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#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);
}
}
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