Esempio n. 1
0
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
	uint8_t temp_id, servoid;
	uint16_t acttype;

    uint8_t //blindsStatus, /* Position (-128 to 127) */
            servoToTurn,
            turnDirection = BLINDS_TURN_STOP; /* Specifies direction to turn or stopped */
    uint32_t boardTemperature = 0;
    uint32_t timeStamp = 0, timeStampTurn = 0, servoFeed_timeStamp = 0;

	Can_Message_t txMsg;

	// Set up callback for CAN messages
	BIOS_CanCallback = &can_receive;

	sei();

	Timebase_Init();
	adcTemperatureInit();
	rcServoInit();

#if defined(TWO_BUTTON_MODE)
    /*
     * Initialize buttons
     * It is possible to use ie. sensors instead
     * but then change this
     */
    /* Set as input and enable pull-up */
    DDRD &= ~( (1<<DDD1)|(1<<DDD2) );
    PORTD |= (1<<PD1)|(1<<PD2);

    /* Enable IO-pin interrupt */
    PCICR |= (1<<PCIE2);
    /* Unmask PD1 and SERVO_FEED_PIN */
    PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);
#endif
	/* Set output and turn off the servo current feed */
	//SERVO_FEED_DDR |= (1<<SERVO_FEED_PIN);
	//SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);

	txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
	txMsg.RemoteFlag = 0;
	txMsg.ExtendedFlag = 1;
	txMsg.DataLength = 4;
	txMsg.Data.words[0] = APP_TYPE;
	txMsg.Data.words[1] = APP_VERSION;

	BIOS_CanSend(&txMsg); // Send startup message
	
	//set up status message
	txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_STATUS << CAN_SHIFT_SNS_TYPE) | (SNS_ID_SERVO_STATUS << CAN_SHIFT_SNS_ID) | (NODE_ID << CAN_SHIFT_SNS_SID));

    // Main loop
	while (1) {
		// check if any messages have been received
		if(rxMsgFull){
			if( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT ){
				// Actuator package
				acttype = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
				servoid = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);

		// Check if it is command to control this servo
				if(acttype == ACT_TYPE_SERVO && (servoid == SERVOID_1 || servoid == SERVOID_2 || servoid == SERVOID_3)){
					// This node that control a servo is adressed
					if(servoid == SERVOID_1){
						temp_id = 1; // First servo
					}else if(servoid == SERVOID_2){
						temp_id = 2; // and so on
					}else if(servoid == SERVOID_3){
						temp_id = 3;
					}else{
						temp_id = 0;
					}

					if(rxMsg.DataLength == 1 || (rxMsg.DataLength == 2 && rxMsg.Data.bytes[1] == BLINDS_CMD_ABS)){
						// Set absolute position to servo

						setPosition( rxMsg.Data.bytes[0], temp_id );
						servoFeed_timeStamp = Timebase_CurrentTime();

					}else if(rxMsg.DataLength == 2){
						if(rxMsg.Data.bytes[1] == BLINDS_CMD_REL){
							// Set relative position to servo

							alterPosition( rxMsg.Data.bytes[0], temp_id );
							servoFeed_timeStamp = Timebase_CurrentTime();

						}else if(rxMsg.Data.bytes[1] == BLINDS_CMD_START ){
							// Start turning the servo

							turnDirection = (rxMsg.Data.bytes[0]&0x80)?BLINDS_TURN_CW:BLINDS_TURN_CCW; // FIXME riktning beroende på positivt eller negativt tal?
							servoToTurn = temp_id;
							servoFeed_timeStamp = Timebase_CurrentTime();

						}else if(rxMsg.Data.bytes[1] == BLINDS_CMD_STOP ){
							// Stop turning

							turnDirection = BLINDS_TURN_STOP;

						}/*else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STATUS){
							// Send blinds status to CAN
							boardTemperature = getTC1047temperature();

							if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
								blindsFailsafe();
							}else{
							txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
							txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
							txMsg.Data.bytes[2] = 0x00;
							txMsg.Data.bytes[3] = getPosition(1);
							txMsg.Data.bytes[4] = getPosition(2);
							txMsg.Data.bytes[5] = getPosition(3);
							txMsg.DataLength = 6;
							BIOS_CanSend(&txMsg);
						}*/
					}
				}
			}

			rxMsgFull = 0;
		}

		if( (Timebase_CurrentTime() - timeStamp)  >= STATUS_SEND_PERIOD ){
			timeStamp = Timebase_CurrentTime();
            // Send blinds status to CAN periodically

			boardTemperature = getTC1047temperature();

			if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
				blindsFailsafe();
				}else{
				txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
				txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
				txMsg.Data.bytes[2] = 0x00;
				txMsg.Data.bytes[3] = getPosition(1);
				txMsg.Data.bytes[4] = getPosition(2);
				txMsg.Data.bytes[5] = getPosition(3);
				txMsg.DataLength = 6;

				BIOS_CanSend(&txMsg);
			}
		}
        // If start turning servo
		if( turnDirection ){
			if( Timebase_CurrentTime() - timeStampTurn >= TURN_PERIOD ){
				timeStampTurn = Timebase_CurrentTime();
				// Clockwise or counterclockwise?
				if( turnDirection == BLINDS_TURN_CCW ){
					alterPosition( -STEPS_PER_TURN_PERIOD , servoToTurn);
				}else if( turnDirection == BLINDS_TURN_CW ){
					alterPosition( STEPS_PER_TURN_PERIOD , servoToTurn);
				}
				servoFeed_timeStamp = Timebase_CurrentTime();
			}
		}

		// Turn off the servo current feed after timeout
		if( Timebase_CurrentTime() - servoFeed_timeStamp >= SERVO_FEED_TIME ){
			SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
			servoDisable();
		}else{
			SERVO_FEED_PORT |= (1<<SERVO_FEED_PIN);
			servoEnable();
		}
	}
Esempio n. 2
0
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
#if defined(USE_DS18S20)
    uint8_t nSensors, i;
    uint8_t subzero, cel, cel_frac_bits;
    uint32_t timeStamp_DS = 0, timeStamp_DS_del = 0;
	/* This is to identify and give the sensors correct ID 
	 * TODO read ds18s20 serial id and that way give the "can id" */
	uint16_t sensor_ds_id[] = {TEMPSENSORID_1, TEMPSENSORID_2, TEMPSENSORID_3, TEMPSENSORID_4};
#endif
#if defined(USE_TC1047)
    uint32_t tcTemperature = 0, timeStamp_TC = 0;
    adcTemperatureInit();
#endif
#if defined(USE_LDR)
	uint32_t timeStamp_LDR = 0;
	uint8_t ldr;
	LDR_SensorInit();
#endif
    sei();

	Timebase_Init();

    Can_Message_t txMsg;
	txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
	txMsg.DataLength = 4;
	txMsg.RemoteFlag = 0;
	txMsg.ExtendedFlag = 1;
	txMsg.Data.words[0] = APP_TYPE;
	txMsg.Data.words[1] = APP_VERSION;
	BIOS_CanSend(&txMsg);

#if defined(USE_DS18S20)
    /* Make sure there is no more then 4 DS-sensors. */
    nSensors = search_sensors();
#endif

    txMsg.DataLength = 2;

    /* main loop */
    while (1) {
#if defined(USE_DS18S20)
        /* check temperature and send on CAN */
		if( Timebase_PassedTimeMillis(timeStamp_DS) >= DS_SEND_PERIOD ){
			timeStamp_DS = Timebase_CurrentTime();

            if ( DS18X20_start_meas( DS18X20_POWER_PARASITE, NULL ) == DS18X20_OK) {
                delay_ms(DS18B20_TCONV_12BIT);
                for ( i=0; i<nSensors; i++ ) {
                    if ( DS18X20_read_meas( &gSensorIDs[i][0], &subzero, &cel, &cel_frac_bits) == DS18X20_OK ) {

                        if (subzero) {
                            txMsg.Data.bytes[0] = -cel-1;
                            txMsg.Data.bytes[1] = ~(cel_frac_bits<<4);
                        }else{
                            txMsg.Data.bytes[0] = cel;
                            txMsg.Data.bytes[1] = (cel_frac_bits<<4);
                        }
                    }
					/* Delay */
					timeStamp_DS_del = Timebase_CurrentTime();
					while(Timebase_PassedTimeMillis(timeStamp_DS_del) < DS_SEND_DELAY){}

					/* send txMsg */
					txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_TEMPERATURE << CAN_SHIFT_SNS_TYPE) | (NODE_ID << CAN_SHIFT_SNS_SID));
					txMsg.Id |= ( sensor_ds_id[i] << CAN_SHIFT_SNS_ID); /* Set sensor id */
					BIOS_CanSend(&txMsg);
                }
            }
        }
#endif
#if defined(USE_TC1047)
#error tc1047 id is still not correct // FIXME
            /* check temperature and send on CAN */
		if( bios->timebase_get() - timeStamp_TC >= TC_SEND_PERIOD ){
			timeStamp_TC = bios->timebase_get();

            tcTemperature = getTC1047temperature();
            txMsg.Data.bytes[0] = tcTemperature & 0x00FF;
            txMsg.Data.bytes[1] = (tcTemperature & 0xFF00)>>8;
            txMsg.DataLength = 2;

			txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_TEMPERATURE << CAN_SHIFT_SNS_TYPE) | (NODE_ID << CAN_SHIFT_SNS_SID));
			txMsg.Id |= (TEMPSENSORID_5 << CAN_SHIFT_SNS_ID); // sätt korrekt sensorid

            BIOS_CanSend(&txMsg);
        }
#endif
#if defined(USE_LDR)
            /* check light and send on CAN */
		if( Timebase_PassedTimeMillis(timeStamp_LDR) >= LDR_SEND_PERIOD ){
			timeStamp_LDR = Timebase_CurrentTime();

            ldr = (uint8_t)LDR_GetData(0);
            txMsg.Data.bytes[0] = ldr;
            txMsg.DataLength = 1;

			txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_LIGHT << CAN_SHIFT_SNS_TYPE) | (LIGHTSENSORID_1 << CAN_SHIFT_SNS_ID) | (NODE_ID << CAN_SHIFT_SNS_SID));

			BIOS_CanSend(&txMsg);
        }
#endif
    }