WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/application/AntennaDisplay/main.c

 /**
- * AntennaDisplay
+ * Antenna Display.
  * For controlling of the cAntenna bus using one
- * HD44780 LCD display and buttons.
+ * HD44780 LCD display and som buttons.
+ *
+ *
+ *
- * @date    2007-12-10
+ * @date    2007-11-19
  * @author  Erik Larsson
+ *
  */
 /*-----------------------------------------------------------------------------
  * Includes
  *---------------------------------------------------------------------------*/
 /* system files */
 #include <avr/io.h>
 #include <inttypes.h>
 #include <avr/interrupt.h>
 #include <stdio.h>
 #include <stdlib.h>
 /* lib files */
-#include <bios.h>   // BIOS interface declarations, including CAN structure and ID defines.
+#include <bios.h>
-#include <config.h> // All configuration parameters
+#include <config.h>
 #include <drivers/timer/timer.h>
 #include <drivers/lcd/clcd/lcd_HD44780.h>
 #include <string.h> //for memcpy
 /*-----------------------------------------------------------------------------
  * Defines
  *---------------------------------------------------------------------------*/
-#define APP_TYPE    0x1234
-#define APP_VERSION 0x0002
-// LCD size
 #define SIZE_X  16
 #define SIZE_Y  2
 #define BUFFER_SIZE SIZE_X
 #define AZIMUTH 1
 #define ELEVATION 2
 #define SCREEN_NORMAL 3
 #define SCREEN_CAL 4
-// Display modes
 #define NORMAL_MODE 0x01
 #define CAL_MODE 0x02
-// Actions
 #define AZIMUTH_PLUS 0x05
 #define AZIMUTH_MINUS 0x06
 #define ELEVATION_PLUS 0x07
 #define ELEVATION_MINUS 0x08
 #define AZIMUTH_STOP 0x09
 #define ELEVATION_STOP 0x0a
 #define GET_CAL 0x0b
 #define SET_CAL 0x0c
+#define APP_TYPE    0x1234
+#define APP_VERSION 0x0001
 volatile Can_Message_t rxMsg;
+//char incoming_text[ BUFFER_SIZE ];
 uint8_t rxMsgFull=0;
+uint8_t mode = NORMAL_MODE;
 // Buttons
 uint8_t azimuth_plus = 0, azimuth_minus = 0;
 uint8_t elevation_plus = 0, elevation_minus = 0;
 uint8_t calibration = 0;
-/*-----------------------------------------------------------------------------
+//void send_dimensions(void);
- * Declarations
+//void rotenc(void);
- *---------------------------------------------------------------------------*/
-/**
- * IO_init
- * Enable button inputs
+//void button(void);
- * Enable contrast and backlight for LCD
- *
- * @param void
- * @return void
- */
 void IO_init( void );
-/**
- * print_sceen
- * Prints normal and calibration data to LCD
- *
- * @param screen type, normal or calibration
- * @param data to print
- * @return void
- */
 void print_screen( uint8_t type, uint16_t data );
-/**
- * send_message
- * Handles all messages to antenna nodes
- *
- * @param type of message
- * @param data to send
- * @return void
- */
 void send_message( uint8_t type, uint16_t data );
-/**
- * calibrate
- * Gets calibration data from node, adjusts it and returns
- *
- * @param void
- * @return void
- */
 void calibrate( void );
-/**
- * read_buttons
+// CAN message reception callback
+// This function runs with interrupts disabled, keep it as short as possible
- * Periodicly read buttons
+void can_receive(Can_Message_t *msg){
- *
+    if(!rxMsgFull){
- * @param trigging timer
+        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
- * @return void
+        rxMsgFull = 1;
- */
+    }
+}
 void read_buttons(uint8_t timer) {
+    // Periodicly read buttons
     // Read buttons
-    calibration = (PIND & (1<<PD2))?0:1;
+        calibration = (PIND & (1<<PD2))?0:1;
-    azimuth_plus = (PINB & (1<<PB0))?0:1;
+        azimuth_plus = (PINB & (1<<PB0))?0:1;
-    azimuth_minus = (PINB & (1<<PB7))?0:1;
+        azimuth_minus = (PINB & (1<<PB7))?0:1;
     elevation_plus = (PINC & (1<<PC1))?0:1;
     elevation_minus = (PINC & (1<<PC0))?0:1;
+}
-// CAN message reception callback
-// This function runs with interrupts disabled, keep it as short as possible
-void can_receive(Can_Message_t *msg){
-    if(!rxMsgFull){
-        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
-        rxMsgFull = 1;
-    }
-}
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main( void ) {
-    // Flag for automatic sending stop message after released buttons
     uint8_t autostop = 0;
     sei();
-    // Enable timers
     Timer_Init();
-    // Enable buttons and display
     IO_init();
     Can_Message_t txMsg;
     txMsg.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
     txMsg.ExtendedFlag=1;
     txMsg.RemoteFlag=0;
     txMsg.DataLength = 4;
     txMsg.Data.words[0] = APP_TYPE;
     txMsg.Data.words[1] = APP_VERSION;
     // Send startup message
     BIOS_CanSend(&txMsg);
     BIOS_CanCallback = &can_receive;
+    lcd_init( LCD_DISP_ON );
+        print_screen( SCREEN_NORMAL, 0 );
-    // Timer for reading buttons and doing actions
+    // Timer for reading buttons
     Timer_SetTimeout(0, 50, TimerTypeFreeRunning, &read_buttons);
     Timer_SetTimeout(1, 500, TimerTypeFreeRunning, 0);
     /* main loop */
     while(1){
         /* check if any messages have been received */
         if( rxMsgFull ){
             if( rxMsg.Id == 0x1f8f0100 ){
-                // Received new azimuth data and print it
                 print_screen( AZIMUTH, rxMsg.Data.words[0] );
             }else if( rxMsg.Id == 0x1f8f0200 ){
-                // Received new elevation data and print it
                 print_screen( ELEVATION, rxMsg.Data.words[0] );
+            }
             rxMsgFull = 0;
+        }
-        // Periodicly take care of button actions
         if (Timer_Expired(1)) {
             // Perhaps someone pressed a button
             if( calibration || azimuth_plus || azimuth_minus || elevation_plus || elevation_minus ){
                 if( calibration ){
-                    // Enters calibration mode
-                    // Send all stop
+                    // send all stop
                     send_message( AZIMUTH_STOP, 0);
                     send_message( ELEVATION_STOP, 0);
                     // Start calibration
                     calibrate();
                 }else{
                     if( azimuth_plus ){
-                        // Send rotate aximuth plus
+                        //send rotate aximuth plus
                         send_message( AZIMUTH_PLUS, 0 );
                     }else if( azimuth_minus ){
-                        // Send rotate azimuth minus
+                        //send rotate azimuth minus
                         send_message( AZIMUTH_MINUS, 0 );
                     }else{
-                        // Send azimuth stop
+                        // send azimuth stop
                         send_message( AZIMUTH_STOP, 0 );
+                    }
                     if( elevation_plus ){
-                        // Send elevate plus
+                        //send elevate plus
                         send_message( ELEVATION_PLUS, 0 );
                     }else if( elevation_minus ){
-                        // Send elevate minus
+                        //send elevate minus
                         send_message( ELEVATION_MINUS, 0 );
                     }else{
-                        // Send elevation stop
+                        //send elevation stop
                         send_message( ELEVATION_STOP, 0 );
+                    }
                     autostop = 1; // Stop all rotors when no button is pressed
+                }
             }else if ( autostop ){
-                // Send all stop
+                // send all stop
-                // Only doing it once, no need to spam
                 send_message( AZIMUTH_STOP, 0);
                 send_message( ELEVATION_STOP, 0);
                 autostop = 0;
+            }
+        }
+    }
+}
-/*-----------------------------------------------------------------------------
- * Definitions
- *---------------------------------------------------------------------------*/
 void send_message( uint8_t type, uint16_t data ){
     Can_Message_t txMsg;
     txMsg.ExtendedFlag=1;
     txMsg.RemoteFlag=0;
     switch(type){
     case AZIMUTH_PLUS:
-        // Increase azimuth
         txMsg.Id = 0x11100005UL;
         txMsg.Data.bytes[0] = 0x01;
         txMsg.DataLength = 1;
         break;
     case AZIMUTH_MINUS:
-        // Decrease azimuth
         txMsg.Id = 0x11100005UL;
         txMsg.Data.bytes[0] = 0x02;
         txMsg.DataLength = 1;
         break;
     case AZIMUTH_STOP:
-        // Stop azimuth rotating
         txMsg.Id = 0x11100005UL;
         txMsg.Data.bytes[0] = 0x00;
         txMsg.DataLength = 1;
         break;
     case ELEVATION_PLUS:
-        // Increase elevation angle
         txMsg.Id = 0x11100015UL;
         txMsg.Data.bytes[0] = 0x01;
         txMsg.DataLength = 1;
         break;
     case ELEVATION_MINUS:
-        // Decrease elevation angle
         txMsg.Id = 0x111000015UL;
         txMsg.Data.bytes[0] = 0x02;
         txMsg.DataLength = 1;
         break;
     case ELEVATION_STOP:
-        // Stop elevation rotating
         txMsg.Id = 0x11100015UL;
         txMsg.Data.bytes[0] = 0x00;
         txMsg.DataLength = 1;
         break;
     case GET_CAL:
-        // Get calibration data from nodes
-        //FIXME add elevation
-        txMsg.Id = 0x11100002UL;
+        txMsg.Id = 0x11100002UL; // MSG_CAL_GET
         txMsg.DataLength = 0;
         break;
     case SET_CAL:
-        // Set calibration data in nodes
-        //FIXME add elevation
-        txMsg.Id = 0x11100001UL;
+        txMsg.Id = 0x11100001UL; // MSG_CAL_SET
         txMsg.DataLength = 2;
         txMsg.Data.words[0] = data;
         break;
     default:
-        // Stop all rotating
+        // Stop rotating
         txMsg.Id = 0x11100005UL;
         txMsg.Data.bytes[0] = 0x00;
         txMsg.DataLength = 1;
         break;
+    }
     BIOS_CanSend(&txMsg);
+}
-/**
- * print_screen, 2x16 characters
- *
- * Normal screen (for rotating):
- * ##################
- * #Azimuth     183*#
- * #Elevation    45*#
- * ##################
- *
- * Calibration screen:
- * ##################
- * #Cal Azimuth  20*#
- * #Cal Elevat.  12*#
- * ##################
- */
 void print_screen(uint8_t type, uint16_t data){
     char buffer[ BUFFER_SIZE ];
-    if( SCREEN_NORMAL == type){
+    if( SCREEN_NORMAL == type){ // rotation
+        lcd_clrscr();
+        lcd_puts("Azimuth     ---*\n");
-        // Normal screen for rotating
+        lcd_puts("Elevation   ---*\n");
+    }else if( SCREEN_CAL == type){ // calibration
-        lcd_clrscr();
+    lcd_clrscr();
-        lcd_puts("Azimuth     ???*\n");
+        lcd_puts("Cal Azimuth ---*\n");
-        lcd_puts("Elevation   ???*\n");
+        lcd_puts("Cal Elevat. ---*\n");
+    }else if( AZIMUTH == type ){ // azimuth position
+        lcd_gotoxy(12,0);
+        lcd_puts("   *");
+        lcd_gotoxy(12,0);
-    }else if( SCREEN_CAL == type){
+    /*  if( data&0x8000 ){ //Negative position, -360 - 0
-        // Screen for calibration
+            //
-        lcd_clrscr();
+            lcd_gotoxy(0,1);
-        lcd_puts("Cal Azimuth ???*\n");
+            lcd_puts("     ");
-        lcd_puts("Cal Elevat. ???*\n");
+            lcd_gotoxy(0,1);
-    }else if( AZIMUTH == type ){
+            snprintf(buffer, BUFFER_SIZE, "%i", data);
-        // Prints azimuth position or calibration data
+            lcd_puts(buffer);
+            //
-        lcd_gotoxy(12,0);
+            lcd_gotoxy(12,0);
-        lcd_puts("   *");
+            lcd_puts("-");
+            data = -data;
+            snprintf(buffer, BUFFER_SIZE-1, "%i", data);
-        lcd_gotoxy(12,0);
+            lcd_puts(buffer);
+        }else{*/ //Positive position, 0 - 360
-        snprintf(buffer, BUFFER_SIZE, "%i", data);
+            snprintf(buffer, BUFFER_SIZE, "%i", data);
-        lcd_puts(buffer);
+                lcd_puts(buffer);
+        //}
-    }else if( ELEVATION == type ){
+    }else if( ELEVATION == type ){ // elevation position
-        // Prints elevation position or calibration data
         lcd_gotoxy(12,1);
         lcd_puts("   *");
         lcd_gotoxy(12,1);
+        if( data&0x80 ){ //Negative position, -360 - 0
+            lcd_puts("-");
+            data = -data;
+            snprintf(buffer, BUFFER_SIZE-1, "%i", data);
+                lcd_puts(buffer);
+        }else{ //Positive position, 0 - 360
-        snprintf(buffer, BUFFER_SIZE, "%i", data);
+            snprintf(buffer, BUFFER_SIZE, "%i", data);
-        lcd_puts(buffer);
+                lcd_puts(buffer);
+        }
+    }
+}
+void IO_init( void )
+{
-/**
+    /*
- * Enable buttons and display light
+     * Enable buttons and display light
- *
- * PB0: Azimuth plus
- * PB7: Azimuth minus
- * PC0: Elevation plus
- * PC1: Elevation minus
- * PD2: Calibration
- */
+     */
-void IO_init( void )
-{
     // Set as inputs
-    DDRD |= ( 1<<DDD2 ); // Calibration
+    DDRD &= ~( 1<<DDD2 ); // Calibration
-    DDRB |= ( 1<<DDB0 )|( 1<<DDB7 ); // Azimuth
+    DDRB &= ~(( 1<<DDB0 )|( 1<<DDB7 )); // Azimuth
-    DDRC |= ( 1<<DDC0 )|( 1<<DDC1 ); // Elevation
+    DDRC &= ~(( 1<<DDC0 )|( 1<<DDC1 )); // Elevation
     // Enable pull up
     PORTD |= ( 1<<PD2 );
     PORTB |= ( 1<<PB0 )|( 1<<PB7 );
     PORTC |= ( 1<<PC0 )|( 1<<PC1 );
     TCCR1A |= (1<<COM1A1)|(1<<WGM11);
     TCCR1B |= (1<<WGM13)|(1<<WGM12)|(1<<CS10);
     ICR1 = 0xFF; // Make it 8 bits
     OCR1A = 0xC0;
     DDRB |= (1<<DDB1);
-    // Startup LCD
-    lcd_init( LCD_DISP_ON );
-    // Prints first characters to display
-    print_screen( SCREEN_NORMAL, 0 );
+}
 void calibrate( void ){
     int16_t calib_value_az = 0, calib_value_elv = 0;
-    // Flags
+    // flags
     uint8_t received_cal = 0, calibration_mode = 0;
-    // Show calibration display
     print_screen( SCREEN_CAL, 0 );
-    // Aquire old calibration data from node
     send_message( GET_CAL, 0 );
     while ( 1 ) {
-        /* check if any messages have been received */
+            /* check if any messages have been received */
         if( rxMsgFull ){
-            if( 0x111000f2 == rxMsg.Id && 2 == rxMsg.DataLength ){ // MSG_CAL_RET
+            if( rxMsg.Id == 0x111000f2 && rxMsg.DataLength == 2 ){ // MSG_CAL_RET
                 calib_value_az = rxMsg.Data.words[0];
                 received_cal = 1;
-                // Print old calibration data
                 print_screen( AZIMUTH, calib_value_az );
-            } //FIXME elevation
+            }
             rxMsgFull = 0;
+        }
-        /* When we got the old calibration data and we want to adjust it */
         if ( Timer_Expired(1) && received_cal ) {
-            if ( !calibration ){// wait for released calibration button
+            if ( !calibration ){// wait for released button
                 calibration_mode = 1;
                 if(azimuth_plus){
-                    // Increase value
                     calib_value_az++;
                     print_screen( AZIMUTH, calib_value_az );
                 }else if(azimuth_minus){
-                    // Decrease value
                     calib_value_az--;
                     print_screen( AZIMUTH, calib_value_az );
                 }
-                // FIXME elevation
                 if(elevation_plus){
-                    // Increase value
                     calib_value_elv++;
                 }else if(elevation_minus){
-                    // Decrease value
                     calib_value_elv--;
+                }
             }else if( calibration && calibration_mode ){
-                // Send new calibration value to antenna node
+                // Send calibration value to antenna node
                 send_message( SET_CAL, calib_value_az );
-                //FIXME elevation
-                // Return to normal screen
+                // return to normal state
                 print_screen( SCREEN_NORMAL, 0 );
                 return;
+            }
+        }

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/application/AntennaDisplay/main.c – Rev 731 → 745