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

 #define FAILSAFE_SEND_PERIOD    10000 /* ms */
 #define BOUNCE_TIME             10 /* ms */
 #define SERVO_FEED_TIME         2000 /* ms */
 #define BUTTON1                 1
 #define BUTTON2                 2
+#define SERVO_FEED_PORT         PORTC
+#define SERVO_FEED_DDR          DDRC
+#define SERVO_FEED_PIN          PC0
 #define TRUE 1
 #define FALSE !TRUE
 /*-------------------------------------------------------------------------
  * Global variables
  * -----------------------------------------------------------------------*/
 /*#if defined(TWO_BUTTON_MODE)
 Can_Message_t txMsg_Button;
 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 defined(TWO_BUTTON_MODE)
     /*
      * 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<<PD1)) == 0){
         /* Button pressed */
         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;
             return;
         }else{
             /* Just bounces, ignore it */
             return;
         }
     }
     if( (PIND & (1<<PD2)) == 0){
         /* Button pressed */
         buttonTime[1] = Timebase_CurrentTime();
     }else if( (PIND & (1<<PD2)) == 1){
         if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){
         }else{
             /* Just bounces, ignore it */
             return;
+        }
+    }
 }
 #endif
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
     DDRD &= ~( (1<<DDD1)|(1<<DDD2) );
     PORTD |= (1<<PD1)|(1<<PD2);
     /* Enable IO-pin interrupt */
     PCICR |= (1<<PCIE2);
-    /* Unmask PD1 and PD2 */
+    /* Unmask PD1 and SERVO_FEED_PIN */
     PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);
 #endif
     /* Set output and turn off the servo current feed */
-    DDRC |= (1<<DDC0);
+    SERVO_FEED_DDR |= (1<<SERVO_FEED_PIN);
-    PORTC &= ~(1<<PC0);
+    SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
-//  sei();
     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);
     /* main loop */
     while (1) {
         /* check if any messages have been received */
         if(msg_received){
             /* This node that control a servo is adressed */
             if( rxMsg.Data.bytes[0] == BLINDS_CMD_ABS ){
                 /* Set absolute position to servo */
                 setPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
-                timeStampTurn = bios->timebase_get();
+                servoFeed_timeStamp = bios->timebase_get();
             }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_REL){
                 /* Set relative position to servo */
                 alterPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );
-                timeStampTurn = bios->timebase_get();
+                servoFeed_timeStamp = bios->timebase_get();
             }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_START ){
                 /* Start turning the servo */
                 turnDirection = rxMsg.Data.bytes[1];
                 servoToTurn = rxMsg.Data.bytes[2];
-                timeStampTurn = bios->timebase_get();
+                servoFeed_timeStamp = bios->timebase_get();
             }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
                 /* Stop turning */
                 turnDirection = BLINDS_TURN_STOP;
+                }
+            }
+        }
         /* Turn off the servo current feed */
         if( bios->timebase_get() - servoFeed_timeStamp >= SERVO_FEED_TIME ){
-            PORTC &= ~(1<<PC0);
+            SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
         }else{
-            PORTC |= (1<<PC0);
+            SERVO_FEED_PORT |= (1<<SERVO_FEED_PIN);
+        }
+    }
     return 0;
+}
+{
     uint8_t relayStatus;
     uint32_t boardTemperature = 0, timeStamp = 0;
     /* Turn of servo current feed */
-    PORTC &= ~(1<<PC0);
+    SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
     while(1){
         /* check if any messages have been received */
         while(msg_received) {

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/application/Servo/main.c @ 1663 – Rev 322 → 323