/*
!!!! 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);
}
}
/*
!!!! 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;
}
}
void CANGetData(st_cmd_t* Rx){
can_get_status(Rx);
CANGIE|=(1<<ENIT);
if(can_Status==CAN_Pending){
can_Status=CAN_Send;
CANSend();
}
}
void CANSendData(void){
if(can_queue_head!=can_queue_tail){
if(can_rx!=0){
CANGIE&=~(1<<ENRX);
can_rx->cmd=CMD_ABORT;
can_cmd(can_rx);
while(can_get_status(can_rx)==CAN_STATUS_NOT_COMPLETED);
}
if(CANGIE&(1<<ENIT)){
can_Status=CAN_Send;
CANSend();
}else{
can_Status=CAN_Pending;
}
}else if(can_rx!=0){
can_rx->cmd=CMD_RX_DATA;
can_cmd(can_rx);
CANGIE|=(1<<ENRX);
}
}
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 */
}
/*
!!!! This function is designed for the controller !!!!!
Purpose: Send out instructions from the PID
Input: sub_comp - should always be REC_POINT
instruction - should be the floor level
*/
void Feedback(unsigned char sub_comp, unsigned char instruction)
{
static unsigned char data[DATA_LENGTH];
if(sub_comp == REC_POINT) // Check to make sure that processing is correct
{
// Distribute the floor indicator to each node
data[0] = CAR;
data[1] = FLOOR_INDICATOR;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(CAR, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
data[0] = F1;
data[1] = FLOOR_INDICATOR;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(F1, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
data[0] = F2;
data[1] = FLOOR_INDICATOR;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(F2, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
data[0] = F3;
data[1] = FLOOR_INDICATOR;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(F3, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
//Shut off the call led
data[0] = instruction;
data[1] = CALL_LED1;
data[2] = OFF;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(instruction, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
data[0] = instruction;
data[1] = CALL_LED2;
data[2] = OFF;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(instruction, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
// Shut off elevator car led
data[0] = CAR;
data[1] = BUTTON_INDICATOR_OFF;
data[2] = instruction;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(CAR, 0x00, 0x00, DATA_LENGTH, data);
msDELAY(100);
// turn on the car door led
/* data[0] = CAR;
data[1] = DOOR;
data[2] = OPEN;
SCIprintf("%d%d%d", data[0], data[1], data[2]);
(void)CANSend(CAR, 0x00, 0x00, DATA_LENGTH, data); */
}
}
