/*************************************************************************
Author: Josiah Snarr
Date: April 11, 2015
stepperStep controls the stepper motor to step a position based on the
direction it is going
*************************************************************************/
void stepperStep(void)
{
//Step to next position in table
FORCE_BITS(STEP_PORT, STEP_OUT, motorPos[stepIndex]);
//Set index to next position
stepIndex = (stepIndex + direction) & INDEX_MASK;
//Increase/decrease current step
currStep += direction;
}
/*
* Reads a CAN frame from the PC monitor via serial
* Returns RX_COMPLETE if a complete frame has been received, RX_PARTIAL if a partial frame has been received, or RX_IDLE if waiting for a frame to arrive
* Non-blocking: partial frames are buffered so the user's frame is unmodified until a full frame is ready,
* and persistent between calls so data will not be lost.
*/
byte readSerialCANframe(CANframe *frame) {
byte b;
byte retCode = ( state == RX_STATE_IDH ? RX_IDLE : RX_PARTIAL ); // What to return if no bytes are available
while ( sci_bytesAvailable() ) {
retCode = RX_PARTIAL;
sci_readByte(&b); // Read in one byte at a time per state loop
switch ( state ) {
case RX_STATE_IDH:
FORCE_BITS(framebuf.id, 0xFF00, ((word)b)<<8);
state = RX_STATE_IDL;
break;
case RX_STATE_IDL:
FORCE_BITS(framebuf.id, 0x00FF, b);
state = RX_STATE_PRIORITY;
break;
case RX_STATE_PRIORITY:
framebuf.priority = b;
state = RX_STATE_LENGTH;
break;
case RX_STATE_LENGTH:
length = b;
framebuf.length = 0; // Note: stores the number of received bytes, not the expected total
state = RX_STATE_PAYLOAD;
break;
case RX_STATE_PAYLOAD:
framebuf.payload[framebuf.length++] = b;
// Got a full frame?
if ( framebuf.length == length ) {
state = RX_STATE_IDH;
*frame = framebuf; // Copy to user
return RX_COMPLETE; // Return immediately and ignore any remaining bytes until next time
}
break;
default:
break;
}
}
return retCode;
}
/* Stepper motor control interrupt handler */
interrupt VECTOR_NUM(TC_VECTOR(TC_STEPPER)) void StepperISR(void) {
static byte stepper_count = 0;
TC(TC_STEPPER) += TIMER_DELTA(stepper_delay); // Acknowledge interrupt and set delta for next event
FORCE_BITS(STEPPER_PORT,STEPPER_COIL_BITS,(STEPPER_PATTERN[stepper_count] << 4)); // Change bit pattern on stepper coils
/* ADD CHECKING OF LIMITS IN HERE SO THAT STEPPER DOES NOT TRY TO GO PAST PHYSICAL LIMITS */
if(stepper_position != stepper_setpoint || stepper_calibrated == 0) {
/* Stepper not at set point or not calibrated */
stepper_count = (stepper_count + stepper_step_type) & STEPPER_COUNT_MASK; // Set offset to next step pattern and mask off bits to keep value in range
stepper_position += stepper_step_type;
} else {
/* Stepper is at set point */
if(stepper_count % 2) CLR_BITS(STEPPER_PORT,STEPPER_COIL_BITS); // Turn off coils on odd numbers (50% duty cycle)
}
}
/*************************************************************************
Author: Josiah Snarr
Date: April 11, 2015
the stepControl interrupt controls the next step on the stepper motor, and
resets the busy flag when it is complete
*************************************************************************/
interrupt VectorNumber_Vtimch4 void stepControl(void)
{
if(currStep != moveStep)
{
//Step to next position in table
FORCE_BITS(STEP_PORT, STEP_OUT, motorPos[stepIndex]);
//Set index to next position
stepIndex = (stepIndex + direction) & INDEX_MASK;
//Increase/decrease current step
currStep += direction;
//Increase timer for next interrupts
TC4 += STEP_WAIT;
}
else
{
//Clear busy flag, disable TC4 interrupts
isBusy = NOT_BUSY;
TIE &= (~((unsigned char)TIOS_IOS4_MASK));
}
}
void main(void)
{
/* put your own code here */
SET_TCNT_PRESCALE( TCNT_PRESCALE_8);
TSCR1 = TSCR1_INIT;
seg_init();
CANinit(THE_FLOOR);
SET_BITS(LED_DDR, LED1_MASK|LED2_MASK);
node_id = PORTB & 3; //get hardware specified node id
while (!(CANCTL0&0x10));
CANRFLG = 0xC3;
CANRIER = 0x01;
InitializeQueue(&rec); // Create the Recieve Queue
clear_seg();
EnableInterrupts;
for(;;)
{
if(IsQueueEmpty(rec) != 0)
{
DeQueue(&rec);
Parse_Floor();
}
// button 1 press
if((PTJ & (SWITCH1_MASK |SWITCH2_MASK) )== SWITCH1_MASK)
{
if(THE_FLOOR == F1 || THE_FLOOR == F2)
{
if (last != SWITCH1_MASK)
{ // check if button already pressed
data[0] = THE_FLOOR;
data[1] = CALL_SWITCH1;
data[2] = UP;
(void)CANSend(CONTROLLER, 0x00, 0x00, DATA_LENGTH, data);
last = SWITCH1_MASK;
}
}
else if(THE_FLOOR == F3)
{
if (last != SWITCH1_MASK)
{ // check if button already pressed
data[0] = THE_FLOOR;
data[1] = CALL_SWITCH1;
data[2] = DOWN;
(void)CANSend(CONTROLLER, 0x00, 0x00, DATA_LENGTH, data);
last = SWITCH1_MASK;
}
}
}
//button 2 press
else if((PTJ & (SWITCH1_MASK |SWITCH2_MASK) )== SWITCH2_MASK)
{
if(THE_FLOOR == F2)
{
if (last != SWITCH2_MASK)
{ // check if button already pressed
data[0] = THE_FLOOR;
data[1] = CALL_SWITCH2;
data[2] = DOWN;
CANSend(CONTROLLER, 0x00, 0x00, DATA_LENGTH, data);
last = SWITCH2_MASK;
}
}
}
else
last = 0;
// Updates the LED
FORCE_BITS(PTS,0b00001100 , led) ;
} /* loop forever */
/* please make sure that you never leave main */
}
