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

  * Input: -128 to +127
- * Position msg: <byte0 BLINDS_CMD> <byte1 position>
+ * Position msg: <byte0 BLINDS_CMD> <byte1 position> <byte2 servo number>
- * Turning msg: <byte0 START/STOP> <byte 1 direction>
+ * Turning msg: <byte0 START/STOP> <byte 1 direction> <byte2 servo number>
+ *
  * @date    2001-01-01
  * @author  Erik Larsson
+ *
+ * TODO fixa en ordentlig failsafe som kan bryta matningen till servona
  */
-#define DEBUG           0 /* Prints debug messages to uart */
 #define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
 /*-----------------------------------------------------------------------------
  * Includes
  *---------------------------------------------------------------------------*/
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <stdio.h>
 /* lib files */
 #include <can.h>
-#if DEBUG
-#include <serial.h>
-#endif
 #include <timebase.h>
 #include <tc1047.h>
 #include <rc_servo.h>
 /*----------------------------------------------------------------------------
  * Interrupt routines
  * -------------------------------------------------------------------------*/
 #if TWO_BUTTON_MODE
 ISR( PCINT2_vect )
 {
     /*
      * Auxiliary button pressed and released
      * Check time between press and release to eliminate bounces
      */
     static uint32_t buttonTime[2];
     txMsg_Button.RemoteFlag = 0;
     txMsg_Button.ExtendedFlag = 1;
     if( (PIND & (1<<PD6)) == 0){
         /* Button pressed */
         buttonTime[0] = Timebase_CurrentTime();
-#if DEBUG
-        printf("Button 1 pressed\n");
-#endif
     }else if( (PIND & (1<<PD6)) == 1){
         if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){
             /* No bounce, send message */
             txMsg_Button.Id = BUTTON_ID;
             txMsg_Button.DataLength = 1;
             txMsg_Button.Data.bytes[0] = BUTTON1;
-#if DEBUG
-            printf("Button 1 pressed: message sent\n");
-#endif
             return;
         }else{
             /* Just bounces, ignore it */
-#if DEBUG
-            printf("Button 1 just bounced\n");
-#endif
             return;
         }
+    }
     if( (PIND & (1<<PD7)) == 0){
         /* Button pressed */
         buttonTime[1] = Timebase_CurrentTime();
-#if DEBUG
-        printf("Button 2 pressed\n");
-#endif
     }else if( (PIND & (1<<PD7)) == 1){
         if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){
             /* No bounce, send message */
             txMsg_Button.Id = BUTTON_ID;
             txMsg_Button.DataLength = 1;
             txMsg_Button.Data.bytes[0] = BUTTON2;
-#if DEBUG
-            printf("Button 2 pressed: message sent\n");
-#endif
             return;
         }else{
             /* Just bounces, ignore it */
-#if DEBUG
-            printf("Button 2 just bounced\n");
-#endif
             return;
+        }
+    }
+}
 #endif
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
     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;
     adcTemperatureInit();
     Timebase_Init();
     rcServoInit();
-#if DEBUG
-    Serial_Init();
-#endif
 #if TWO_BUTTON_MODE
     /*
      * Initialize buttons
      * It is possible to use ie. sensors instead
     PCICR |= (1<<PCIE1);
     /* Unmask PD6 and PD7 */
     PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);
 #endif
     sei();
-#if DEBUG
-    printf("\n------------------------------------------------------------\n");
-    printf(  "   CAN: Blinds\n");
-    printf(  "------------------------------------------------------------\n");
-    printf("CanInit...");
-    if (Can_Init() != CAN_OK) {
-        printf("FAILED!\n");
-    }else{
-        printf("OK!\n");
-    }
-#else
     Can_Init();
-#endif
     Can_Message_t txMsg;
     Can_Message_t rxMsg;
     txMsg.Id = BLINDS_CMD_SEND;
     txMsg.RemoteFlag = 0;
             /* This node that control a servo is adressed */
             if( rxMsg.Id == BLINDS_CMD_GET ){
                 if( rxMsg.Data.bytes[0] == BLINDS_CMD_ABS ){
                     /* Set absolute position to servo */
-                    setPosition( rxMsg.Data.bytes[1] );
+                    setPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
                 }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_REL){
                     /* Set relative position to servo */
-                    alterPosition( rxMsg.Data.bytes[1] );
+                    alterPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
                 }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_START ){
                     /* Start turning the servo */
                     turnDirection = rxMsg.Data.bytes[1];
+                    servoToTurn = rxMsg.Data.bytes[2];
                 }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
                     /* Stop turning */
                     turnDirection = BLINDS_TURN_STOP;
                     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;
+#if NUMBER_OF_RCS >0
-                        txMsg.Data.bytes[2] = getPosition();
+                        txMsg.Data.bytes[3] = getPosition(1);
+#endif
+#if NUMBER_OF_RCS >1
+                        txMsg.Data.bytes[4] = getPosition(2);
+#endif
+#if NUMBER_OF_RCS >2
+                        txMsg.Data.bytes[5] = getPosition(3);
+#endif
+                        txMsg.DataLength = NUMBER_OF_RCS+3;
                         Can_Send( &txMsg );
+                    }
+                }
             }
         }
         if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){
             timeStamp = Timebase_CurrentTime();
             /* 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] = getPosition();
+                txMsg.Data.bytes[2] = 0x00;
-                Can_Send( &txMsg );
-#if DEBUG
+#if NUMBER_OF_RCS >0
-                printf("Periodic message sent...\n");
+                txMsg.Data.bytes[3] = getPosition(1);
-                printf("Temperature: %d\nBlinds status: %u\n", boardTemperature, getPosition());
 #endif
+#if NUMBER_OF_RCS >1
+                txMsg.Data.bytes[4] = getPosition(2);
+#endif
+#if NUMBER_OF_RCS >2
+                txMsg.Data.bytes[5] = getPosition(3);
+#endif
+                txMsg.DataLength = NUMBER_OF_RCS+3;
+                Can_Send( &txMsg );
             }
         }
         /* If start turning servo */
         if( turnDirection ){
             if( Timebase_PassedTimeMillis( timeStampTurn ) >= TURN_PERIOD ){
                 timeStampTurn = Timebase_CurrentTime();
                 /* Clockwise or counterclockwise? */
                 if( turnDirection == BLINDS_TURN_LEFT ){
-                    alterPosition( -STEPS_PER_TURN_PERIOD );
+                    alterPosition( -STEPS_PER_TURN_PERIOD , servoToTurn);
                 }else if( turnDirection == BLINDS_TURN_RIGHT ){
-                    alterPosition( STEPS_PER_TURN_PERIOD );
+                    alterPosition( STEPS_PER_TURN_PERIOD , servoToTurn);
                 }
+            }
+        }
+    }
     return 0;
+}
 void blindsFailsafe() // TODO fixa failsafe, vad ska hända med PWM?
+{
     uint8_t relayStatus;
     uint32_t boardTemperature = 0, timeStamp = 0;
     Can_Message_t txMsg;
     Can_Message_t rxMsg;
     txMsg.Id = BLINDS_CMD_SEND;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
     txMsg.DataLength = 4;
     while(1){
         /* service the CAN routines */
         Can_Service();
         /* check if any messages have been received */
         while (Can_Receive(&rxMsg) == CAN_OK) {
             /* This relay is adressed*/
             if( rxMsg.Id == BLINDS_CMD_GET ){
                 if( rxMsg.Data.bytes[0] == BLINDS_CMD_RESET ){
                     /* Return from failsafe mode */
                     return;
+                }
+            }
         }
         if( Timebase_PassedTimeMillis(timeStamp) >= FAILSAFE_SEND_PERIOD ){
             timeStamp = Timebase_CurrentTime();
             /* Send relay status to CAN */
-#if DEBUG
-            printf("Failsafe mode!\n");
-#endif
             boardTemperature = getTC1047temperature();
             txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
             txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
+            txMsg.Data.bytes[2] = FAILSAFE_MODE;
+#if NUMBER_OF_RCS >0
-            txMsg.Data.bytes[2] = getPosition();
+            txMsg.Data.bytes[3] = getPosition(1);
+#endif
+#if NUMBER_OF_RCS >1
+            txMsg.Data.bytes[4] = getPosition(2);
+#endif
+#if NUMBER_OF_RCS >2
-            txMsg.Data.bytes[3] = FAILSAFE_MODE;
+            txMsg.Data.bytes[5] = getPosition(3);
+#endif
+            txMsg.DataLength = NUMBER_OF_RCS+3;
             Can_Send( &txMsg );
+        }
+    }
+}

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(root)/trunk/EmbeddedSoftware/AVR/application/Servo/main.c @ 1663 – Rev 246 → 249