//----------------------Funktioner------------------------
void init_LCD()
{
const char lcd_text[] = "ADC value:";
LCDinit();
_delay_ms(1000);
LCDclr();
_delay_ms(1000);
LCDhome();
_delay_ms(1000);
LCDstring((uint8_t*) lcd_text, (uint8_t) strlen(lcd_text));
_delay_ms(1000);
LCDvisible();
}
/*
* 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);
}
}
int main(void)
{
//var
uint8_t answer;
uint8_t http_respon_data[64];
//init pa sbg in
DDRA = 0;
PORTA = 0xff;
//init lcd
LCDinit();
LCDclr();
LCDcursorOFF();
LCDhome();
//init uart
sim900_init_uart(38400);
//enable isr
sei();
LCDGotoXY(0, 0);
fprintf(&LCDInputOutputStream, "setup modem = %d", sim900_setup(SETUP_WAIT_INFINITE));
_delay_ms(1000);
while(1)
{
//krm sms pa0
if (bit_is_clear(PINA, PA0))
{
_delay_ms(100);
loop_until_bit_is_set(PINA, PA0);
LCDclr();
LCDhome();
fprintf(&LCDInputOutputStream, "open gprs = %d", sim900_gprs_open_connection(
(const uint8_t*)"internet", (const uint8_t*)" ", (const uint8_t*)" "));
}
//open gprs
if (bit_is_clear(PINA, PA1))
{
_delay_ms(100);
loop_until_bit_is_set(PINA, PA1);
//answer = sim900_gprs_open_bearer((const uint8_t*)"internet", (const uint8_t*)" ", (const uint8_t*)" ");
//answer = sim900_gprs_open_bearer("internet", " ", " ");
//answer = sim900_gprs_is_opened();
//answer = sim900_gprs_closed();
//answer = sim900_http_get((const uint8_t*)
//"http://ex4-tech.id.or.id/sim900/data.php", (const uint8_t*)"c=1", 64,
//http_respon_data);
answer = sim900_http_send_data(
HTTP_POST,
(const uint8_t*)"http://ex4-tech.id.or.id/sim900/data.php",
(const uint8_t*)"c=1",
64,
http_respon_data);
LCDclr();
LCDhome();
fprintf(&LCDInputOutputStream, "post = %d", answer);
LCDGotoXY(0, 1);
fprintf(&LCDInputOutputStream, "%s", http_respon_data);
_delay_ms(5000);
}
if (bit_is_clear(PINA, PA2))
{
_delay_ms(100);
loop_until_bit_is_set(PINA, PA2);
answer = sim900_gprs_close_connection();
LCDclr();
LCDhome();
fprintf(&LCDInputOutputStream, "close gprs = %d", answer);
}
}
}
