/**
* AntennaDisplay
* For controlling of the cAntenna bus using one
* HD44780 LCD display and buttons.
*
* @date 2007-12-10
* @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 <config.h> // All configuration parameters
#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 STOP 0
#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
volatile Can_Message_t rxMsg;
uint8_t rxMsgFull=0;
// Buttons
uint8_t azimuth_plus = 0, azimuth_minus = 0;
uint8_t elevation_plus = 0, elevation_minus = 0;
uint8_t calibration = 0;
/*-----------------------------------------------------------------------------
* Declarations
*---------------------------------------------------------------------------*/
/**
* IO_init
* Enable button inputs
* 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
* Periodicly read buttons
*
* @param trigging timer
* @return void
*/
void read_buttons(uint8_t timer) {
// Read buttons
calibration = (PIND & (1<<PD2))?0:1;
azimuth_plus = (PINB & (1<<PB0))?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;
// Timer for reading buttons and doing actions
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_message( AZIMUTH_STOP, 0);
send_message( ELEVATION_STOP, 0);
// Start calibration
calibrate();
}else{
if( azimuth_plus ){
// Send rotate aximuth plus
send_message( AZIMUTH_PLUS, 0 );
}else if( azimuth_minus ){
// Send rotate azimuth minus
send_message( AZIMUTH_MINUS, 0 );
}else{
// Send azimuth stop
send_message( AZIMUTH_STOP, 0 );
}
if( elevation_plus ){
// Send elevate plus
send_message( ELEVATION_PLUS, 0 );
}else if( elevation_minus ){
// Send elevate minus
send_message( ELEVATION_MINUS, 0 );
}else{
// Send elevation stop
send_message( ELEVATION_STOP, 0 );
}
autostop = 1; // Stop all rotors when no button is pressed
}
}else if ( autostop ){
// 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.DataLength = 0;
break;
case SET_CAL:
// Set calibration data in nodes
//FIXME add elevation
txMsg.Id = 0x11100001UL;
txMsg.DataLength = 2;
txMsg.Data.words[0] = data;
break;
default:
// Stop all 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){
// Normal screen for rotating
lcd_clrscr();
lcd_puts("Azimuth ???*\n");
lcd_puts("Elevation ???*\n");
}else if( SCREEN_CAL == type){
// Screen for calibration
lcd_clrscr();
lcd_puts("Cal Azimuth ???*\n");
lcd_puts("Cal Elevat. ???*\n");
}else if( AZIMUTH == type ){
// Prints azimuth position or calibration data
lcd_gotoxy(12,0);
lcd_puts(" *");
lcd_gotoxy(12,0);
snprintf(buffer
, BUFFER_SIZE
, "%i", data
); lcd_puts(buffer);
}else if( ELEVATION == type ){
// Prints elevation position or calibration data
lcd_gotoxy(12,1);
lcd_puts(" *");
lcd_gotoxy(12,1);
snprintf(buffer
, BUFFER_SIZE
, "%i", data
); lcd_puts(buffer);
}
}
/**
* 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
DDRB |= ( 1<<DDB0 )|( 1<<DDB7 ); // Azimuth
DDRC |= ( 1<<DDC0 )|( 1<<DDC1 ); // Elevation
// Enable pull up
PORTD |= ( 1<<PD2 );
PORTB |= ( 1<<PB0 )|( 1<<PB7 );
PORTC |= ( 1<<PC0 )|( 1<<PC1 );
// Contrast
TCCR0A |= (1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
TCCR0B |= (1<<CS00);
OCR0B = 0x02;
DDRD |= (1<<DDD5);
// Backlight
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
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 */
if( rxMsgFull ){
if( 0x111000f2 == rxMsg.Id && 2 == rxMsg.DataLength ){ // 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
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_message( SET_CAL, calib_value_az );
//FIXME elevation
// Return to normal screen
print_screen( SCREEN_NORMAL, 0 );
return;
}
}
}
}