEV_2ND + ELEV_THRESHOLD) && distance > (ELEV_2ND - ELEV_THRESHOLD)) {
//LCDprintf("2nd Floor!\n %d mm", distance);
curFloor = 2;
} else if (distance < (ELEV_3RD + ELEV_THRESHOLD) && distance > (ELEV_3RD - ELEV_THRESHOLD)) {
//LCDprintf("3rd Floor!\n %d mm", distance);
curFloor = 3;
} else if (distance < (ELEV_4TH + ELEV_THRESHOLD) && distance > (ELEV_4TH - ELEV_THRESHOLD)) {
//LCDprintf("4th Floor!\n %d mm", distance);
curFloor = 4;
} else {
//LCDprintf("Distance %d mm", distance);
} */
if (elevatorTarget != curFloor) {
if ((elevatorTarget - curFloor) > 0 ) {
elevatorDirection = DIR_UP;
} else {
elevatorDirection = DIR_DOWN;
}
txbuff[0] = ELEV_LOCATION;
txbuff[1] = curFloor;
txbuff[2] = elevatorDirection;
message.id = ELEVATOR_CAR_ID | FLOOR_1_ID | FLOOR_2_ID | FLOOR_3_ID;
message.priority = 0x00;
message.length = 8;
message.payload = txbuff;
} else { //elevatorTarget = curFloor, which means elevator is stationary
//elevatorDirection = DIR_STOPPED; //set direction to stationary
txbuff[0] = ELEV_LOCATION;
txbuff[1] = curFloor;
txbuff[2] = elevatorDirection;
message.id = ELEVATOR_CAR_ID | FLOOR_1_ID | FLOOR_2_ID | FLOOR_3_ID;
message.priority = 0x00;
message.length = 8;
message.payload = txbuff;
panelButtonsPressed[curFloor-1] = 0; //clear the panel floor button as we have reached the destination floor
targetFound = 0; //clear the target found flag to find a new target
}
/* j = (j+1) %3;
txbuff[0] = ELEV_LOCATION;
txbuff[1] = j+1;
txbuff[2] = DIR_UP;
message.id = BROADCAST_ID; //Broadcast
message.priority = 0;
message.length = 8;
message.payload = txbuff;*/
sendCanFrame(message);
if ( canRXFlag ) //have received a message from one of the various floor buttons, receive message and enter it into the required motor output.
{
if (canRXData[0] == CALL_BTN_PRESS){
if(canRXData[2] == UP_CALL_BTN){
callButtonsPressed[UP_CALL_ROW][canRXData[1]-1] = 1;
LCDprintf("Call FLOOR %d Up", canRXData[1]);
}else {
callButtonsPressed[DOWN_CALL_ROW][canRXData[1]-1] = 1;
LCDprintf("Call FLOOR %d Down", canRXData[1]);
}
} else if (canRXData[0] == PANEL_BTN_PRESS){
switch (canRXData[1]){
case PANEL_FLOOR_1:{
panelButtonsPressed[0] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_2:{
panelButtonsPressed[1] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_3:{
panelButtonsPressed[2] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_4:{
panelButtonsPressed[3] = 1;
break;
}
case DOOR_CLOSE:{
LCDprintf("Door Close");
break;
}
case DOOR_OPEN:{
LCDprintf("Door Open");
break;
}
case EMERG_STOP:{
panicButton = 1;
break;
}
default:
break;
}
} else if (canRXData[0] == ELEV_LOCATION){
LCDprintf("floor %d dir %d", canRXData[1], canRXData[2]);
} else if (canRXData[0] == ERROR_MSG){
} //else ignore message
//LCDprintf("Floor %d!\n %d mm", canRXData[0], distance);
canRXFlag = 0;
}
/*
//Logic to determine the current elevator target
if (targetFound == 0) {
elevatorTarget = curFloor; //set a back up target in case the target finding algorithm doesn't find any other targets
if (elevatorDirection == DIR_UP){ //Elevator is currently moving up, handle any up requests above elevator before moving down
for(i=curFloor-1; i< NUM_FLOORS; i++){
if(callButtonsPressed[UP_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if (targetFound == 0) { //No up requests above elevator current position, service any down requests, from the top floor first
for(i = NUM_FLOORS; i >= 0; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if(targetFound == 0){ //no down requests found, service any up requests below the elevator's current floor
for(i=0; i< curFloor-1; i++){
if(callButtonsPressed[UP_CALL_ROW][i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
}
}
} else if (elevatorDirection == DIR_DOWN){ //Elevator currently moving down, handle any down requests below the elevator before moving back up
for (i=curFloor-1; i >= 0; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i + 1;
targetFound = 1;
break;
}
}
if (targetFound == 0) { //No down requests below elevator current position, service any up requests, from the bottom floor first
for(i = 0; i < NUM_FLOORS; i++){
if(callButtonsPressed[UP_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if(targetFound == 0){ //no up requests found, service any down requests above the elevator's current floor
for(i=NUM_FLOORS; i >= curFloor-1; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
}
}
}
}*/
if(panicButton){
LCDprintf("EMERGENCY!");
}/* else if(targetFound){
LCDprintf("target floor: %d!", elevatorTarget);
} else {
LCDprintf("No target");
} */
msleep(100);
}
}
/*
* Controller functionality
* - Send elevator location messages to callboxes
* - Listen for button press messages
*/
void controller(void) {
byte ret;
byte sw1_pressed = 0, sw2_pressed = 0;
char *command, *floor, *direction;
CANframe txframe; // Transmitted CAN frame
byte rxmessage[PAYLOAD_SIZE]; // Received data payload
if(SW1 && !sw1_pressed) {
sw1_pressed = 1;
LED1 = 1;
// Message to floor 1 callbox; direction up
txframe.id = MSCAN_FL1_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_LOCATION;
txframe.payload[1] = FLOOR1;
txframe.payload[2] = DIRECTION_UP;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(SW2 && !sw2_pressed) {
sw2_pressed = 1;
LED2 = 1;
// Message to floor 1 callbox; direction down
txframe.id = MSCAN_FL1_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_LOCATION;
txframe.payload[1] = FLOOR1;
txframe.payload[2] = DIRECTION_DOWN;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(!SW1) {
sw1_pressed = 0;
LED1 = 0;
}
if(!SW2) {
sw2_pressed = 0;
LED2 = 0;
}
if(data_available()) {
CANget(rxmessage);
switch(rxmessage[0]) {
case CMD_BUTTON_CALL:
command = "Call";
break;
case CMD_BUTTON_CAR:
command = "Car";
break;
case CMD_DISP_APPEND:
command = "Disp";
break;
case CMD_ERROR:
command = "Err";
break;
default:
// Command didn't match known commands!
goto cmd_error;
}
switch(rxmessage[1]) {
case FLOOR1:
floor = "1";
break;
case FLOOR2:
floor = "2";
break;
case FLOOR3:
floor = "3";
break;
default:
// Command didn't match known commands!
goto cmd_error;
}
switch(rxmessage[2]) {
case BUTTON_UP:
direction = "Up";
break;
case BUTTON_DOWN:
direction = "Down";
break;
default:
// Command didn't match known commands!
goto cmd_error;
}
LCDclear();
LCDprintf("Command: %s\nFloor%s Dir: %s", command, floor, direction);
return;
cmd_error:
LCDclear();
LCDprintf("Error in\ncommand");
}
}
/*
* Callbox functionality
* - Listen for button presses, and accept elevator location messages
*/
void callbox(byte my_floor) {
byte ret;
byte sw1_pressed = 0, sw2_pressed = 0;
CANframe txframe; // Transmitted CAN frame
byte rxmessage[PAYLOAD_SIZE]; // Received data payload
static byte floor, direction;
floor = my_floor; // Assume starting floor is at this callbox floor
direction = DIRECTION_STATIONARY; // Assume starting car direction is stationary
if(SW1 && !sw1_pressed) {
sw1_pressed = 1;
LED1 = 1;
// Message to controller; up button pressed
txframe.id = MSCAN_CTL_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_BUTTON_CALL;
txframe.payload[1] = my_floor;
txframe.payload[2] = BUTTON_UP;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(SW2 && !sw2_pressed) {
sw2_pressed = 1;
LED2 = 1;
// Message to controller; down button pressed
txframe.id = MSCAN_CTL_ID;
txframe.priority = 0x01;
txframe.length = 3;
txframe.payload[0] = CMD_BUTTON_CALL;
txframe.payload[1] = my_floor;
txframe.payload[2] = BUTTON_DOWN;
ret = CANsend(&txframe);
if(ret) {
// Message could not be sent!
}
}
if(!SW1 && (floor == my_floor)) sw1_pressed = 0;
if(!SW2 && (floor == my_floor)) sw2_pressed = 0;
if(data_available()) {
CANget(rxmessage);
switch(rxmessage[0]) {
case CMD_LOCATION:
floor = rxmessage[1];
direction = rxmessage[2];
break;
case CMD_ERROR:
// Error condition received!
break;
default:
// Command didn't match known commands!
break;
}
LCDclear();
LCDprintf("Floor: %s\nDir: %s", floor, direction);
}
}
