dist_readings_t dist_read_all()
{
dist_readings_t readings;
// Read raw values from sensors
dist_read(&readings.front_val, &readings.side_1_val,
&readings.side_2_val);
// Convert the numbers to a distance in centimeters
readings.front = get_dist_to_cm(readings.front_val);
readings.side_1 = get_dist_to_cm(readings.side_1_val);
readings.side_2 = get_dist_to_cm(readings.side_2_val);
return readings;
}
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);
}