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

+ *
  * @date    2007-01-01
  * @author  Erik Larsson
+ *
  */
-//#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 <inttypes.h>
 #include <stdio.h>
 /* lib files */
 #include <bios.h>
 #include <config.h>
+#include <settings.h>
 #include <drivers/timer/timebase.h>
-//#include <funcdefs.h>
+#include <drivers/sensor/tc1047/tc1047.h>
+#include <drivers/actuator/rc-servo/rc_servo.h>
+/*-----------------------------------------------------------------------------
-/* defines */
+ * Defines
-#define SERVOID_1 0x1
-#define SERVOID_2 0x2
-#define SERVOID_3 0x3
-//#define GROUP_ID  0x01L // FIXME
+ *---------------------------------------------------------------------------*/
 #define FAILSAFE_MODE       0x0F
-#define FAILSAFE_TRESHOLD   50  // Degrees celcius when nodeBlinds goes into failsafe mode
 #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_CMD_STATUS   0x06
-#define BLINDS_TURN_STOP    0x00
+#define BLINDS_TURN_STOP    0x00
-#define BLINDS_TURN_LEFT    0x01
+#define BLINDS_TURN_CCW     0x01
-#define BLINDS_TURN_RIGHT   0x02
+#define BLINDS_TURN_CW      0x02
 #define STEPS_PER_TURN_PERIOD   10 // number of steps for each adjustment
 #define TURN_PERIOD             100 // ms
 #define STATUS_SEND_PERIOD      5000 // ms
 #define FAILSAFE_SEND_PERIOD    10000 // ms
 #define BOUNCE_TIME             10 // ms
-#define SERVO_FEED_TIME         5000 // ms
 #define BUTTON1                 1
 #define BUTTON2                 2
 #define SERVO_FEED_PORT         PORTD
 #define SERVO_FEED_DDR          DDRD
 volatile Can_Message_t rxMsg;
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
-void blindsFailsafe();
+void blindsFailsafe(void);
 void can_receive(Can_Message_t *msg){
 // CAN callback function
     if(!rxMsgFull){
         memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
-    uint32_t act;
-    int8_t m;
+    uint8_t temp_id;
-    uint8_t acttype, temp_id;
+    uint16_t acttype, servoid;
-    uint16_t servoid;
     uint8_t //blindsStatus, /* Position (-128 to 127) */
             servoToTurn,
             turnDirection = BLINDS_TURN_STOP; /* Specifies direction to turn or stopped */
     uint32_t boardTemperature = 0;
                         temp_id = 1; // First servo
                     }else if(servoid == SERVOID_2){
                         temp_id = 2; // and so on
                     }else if(servoid == SERVOID_3){
                         temp_id = 3;
+                    }else{
+                        temp_id = 0;
+                    }
                     if(rxMsg.DataLength == 1 || (rxMsg.DataLength == 2 && rxMsg.Data.bytes[1] == BLINDS_CMD_ABS)){
                         // Set absolute position to servo
                         setPosition( rxMsg.Data.bytes[0], temp_id );
                         servoFeed_timeStamp = Timebase_CurrentTime();
                     }else if(rxMsg.DataLength == 2){
                         if(rxMsg.Data.bytes[1] == BLINDS_CMD_REL){
                             // Set relative position to servo
                             alterPosition( rxMsg.Data.bytes[0], temp_id );
                             servoFeed_timeStamp = Timebase_CurrentTime();
                         }else if(rxMsg.Data.bytes[1] == BLINDS_CMD_START ){
                             // Start turning the servo
-                            turnDirection = rxMsg.Data.bytes[0]; // FIXME riktning beroende på positivt eller negativt tal?
+                            turnDirection = (rxMsg.Data.bytes[0]&0x80)?BLINDS_TURN_CW:BLINDS_TURN_CCW; // FIXME riktning beroende på positivt eller negativt tal?
                             servoToTurn = temp_id;
                             servoFeed_timeStamp = Timebase_CurrentTime();
                         }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){
                             // Stop turning
                             txMsg.DataLength = 6;
                             BIOS_CanSend(&txMsg);
                         }*/
+                    }
+                }
             }
             rxMsgFull = 0;
+        }
         if( (Timebase_CurrentTime() - timeStamp)  >= STATUS_SEND_PERIOD ){
             timeStamp = Timebase_CurrentTime();
             // Send blinds status to CAN periodically
             boardTemperature = getTC1047temperature();
             if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
                 blindsFailsafe();
                 txMsg.Data.bytes[4] = getPosition(2);
                 txMsg.Data.bytes[5] = getPosition(3);
                 txMsg.DataLength = 6;
                 BIOS_CanSend(&txMsg);
             }
         }
         // If start turning servo
-/*      if( turnDirection ){
+        if( turnDirection ){
             if( Timebase_CurrentTime() - timeStampTurn >= TURN_PERIOD ){
                 timeStampTurn = Timebase_CurrentTime();
                 // Clockwise or counterclockwise?
-                if( turnDirection == BLINDS_TURN_LEFT ){
+                if( turnDirection == BLINDS_TURN_CCW ){
                     alterPosition( -STEPS_PER_TURN_PERIOD , servoToTurn);
-                }else if( turnDirection == BLINDS_TURN_RIGHT ){
+                }else if( turnDirection == BLINDS_TURN_CW ){
                     alterPosition( STEPS_PER_TURN_PERIOD , servoToTurn);
+                }
+                servoFeed_timeStamp = Timebase_CurrentTime();
+            }
+        }
-        }
-        // Turn off the servo current feed
+        // Turn off the servo current feed after timeout
         if( Timebase_CurrentTime() - servoFeed_timeStamp >= SERVO_FEED_TIME ){
             SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);
             servoDisable();
         }else{
             SERVO_FEED_PORT |= (1<<SERVO_FEED_PIN);
             servoEnable();
-        }*/
+        }
+    }
     return 0;
+}
 void blindsFailsafe()

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/application/Servo/main.c @ 1663 – Rev 496 → 501