diff options
Diffstat (limited to 'Year_3')
| -rw-r--r-- | Year_3/LSM/ex_20211122.c | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/Year_3/LSM/ex_20211122.c b/Year_3/LSM/ex_20211122.c new file mode 100644 index 0000000..a7980e1 --- /dev/null +++ b/Year_3/LSM/ex_20211122.c @@ -0,0 +1,264 @@ +#include "stm32_unict_lib.h" +#include <stdlib.h> +#include <string.h> + +typedef enum { + FIRST = 2, + F_S, + SECOND, + S_T, + THIRD +} floor_t; + +typedef enum { + CONFIG, + IDLE, + CLOSING, + RUNNING, + OPENING, +} status_t; + +floor_t curr_floor = FIRST; +floor_t next_floor = FIRST; +short direction = 1; + +unsigned q_index = 0; +floor_t* queue; + +status_t status = IDLE; + +short circular_200ms = 0; /* alternates 0 and 1 thanks to `0 ^ 1` */ +short handle_1500ms = 0; /* until 15, then restart */ + +int time = 10; /* 10 * `time` = 1s */ +int lift_time; +int time_i = 0; + +void +init() +{ + int i; + queue = malloc(sizeof(floor_t) * 10); + for (i = 0; i < 10; ++i) + queue[i] = 0; + + GPIO_init(GPIOB); + GPIO_init(GPIOC); + + GPIO_config_input(GPIOB, 10); /* X */ + GPIO_config_EXTI(GPIOB, EXTI10); + EXTI_enable(EXTI10, FALLING_EDGE); + + GPIO_config_input(GPIOB, 4); /* Y */ + GPIO_config_EXTI(GPIOB, EXTI4); + EXTI_enable(EXTI4, FALLING_EDGE); + + GPIO_config_input(GPIOB, 5); /* Z */ + GPIO_config_EXTI(GPIOB, EXTI5); + EXTI_enable(EXTI5, FALLING_EDGE); + + GPIO_config_input(GPIOB, 6); /* T */ + GPIO_config_EXTI(GPIOB, EXTI6); + EXTI_enable(EXTI6, FALLING_EDGE); + + GPIO_config_output(GPIOC, 2); /* YELLOW */ + GPIO_config_output(GPIOC, 3); /* GREEN */ + GPIO_config_output(GPIOB, 0); /* RED */ + + DISPLAY_init(); + + CONSOLE_init(); + + TIM_init(TIM2); + TIM_set(TIM2, 0); + TIM_on(TIM2); + TIM_config_timebase(TIM2, 8400, 840); + TIM_enable_irq(TIM2, IRQ_UPDATE); + + ADC_init(ADC1, ADC_RES_8, ADC_ALIGN_RIGHT); + ADC_channel_config(ADC1, GPIOC, 1, 11); + ADC_on(ADC1); + ADC_sample_channel(ADC1, 11); + + ADC_start(ADC1); + while (!ADC_completed(ADC1)) + ; + int adc_read = ADC_read(ADC1); + time = ((adc_read * (10 - 4) / 255.0) + 4); +} + +int +main() +{ + init(); + + char s[4]; + int i; + int adc_read; + + sprintf(s, "%3d ", curr_floor); + + for (;;) { + ADC_start(ADC1); + if (status == CONFIG) { + while (!ADC_completed(ADC1)) + ; + adc_read = ADC_read(ADC1); + time = ((adc_read * (10 - 4) / 255.0) + 4); + sprintf(s, "%f", time / 10.0); + DISPLAY_puts(0, s); + } else { + sprintf(s, "%3d%c", curr_floor / 2, ((curr_floor % 2) ? '-' : ' ')); + DISPLAY_puts(0, s); + lift_time = (time / 10 / 2.0) / 0.1; + } + } + + free(queue); + return 0; +} + +void +check_queue() +{ + int i; + + for (i = q_index; i != (q_index - 1) % 10; i = (i + 1) % 10) { + if (queue[i] != 0) { + goto_floor(queue[i]); + queue[i] = 0; + return; + } + } + + if (queue[i] != 0) { + goto_floor(queue[i]); + queue[i] = 0; + } +} + +void + goto_floor(floor) +{ + status = CLOSING; + switch (floor) { + case 1: + next_floor = FIRST; + break; + case 2: + next_floor = SECOND; + break; + case 3: + next_floor = THIRD; + break; + } + + if (curr_floor < next_floor) { + direction = 1; + } else if (curr_floor > next_floor) { + direction = -1; + } else { + direction = 0; + } +} + +void + call_floor(floor) +{ + if (queue[(q_index - 1) % 10] == floor) + return; + + if (status == IDLE) { + goto_floor(floor); + } else { + queue[q_index] = floor; + q_index = (q_index + 1) % 10; + } +} + +void +EXTI15_10_IRQHandler(void) +{ + if (EXTI_isset(EXTI10)) { + call_floor(1); + EXTI_clear(10); + } +} + +void +EXTI9_5_IRQHandler(void) +{ + if (EXTI_isset(EXTI5)) { + call_floor(2); + EXTI_clear(EXTI5); + } + + if (EXTI_isset(EXTI6)) { + if (status == IDLE) { + status = CONFIG; + } else if (status == CONFIG) { + status = IDLE; + } + EXTI_clear(EXTI6); + } +} + +void +EXTI4_IRQHandler(void) +{ + if (EXTI_isset(EXTI4)) { + call_floor(3); + EXTI_clear(EXTI4); + } +} + +void +TIM2_IRQHandler(void) +{ + if (TIM_update_check(TIM2)) { + if (status == RUNNING) { + if (circular_200ms) { + GPIO_toggle(GPIOC, 2); + } + + time_i++; + + if (time_i >= lift_time) { + time_i = 0; + if (curr_floor == next_floor) { + GPIO_write(GPIOC, 2, 0); + status = OPENING; + time_i = 0; + } else { + curr_floor += direction; + } + } + } else if (status == CLOSING || status == OPENING) { + if (circular_200ms) { + if (status == CLOSING) + GPIO_toggle(GPIOB, 0); + else + GPIO_toggle(GPIOC, 3); + } + + handle_1500ms++; + if (handle_1500ms == 15) { + if (status == CLOSING) { + status = RUNNING; + } else { + status = IDLE; + } + + handle_1500ms = 0; + GPIO_write(GPIOB, 0, 0); + GPIO_write(GPIOC, 3, 0); + + if (status == IDLE) + check_queue(); + } + } + + circular_200ms ^= 1; + TIM_update_clear(TIM2); + } +} |