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

  * Takes incomming packages and adjusts PWM output.
  * Input: -128 to +127
  * Position msg: <byte0 BLINDS_CMD> <byte1 position> <byte2 servo number>
  * Turning msg: <byte0 START/STOP> <byte 1 direction> <byte2 servo number>
+ *
- * @date    2001-01-01
+ * @date    2007-01-01
  * @author  Erik Larsson
+ *
- * TODO fixa en ordentlig failsafe som kan bryta matningen till servona
  */
-#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
+//#define TWO_BUTTON_MODE /* If using two (or just one but nothing more) auxiliary buttons */
 /*-----------------------------------------------------------------------------
  * Includes
  *---------------------------------------------------------------------------*/
 /* system files */
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <stdio.h>
 /* lib files */
-#include <can.h>
+#include <bios.h>
-#include <timebase.h>
 #include <tc1047.h>
 #include <rc_servo.h>
+#include <eqlazer_funcdefs.h>
 /* defines */
+#define NUMBER_OF_RCS 1
+#define NODE_ID     0x03L // FIXME ändras för varje nod
+#define GROUP_ID    0x01L // ^
 #define FAILSAFE_MODE       0x0F
 #define FAILSAFE_TRESHOLD   60  /* Degrees celcius when nodeBlinds goes into failsafe mode */
-#define BLINDS_CMD_GET      0x1300
-#define BLINDS_CMD_SEND     0x1301
 #define BLINDS_CMD_ABS      0x01 /* Absolute position */
 #define BLINDS_CMD_REL      0x02 /* Relative position */
 #define BLINDS_CMD_START    0x03 /* Start turning RC-servo */
 #define BLINDS_CMD_STOP     0x04 /* Stop turning RC-servo */
 #define BLINDS_CMD_RESET    0x05
 #define BLINDS_TURN_STOP    0x00
 #define BLINDS_TURN_LEFT    0x01
 #define BLINDS_TURN_RIGHT   0x02
-#define STEPS_PER_TURN_PERIOD 10 /* number of steps for each adjustment */
+#define STEPS_PER_TURN_PERIOD   10 /* number of steps for each adjustment */
-#define TURN_PERIOD         100 /* milliseconds */
+#define TURN_PERIOD             100 /* ms */
-#define STATUS_SEND_PERIOD  10000 /* milliseconds */
+#define STATUS_SEND_PERIOD      10000 /* ms */
-#define FAILSAFE_SEND_PERIOD    10000 /* milliseconds */
+#define FAILSAFE_SEND_PERIOD    10000 /* ms */
-#define BOUNCE_TIME         10 /* milliseconds */
+#define BOUNCE_TIME             10 /* ms */
-#define BUTTON_ID           0x1202
+#define SERVO_FEED_TIME         2000 /* ms */
-#define BUTTON1             1
+#define BUTTON1                 1
-#define BUTTON2             2
+#define BUTTON2                 2
+#define TRUE 1
+#define FALSE !TRUE
 /*-------------------------------------------------------------------------
  * Global variables
  * -----------------------------------------------------------------------*/
-#if TWO_BUTTON_MODE
+/*#if defined(TWO_BUTTON_MODE)
 Can_Message_t txMsg_Button;
-#endif
+#endif*/
+uint8_t msg_received = FALSE;
+Can_Message_t txMsg;
+Can_Message_t rxMsg;
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
 void blindsFailsafe();
+/* Takes care about incoming messages and parses them if this node is adressed */
+void can_receive(Can_Message_t *msg){
+    uint32_t act;
+    uint8_t m, act_type, group, node;
+    if( ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) == CLASS_ACT ){
+        /* Parse message */
+        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
+        act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
+        group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;
+        node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;
+        /* Check if it is command to control this servo */
+        if(act_type == ACT_TYPE_SERVO){
+            if(group == GROUP_ID || node == NODE_ID){
+                for(m=0;m<msg->DataLength;m++){
+                    rxMsg.Data.bytes[m] = msg->Data.bytes[m];
+                }
+                msg_received = TRUE;
+            }
+        }
+    }
+}
 /*----------------------------------------------------------------------------
  * Interrupt routines
  * -------------------------------------------------------------------------*/
-#if TWO_BUTTON_MODE
+#if defined(TWO_BUTTON_MODE)
+#error two button mode is still untested
 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){
+    if( (PIND & (1<<PD1)) == 0){
         /* Button pressed */
         buttonTime[0] = Timebase_CurrentTime();
-    }else if( (PIND & (1<<PD6)) == 1){
+    }else if( (PIND & (1<<PD1)) == 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;
         }else{
             /* Just bounces, ignore it */
             return;
+        }
+    }
-    if( (PIND & (1<<PD7)) == 0){
+    if( (PIND & (1<<PD2)) == 0){
         /* Button pressed */
         buttonTime[1] = Timebase_CurrentTime();
-    }else if( (PIND & (1<<PD7)) == 1){
+    }else if( (PIND & (1<<PD2)) == 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;
             return;
         }else{
             /* Just bounces, ignore it */
             return;
         }
     }
 }
 #endif
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
-    uint8_t blindsStatus, /* Position (-128 to 127) */
+    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;
+    uint32_t timeStamp = 0, timeStampTurn = 0, servoFeed_timeStamp = 0;
     adcTemperatureInit();
-    Timebase_Init();
     rcServoInit();
-#if TWO_BUTTON_MODE
+#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<<DDD6)|(1<<DDD7) );
+    DDRD &= ~( (1<<DDD1)|(1<<DDD2) );
-    PORTD |= (1<<PD6)|(1<<PD7);
+    PORTD |= (1<<PD1)|(1<<PD2);
     /* Enable IO-pin interrupt */
-    PCICR |= (1<<PCIE1);
+    PCICR |= (1<<PCIE2);
-    /* Unmask PD6 and PD7 */
+    /* Unmask PD1 and PD2 */
-    PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);
+    PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);
 #endif
+    /* Set output and turn off the servo current feed */
+    DDRC |= (1<<DDC0);
+    PORTC &= ~(1<<PC0);
     sei();
-    Can_Init();
-    Can_Message_t txMsg;
-    Can_Message_t rxMsg;
-    txMsg.Id = BLINDS_CMD_SEND;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
+    txMsg.Id = (CLASS_SNS << CLASS_MASK_BITS)|(SNS_ACT_STATUS_SERVO << TYPE_MASK_BITS)|(NODE_ID << SID_MASK_BITS);
+    /* Set up callback for CAN messages */
-    txMsg.DataLength = 3;
+    bios->can_callback = &can_receive;
     /* main loop */
     while (1) {
-        /* service the CAN routines */
-        Can_Service();
         /* check if any messages have been received */
-        while (Can_Receive(&rxMsg) == CAN_OK) {
+        if(msg_received){
             /* This node that control a servo is adressed */
-            if( rxMsg.Id == BLINDS_CMD_GET ){
-                if( rxMsg.Data.bytes[0] == BLINDS_CMD_ABS ){
+            if( rxMsg.Data.bytes[0] == BLINDS_CMD_ABS ){
-                    /* Set absolute position to servo */
+                /* Set absolute position to servo */
-                    setPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
+                setPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
+                timeStampTurn = bios->timebase_get();
-                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_REL){
+            }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_REL){
-                    /* Set relative position to servo */
+                /* Set relative position to servo */
-                    alterPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
+                alterPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
+                timeStampTurn = bios->timebase_get();
-                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_START ){
+            }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_START ){
-                    /* Start turning the servo */
+                /* Start turning the servo */
-                    turnDirection = rxMsg.Data.bytes[1];
+                turnDirection = rxMsg.Data.bytes[1];
-                    servoToTurn = rxMsg.Data.bytes[2];
+                servoToTurn = rxMsg.Data.bytes[2];
+                timeStampTurn = bios->timebase_get();
-                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
+            }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
-                    /* Stop turning */
+                /* Stop turning */
-                    turnDirection = BLINDS_TURN_STOP;
+                turnDirection = BLINDS_TURN_STOP;
 #endif
 #if NUMBER_OF_RCS >2
-                        txMsg.Data.bytes[5] = getPosition(3);
+                    txMsg.Data.bytes[5] = getPosition(3);
 #endif
-                        txMsg.DataLength = NUMBER_OF_RCS+3;
+                    txMsg.DataLength = NUMBER_OF_RCS+3;
-                        Can_Send( &txMsg );
+                    bios->can_send(&txMsg);
+                    }
+                }
+                msg_received = FALSE;
+        }
-        }
-        if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){
+        if( bios->timebase_get() - timeStamp  >= STATUS_SEND_PERIOD ){
-            timeStamp = Timebase_CurrentTime();
+            timeStamp = bios->timebase_get();
             /* 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;
 #if NUMBER_OF_RCS >0
                 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 );
+                bios->can_send(&txMsg);
+            }
+        }
         /* If start turning servo */
         if( turnDirection ){
-            if( Timebase_PassedTimeMillis( timeStampTurn ) >= TURN_PERIOD ){
+            if( bios->timebase_get() - timeStampTurn >= TURN_PERIOD ){
-                timeStampTurn = Timebase_CurrentTime();
+                timeStampTurn = bios->timebase_get();
                 /* Clockwise or counterclockwise? */
                 if( turnDirection == BLINDS_TURN_LEFT ){
                     alterPosition( -STEPS_PER_TURN_PERIOD , servoToTurn);
                 }else if( turnDirection == BLINDS_TURN_RIGHT ){
                     alterPosition( STEPS_PER_TURN_PERIOD , servoToTurn);
+                }
+            }
+        }
+        /* Turn off the servo current feed */
+        if( bios->timebase_get() - servoFeed_timeStamp >= SERVO_FEED_TIME ){
+            PORTC &= ~(1<<PC0);
+        }else{
+            PORTC |= (1<<PC0);
+        }
     }
     return 0;
 }
-void blindsFailsafe() // TODO fixa failsafe, vad ska hända med PWM?
+void blindsFailsafe()
+{
     uint8_t relayStatus;
     uint32_t boardTemperature = 0, timeStamp = 0;
-    Can_Message_t txMsg;
+    /* Turn of servo current feed */
-    Can_Message_t rxMsg;
+    PORTC &= ~(1<<PC0);
-    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) {
+        while(msg_received) {
             /* This relay is adressed*/
-            if( rxMsg.Id == BLINDS_CMD_GET ){
-                if( rxMsg.Data.bytes[0] == BLINDS_CMD_RESET ){
+            if(rxMsg.Data.bytes[0] == BLINDS_CMD_RESET ){
-                    /* Return from failsafe mode */
+                /* Return from failsafe mode */
-                    return;
+                return;
-                }
+            }
+        }
-        if( Timebase_PassedTimeMillis(timeStamp) >= FAILSAFE_SEND_PERIOD ){
+        if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){
-            timeStamp = Timebase_CurrentTime();
+            timeStamp = bios->timebase_get();
             /* Send relay status to CAN */
             boardTemperature = getTC1047temperature();
             txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
             txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
 #if NUMBER_OF_RCS >2
             txMsg.Data.bytes[5] = getPosition(3);
 #endif
             txMsg.DataLength = NUMBER_OF_RCS+3;
-            Can_Send( &txMsg );
+            bios->can_send(&txMsg);
+        }
+    }
+}

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(root)/trunk/EmbeddedSoftware/AVR/application/Servo/main.c @ 1663 – Rev 249 → 317