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


/**
 * CanSimpleCLCD. Simple version.
 * For HD44780- and KS0073-based LCD displays
 *
 * Contains no intelligence. It just prints what it is told to.
 *
 * @date    2006-12-11
 * @author  Erik Larsson
 *
 */
 
/*-----------------------------------------------------------------------------
 * Includes
 *---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <stdio.h>
/* lib files */
#include <bios.h>
#include <config.h>
#include <drivers/lcd/clcd/lcd_HD44780.h>
/* funcdefs */
#include <funcdefs/funcdefs.h>
 
/*-----------------------------------------------------------------------------
 * Defines
 *---------------------------------------------------------------------------*/
#define SIZE_X  20
#define SIZE_Y  4
#define SIZE_LCD LCD_SIZE_20x4
 
#define BUFFER_SIZE SIZE_X
#define TRUE 1
#define FALSE 0
 
#define LEFT    0x01
#define RIGHT   0x02
 
volatile Can_Message_t rxMsg;
 
char incoming_text[ BUFFER_SIZE ];
uint8_t rxMsgFull;
 
 
char buffer[ BUFFER_SIZE ];
 
void send_dimensions();
void rotenc();
 
// 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;
    }
}
 
ISR( PCINT2_vect ){
// For ROTENC_A and ROTENC_B FIXME är inte riktigt rätt
    rotenc();
}
 
ISR( PCINT0_vect ){
// For ROTENC_BTN
rotenc();
}
 
/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {
    uint32_t act;
    uint8_t m, act_type, lcd_action, lcd_size;
 
    sei();
 
    /*
     * Initialize rotaryencoders and buttons
     */
    // Set as input
    DDRD &= ~(1<<DDD2);
    DDRB &= ~((1<<DDB7)|(1<<DDB0));
    // Enable pull-up
    PORTD |= (1<<PD2);
    PORTB |= (1<<PB7)|(1<<PB0);
    // Enable IO-pin interrupt
    PCICR |= (1<<PCIE2)|(1<<PCIE0);
    // Unmask PB7, PB0 and PD2
    PCMSK2 |= (1<<PCINT18);
    PCMSK0 |= (1<<PCINT7)|(1<<PCINT0);
 
    // Contrast
    TCCR0A |= (1<<COM0B1)|(1<<WGM01)|(1<<WGM00);
    TCCR0B |= (1<<CS00);
    OCR0B = 0x10;
    DDRD |= (1<<DDD5);
 
    // Backlight
    TCCR1A |= (1<<COM1A1)|(1<<WGM11);
    TCCR1B |= (1<<WGM13)|(1<<WGM12)|(1<<CS10);
    ICR1 = 0xFF; // Make it 8 bits
    OCR1A = 0x80;
    DDRB |= (1<<DDB1);
 
    Can_Message_t txMsg;
    txMsg.ExtendedFlag=1;
    txMsg.RemoteFlag=0;
// FIXME skicka app startad
    BIOS_CanCallback = &can_receive;
 
    lcd_init( LCD_DISP_ON );
    lcd_clrscr();
    lcd_puts("HomeAutomation\n");
 
    send_dimensions();
    lcd_puts("Very nice!\n");
 
    /* main loop */
    while(1){
        /* check if any messages have been received */
        if(rxMsgFull){
 
            if( ((rxMsg.Id & CLASS_MASK)>> CLASS_MASK_BITS) == CLASS_ACT ){ // FIXME ett jäkla herk, städa upp
                act = (rxMsg.Id & TYPE_MASK) >> TYPE_MASK_BITS;
                act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
                lcd_action = (act & LCD_ACTION_MASK) >> LCD_ACTION_BITS;
                lcd_size = (act & LCD_SIZE_MASK) >> LCD_SIZE_BITS;
 
                if( act_type == ACT_TYPE_LCD && (lcd_size == SIZE_LCD || lcd_size == LCD_SIZE_ALL)){
                    switch( lcd_action ){
                    case LCD_ACTION_CLR:
                        // Clear LCD
                        lcd_clrscr();
                    break;
                    case LCD_ACTION_CURS:
                        // Move cursor
                        lcd_gotoxy( rxMsg.Data.bytes[0],rxMsg.Data.bytes[1] );
                    break;
                    case LCD_ACTION_GET_SIZE:
                        // Request LCD dimension
                        send_dimensions();
                    break;
                    case LCD_ACTION_TEXT:
                        // Print text to LCD
                        for(m=0;m<rxMsg.DataLength;m++){
                            lcd_putc( (char)rxMsg.Data.bytes[m] );
                        }
                    break;
                    case LCD_ACTION_SET_CONT:
                        // Set contrast
                        if(rxMsg.DataLength == 1){
                            OCR0B = rxMsg.Data.bytes[0];
                        }
                    break;
                    case LCD_ACTION_SET_BLIGHT:
                        // Set backlight
                        if(rxMsg.DataLength == 1){
                            OCR1AL = rxMsg.Data.bytes[0];
                        }
                    break;
                    case LCD_ACTION_GET_CONT:
                        // Get contrast
                        txMsg.DataLength = 1;
                        txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )|( ACT_TYPE_LCD<<ACT_TYPE_BITS )|( LCD_ACTION_SEND_CONT<<LCD_ACTION_BITS )|NODE_ID;
                        txMsg.Data.bytes[0] = OCR0B;
                        BIOS_CanSend(&txMsg);
                    break;
                    case LCD_ACTION_GET_BLIGHT:
                        // Get backlight
                        txMsg.DataLength = 1;
                        txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )|( ACT_TYPE_LCD<<ACT_TYPE_BITS )|( LCD_ACTION_SEND_BLIGHT<<LCD_ACTION_BITS )|NODE_ID;
                        txMsg.Data.bytes[0] = OCR1AL;
                        BIOS_CanSend(&txMsg);
                    break;
                    default:
                    // Take over the world
                    break;
                    }
                }
            }
            rxMsgFull = 0;
        }
    }
}
 
void send_dimensions(){
    Can_Message_t txMsg;
 
    txMsg.ExtendedFlag=1;
    txMsg.RemoteFlag=0;
    txMsg.Id=0xA000001;
    txMsg.Data.bytes[0] = SIZE_X;
    txMsg.Data.bytes[1] = SIZE_Y;
    txMsg.DataLength = 2;
 
    BIOS_CanSend(&txMsg);
}
 
void rotenc(){
    uint8_t rot_data = 0;
    static uint8_t rot_lastdir = 0, rot_laststate = 0; // FIXME måste flyttas ut igen?
 
    Can_Message_t txMsg;
    txMsg.ExtendedFlag=1;
    txMsg.RemoteFlag=0;
    txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_BUTTON<<SNS_TYPE_BITS )|( 0x01<<SNS_ID_BITS )| NODE_ID;
    txMsg.DataLength=2;
 
    if(PINB&(1<<PB0)){
        rot_data |= 0x01;
    }
    if(PIND&(1<<PD2)){
        rot_data |= 0x02;
    }
 
    if( rot_data==0 || rot_data==3 ){
        if( rot_data==0 && rot_laststate!=rot_data ){
            if( rot_lastdir&0x01 ){
                // Moving right
                txMsg.Data.bytes[0]=RIGHT;
                txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;
                txMsg.DataLength=2;
                BIOS_CanSend(&txMsg);
                // For testing TODO remove
                if(OCR1A<0xFF){
                    OCR1A++;
                }
                if(OCR0B>0){
                    OCR0B--;
                }
            }else{
                // Moving left
                txMsg.Data.bytes[0]=LEFT;
                txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;
                txMsg.DataLength=2;
                BIOS_CanSend(&txMsg);
                // For testing TODO remove
                if(OCR1A>0){
                    OCR1A--;
                }
                if(OCR0B<0xFF){
                    OCR0B++;
                }
            }
        }
        rot_laststate = rot_data;
    }else{
        rot_lastdir = rot_data;
    }
}
 
 

Rev 481	Rev 563
1	/**	1	/**
2	* CanSimpleCLCD. Simple version.	2	* CanSimpleCLCD. Simple version.
3	* For HD44780- and KS0073-based LCD displays	3	* For HD44780- and KS0073-based LCD displays
4	*	4	*
5	* Contains no intelligence. It just prints what it is told to.	5	* Contains no intelligence. It just prints what it is told to.
6	*	6	*
7	* @date 2006-12-11	7	* @date 2006-12-11
8	* @author Erik Larsson	8	* @author Erik Larsson
9	*	9	*
10	*/	10	*/
11		11
12	/*-----------------------------------------------------------------------------	12	/*-----------------------------------------------------------------------------
13	* Includes	13	* Includes
14	---------------------------------------------------------------------------/	14	---------------------------------------------------------------------------/
15	/* system files */	15	/* system files */
16	#include <avr/io.h>	16	#include <avr/io.h>
17	#include <inttypes.h>	17	#include <inttypes.h>
18	#include <avr/interrupt.h>	18	#include <avr/interrupt.h>
19	#include <stdio.h>	19	#include <stdio.h>
20	/* lib files */	20	/* lib files */
21	#include <bios.h>	21	#include <bios.h>
22	#include <config.h>	22	#include <config.h>
23	#include <lcd_HD44780.h>	23	#include <drivers/lcd/clcd/lcd_HD44780.h>
24	/* funcdefs */	24	/* funcdefs */
25	#include <funcdefs/funcdefs.h>	25	#include <funcdefs/funcdefs.h>
26		26
27	/*-----------------------------------------------------------------------------	27	/*-----------------------------------------------------------------------------
28	* Defines	28	* Defines
29	---------------------------------------------------------------------------/	29	---------------------------------------------------------------------------/
30	#define SIZE_X 20	30	#define SIZE_X 20
31	#define SIZE_Y 4	31	#define SIZE_Y 4
32	#define SIZE_LCD LCD_SIZE_20x4	32	#define SIZE_LCD LCD_SIZE_20x4
33		33
34	#define BUFFER_SIZE SIZE_X	34	#define BUFFER_SIZE SIZE_X
35	#define TRUE 1	35	#define TRUE 1
36	#define FALSE 0	36	#define FALSE 0
37		37
38	#define LEFT 0x01	38	#define LEFT 0x01
39	#define RIGHT 0x02	39	#define RIGHT 0x02
40		40
41	volatile Can_Message_t rxMsg;	41	volatile Can_Message_t rxMsg;
42		42
43	char incoming_text[ BUFFER_SIZE ];	43	char incoming_text[ BUFFER_SIZE ];
44	uint8_t rxMsgFull;	44	uint8_t rxMsgFull;
45		45
46		46
47	char buffer[ BUFFER_SIZE ];	47	char buffer[ BUFFER_SIZE ];
48		48
49	void send_dimensions();	49	void send_dimensions();
50	void rotenc();	50	void rotenc();
51		51
52	// CAN message reception callback	52	// CAN message reception callback
53	// This function runs with interrupts disabled, keep it as short as possible	53	// This function runs with interrupts disabled, keep it as short as possible
54	void can_receive(Can_Message_t *msg){	54	void can_receive(Can_Message_t *msg){
55	if(!rxMsgFull){	55	if(!rxMsgFull){
56	memcpy((void*)&rxMsg, msg, sizeof(rxMsg));	56	memcpy((void*)&rxMsg, msg, sizeof(rxMsg));
57	rxMsgFull = 1;	57	rxMsgFull = 1;
58	}	58	}
59	}	59	}
60		60
61	ISR( PCINT2_vect ){	61	ISR( PCINT2_vect ){
62	// For ROTENC_A and ROTENC_B FIXME är inte riktigt rätt	62	// For ROTENC_A and ROTENC_B FIXME är inte riktigt rätt
63	rotenc();	63	rotenc();
64	}	64	}
65		65
66	ISR( PCINT0_vect ){	66	ISR( PCINT0_vect ){
67	// For ROTENC_BTN	67	// For ROTENC_BTN
68	rotenc();	68	rotenc();
69	}	69	}
70		70
71	/*-----------------------------------------------------------------------------	71	/*-----------------------------------------------------------------------------
72	* Main Program	72	* Main Program
73	---------------------------------------------------------------------------/	73	---------------------------------------------------------------------------/
74	int main(void) {	74	int main(void) {
75	uint32_t act;	75	uint32_t act;
76	uint8_t m, act_type, lcd_action, lcd_size;	76	uint8_t m, act_type, lcd_action, lcd_size;
77		77
78	sei();	78	sei();
79		79
80	/*	80	/*
81	* Initialize rotaryencoders and buttons	81	* Initialize rotaryencoders and buttons
82	*/	82	*/
83	// Set as input	83	// Set as input
84	DDRD &= ~(1<<DDD2);	84	DDRD &= ~(1<<DDD2);
85	DDRB &= ~((1<<DDB7)\|(1<<DDB0));	85	DDRB &= ~((1<<DDB7)\|(1<<DDB0));
86	// Enable pull-up	86	// Enable pull-up
87	PORTD \|= (1<<PD2);	87	PORTD \|= (1<<PD2);
88	PORTB \|= (1<<PB7)\|(1<<PB0);	88	PORTB \|= (1<<PB7)\|(1<<PB0);
89	// Enable IO-pin interrupt	89	// Enable IO-pin interrupt
90	PCICR \|= (1<<PCIE2)\|(1<<PCIE0);	90	PCICR \|= (1<<PCIE2)\|(1<<PCIE0);
91	// Unmask PB7, PB0 and PD2	91	// Unmask PB7, PB0 and PD2
92	PCMSK2 \|= (1<<PCINT18);	92	PCMSK2 \|= (1<<PCINT18);
93	PCMSK0 \|= (1<<PCINT7)\|(1<<PCINT0);	93	PCMSK0 \|= (1<<PCINT7)\|(1<<PCINT0);
94		94
95	// Contrast	95	// Contrast
96	TCCR0A \|= (1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);	96	TCCR0A \|= (1<<COM0B1)\|(1<<WGM01)\|(1<<WGM00);
97	TCCR0B \|= (1<<CS00);	97	TCCR0B \|= (1<<CS00);
98	OCR0B = 0x10;	98	OCR0B = 0x10;
99	DDRD \|= (1<<DDD5);	99	DDRD \|= (1<<DDD5);
100		100
101	// Backlight	101	// Backlight
102	TCCR1A \|= (1<<COM1A1)\|(1<<WGM11);	102	TCCR1A \|= (1<<COM1A1)\|(1<<WGM11);
103	TCCR1B \|= (1<<WGM13)\|(1<<WGM12)\|(1<<CS10);	103	TCCR1B \|= (1<<WGM13)\|(1<<WGM12)\|(1<<CS10);
104	ICR1 = 0xFF; // Make it 8 bits	104	ICR1 = 0xFF; // Make it 8 bits
105	OCR1A = 0x80;	105	OCR1A = 0x80;
106	DDRB \|= (1<<DDB1);	106	DDRB \|= (1<<DDB1);
107		107
108	Can_Message_t txMsg;	108	Can_Message_t txMsg;
109	txMsg.ExtendedFlag=1;	109	txMsg.ExtendedFlag=1;
110	txMsg.RemoteFlag=0;	110	txMsg.RemoteFlag=0;
111	// FIXME skicka app startad	111	// FIXME skicka app startad
112	BIOS_CanCallback = &can_receive;	112	BIOS_CanCallback = &can_receive;
113		113
114	lcd_init( LCD_DISP_ON );	114	lcd_init( LCD_DISP_ON );
115	lcd_clrscr();	115	lcd_clrscr();
116	lcd_puts("HomeAutomation\n");	116	lcd_puts("HomeAutomation\n");
117		117
118	send_dimensions();	118	send_dimensions();
119	lcd_puts("Very nice!\n");	119	lcd_puts("Very nice!\n");
120		120
121	/* main loop */	121	/* main loop */
122	while(1){	122	while(1){
123	/* check if any messages have been received */	123	/* check if any messages have been received */
124	if(rxMsgFull){	124	if(rxMsgFull){
125		125
126	if( ((rxMsg.Id & CLASS_MASK)>> CLASS_MASK_BITS) == CLASS_ACT ){ // FIXME ett jäkla herk, städa upp	126	if( ((rxMsg.Id & CLASS_MASK)>> CLASS_MASK_BITS) == CLASS_ACT ){ // FIXME ett jäkla herk, städa upp
127	act = (rxMsg.Id & TYPE_MASK) >> TYPE_MASK_BITS;	127	act = (rxMsg.Id & TYPE_MASK) >> TYPE_MASK_BITS;
128	act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;	128	act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
129	lcd_action = (act & LCD_ACTION_MASK) >> LCD_ACTION_BITS;	129	lcd_action = (act & LCD_ACTION_MASK) >> LCD_ACTION_BITS;
130	lcd_size = (act & LCD_SIZE_MASK) >> LCD_SIZE_BITS;	130	lcd_size = (act & LCD_SIZE_MASK) >> LCD_SIZE_BITS;
131		131
132	if( act_type == ACT_TYPE_LCD && (lcd_size == SIZE_LCD \|\| lcd_size == LCD_SIZE_ALL)){	132	if( act_type == ACT_TYPE_LCD && (lcd_size == SIZE_LCD \|\| lcd_size == LCD_SIZE_ALL)){
133	switch( lcd_action ){	133	switch( lcd_action ){
134	case LCD_ACTION_CLR:	134	case LCD_ACTION_CLR:
135	// Clear LCD	135	// Clear LCD
136	lcd_clrscr();	136	lcd_clrscr();
137	break;	137	break;
138	case LCD_ACTION_CURS:	138	case LCD_ACTION_CURS:
139	// Move cursor	139	// Move cursor
140	lcd_gotoxy( rxMsg.Data.bytes[0],rxMsg.Data.bytes[1] );	140	lcd_gotoxy( rxMsg.Data.bytes[0],rxMsg.Data.bytes[1] );
141	break;	141	break;
142	case LCD_ACTION_GET_SIZE:	142	case LCD_ACTION_GET_SIZE:
143	// Request LCD dimension	143	// Request LCD dimension
144	send_dimensions();	144	send_dimensions();
145	break;	145	break;
146	case LCD_ACTION_TEXT:	146	case LCD_ACTION_TEXT:
147	// Print text to LCD	147	// Print text to LCD
148	for(m=0;m<rxMsg.DataLength;m++){	148	for(m=0;m<rxMsg.DataLength;m++){
149	lcd_putc( (char)rxMsg.Data.bytes[m] );	149	lcd_putc( (char)rxMsg.Data.bytes[m] );
150	}	150	}
151	break;	151	break;
152	case LCD_ACTION_SET_CONT:	152	case LCD_ACTION_SET_CONT:
153	// Set contrast	153	// Set contrast
154	if(rxMsg.DataLength == 1){	154	if(rxMsg.DataLength == 1){
155	OCR0B = rxMsg.Data.bytes[0];	155	OCR0B = rxMsg.Data.bytes[0];
156	}	156	}
157	break;	157	break;
158	case LCD_ACTION_SET_BLIGHT:	158	case LCD_ACTION_SET_BLIGHT:
159	// Set backlight	159	// Set backlight
160	if(rxMsg.DataLength == 1){	160	if(rxMsg.DataLength == 1){
161	OCR1AL = rxMsg.Data.bytes[0];	161	OCR1AL = rxMsg.Data.bytes[0];
162	}	162	}
163	break;	163	break;
164	case LCD_ACTION_GET_CONT:	164	case LCD_ACTION_GET_CONT:
165	// Get contrast	165	// Get contrast
166	txMsg.DataLength = 1;	166	txMsg.DataLength = 1;
167	txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )\|( ACT_TYPE_LCD<<ACT_TYPE_BITS )\|( LCD_ACTION_SEND_CONT<<LCD_ACTION_BITS )\|NODE_ID;	167	txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )\|( ACT_TYPE_LCD<<ACT_TYPE_BITS )\|( LCD_ACTION_SEND_CONT<<LCD_ACTION_BITS )\|NODE_ID;
168	txMsg.Data.bytes[0] = OCR0B;	168	txMsg.Data.bytes[0] = OCR0B;
169	BIOS_CanSend(&txMsg);	169	BIOS_CanSend(&txMsg);
170	break;	170	break;
171	case LCD_ACTION_GET_BLIGHT:	171	case LCD_ACTION_GET_BLIGHT:
172	// Get backlight	172	// Get backlight
173	txMsg.DataLength = 1;	173	txMsg.DataLength = 1;
174	txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )\|( ACT_TYPE_LCD<<ACT_TYPE_BITS )\|( LCD_ACTION_SEND_BLIGHT<<LCD_ACTION_BITS )\|NODE_ID;	174	txMsg.Id = ( CLASS_ACT<<CLASS_MASK_BITS )\|( ACT_TYPE_LCD<<ACT_TYPE_BITS )\|( LCD_ACTION_SEND_BLIGHT<<LCD_ACTION_BITS )\|NODE_ID;
175	txMsg.Data.bytes[0] = OCR1AL;	175	txMsg.Data.bytes[0] = OCR1AL;
176	BIOS_CanSend(&txMsg);	176	BIOS_CanSend(&txMsg);
177	break;	177	break;
178	default:	178	default:
179	// Take over the world	179	// Take over the world
180	break;	180	break;
181	}	181	}
182	}	182	}
183	}	183	}
184	rxMsgFull = 0;	184	rxMsgFull = 0;
185	}	185	}
186	}	186	}
187	}	187	}
188		188
189	void send_dimensions(){	189	void send_dimensions(){
190	Can_Message_t txMsg;	190	Can_Message_t txMsg;
191		191
192	txMsg.ExtendedFlag=1;	192	txMsg.ExtendedFlag=1;
193	txMsg.RemoteFlag=0;	193	txMsg.RemoteFlag=0;
194	txMsg.Id=0xA000001;	194	txMsg.Id=0xA000001;
195	txMsg.Data.bytes[0] = SIZE_X;	195	txMsg.Data.bytes[0] = SIZE_X;
196	txMsg.Data.bytes[1] = SIZE_Y;	196	txMsg.Data.bytes[1] = SIZE_Y;
197	txMsg.DataLength = 2;	197	txMsg.DataLength = 2;
198		198
199	BIOS_CanSend(&txMsg);	199	BIOS_CanSend(&txMsg);
200	}	200	}
201		201
202	void rotenc(){	202	void rotenc(){
203	uint8_t rot_data = 0;	203	uint8_t rot_data = 0;
204	static uint8_t rot_lastdir = 0, rot_laststate = 0; // FIXME måste flyttas ut igen?	204	static uint8_t rot_lastdir = 0, rot_laststate = 0; // FIXME måste flyttas ut igen?
205		205
206	Can_Message_t txMsg;	206	Can_Message_t txMsg;
207	txMsg.ExtendedFlag=1;	207	txMsg.ExtendedFlag=1;
208	txMsg.RemoteFlag=0;	208	txMsg.RemoteFlag=0;
209	txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )\|( SNS_ACT_BUTTON<<SNS_TYPE_BITS )\|( 0x01<<SNS_ID_BITS )\| NODE_ID;	209	txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )\|( SNS_ACT_BUTTON<<SNS_TYPE_BITS )\|( 0x01<<SNS_ID_BITS )\| NODE_ID;
210	txMsg.DataLength=2;	210	txMsg.DataLength=2;
211		211
212	if(PINB&(1<<PB0)){	212	if(PINB&(1<<PB0)){
213	rot_data \|= 0x01;	213	rot_data \|= 0x01;
214	}	214	}
215	if(PIND&(1<<PD2)){	215	if(PIND&(1<<PD2)){
216	rot_data \|= 0x02;	216	rot_data \|= 0x02;
217	}	217	}
218		218
219	if( rot_data==0 \|\| rot_data==3 ){	219	if( rot_data==0 \|\| rot_data==3 ){
220	if( rot_data==0 && rot_laststate!=rot_data ){	220	if( rot_data==0 && rot_laststate!=rot_data ){
221	if( rot_lastdir&0x01 ){	221	if( rot_lastdir&0x01 ){
222	// Moving right	222	// Moving right
223	txMsg.Data.bytes[0]=RIGHT;	223	txMsg.Data.bytes[0]=RIGHT;
224	txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;	224	txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;
225	txMsg.DataLength=2;	225	txMsg.DataLength=2;
226	BIOS_CanSend(&txMsg);	226	BIOS_CanSend(&txMsg);
227	// For testing TODO remove	227	// For testing TODO remove
228	if(OCR1A<0xFF){	228	if(OCR1A<0xFF){
229	OCR1A++;	229	OCR1A++;
230	}	230	}
231	if(OCR0B>0){	231	if(OCR0B>0){
232	OCR0B--;	232	OCR0B--;
233	}	233	}
234	}else{	234	}else{
235	// Moving left	235	// Moving left
236	txMsg.Data.bytes[0]=LEFT;	236	txMsg.Data.bytes[0]=LEFT;
237	txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;	237	txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;
238	txMsg.DataLength=2;	238	txMsg.DataLength=2;
239	BIOS_CanSend(&txMsg);	239	BIOS_CanSend(&txMsg);
240	// For testing TODO remove	240	// For testing TODO remove
241	if(OCR1A>0){	241	if(OCR1A>0){
242	OCR1A--;	242	OCR1A--;
243	}	243	}
244	if(OCR0B<0xFF){	244	if(OCR0B<0xFF){
245	OCR0B++;	245	OCR0B++;
246	}	246	}
247	}	247	}
248	}	248	}
249	rot_laststate = rot_data;	249	rot_laststate = rot_data;
250	}else{	250	}else{
251	rot_lastdir = rot_data;	251	rot_lastdir = rot_data;
252	}	252	}
253	}	253	}
254		254
255		255

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(root)/trunk/EmbeddedSoftware/AVR/application/SimpleCLCD/main.c – Rev 481 → 563