path: root/runtime/org.eclipse.etrice.runtime.c/src/platforms/ST_MSP430_F5438_CCS5_HWElevator/etPlatform.c

/*******************************************************************************
 * Copyright (c) 2012 protos software gmbh (http://www.protos.de).
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * CONTRIBUTORS:
 * 		Thomas Schuetz (initial contribution)
 *
 *******************************************************************************/

#include "msp430f5438a.h"
#include "platform/etTimer.h"
#include "hal_pmm.h"
#include "etPlatform.h"

void enableLatchOutput(void);
void initClockSystem(void);
void initPortsForElevator(void);
void setData(unsigned char data);
void allLedsOff(void);
void genLatchClock(unsigned int mask);
unsigned char getFloorButtons(unsigned char floor);
void initMotor(void);
void initHw(void);
void enableInterrupt(void);


const unsigned char _7seg[15]={~0x3F,~0x06,~0x5B,~0x4F,~0x66,~0x6D,~0x7D,~0x07,~0x7F,~0x6F,  ~0xBF,~0x86,~0xDB,~0xCF,~0xE6};
const unsigned int latchClockFloorLowPattern[6]={0x0410,0x0440,0x0801,0x0804,0x0810,0x0840};
const unsigned int latchClockFloorHighPattern[6]={0x0420,0x0480,0x0802,0x0808,0x0820,0x880};
const unsigned int latchClockMotorPattern[12]={0x0201,0x0202,0x0204,0x0208,0x0210,0x0220,0x0240,0x0280,0x0401,0x0402,0x0404,0x0408};


const unsigned int doorPattern1[12]={0x0000,0x0201,0x0303,0x0387,0x03CF,0x03FF,0x03FF,0x03CF,0x0387,0x0303,0x0201,0x0000};
const unsigned int doorPattern2[12]={0x0000,0x0030,0x0078,0x00FC,0x01FE,0x03FF,0x03FF,0x01FE,0x00FC,0x0078,0x0030,0x0000};
const unsigned int doorPattern3[12]={0x0000,0x0200,0x0300,0x0380,0x03C0,0x03E0,0x03F0,0x03F8,0x03FC,0x03FE,0x03FF,0x03FF};


volatile unsigned char execute;
unsigned int floorLatchShadow[6];
unsigned char motorLatchShadow[12];


/* implemenatation for eTrice interfaces*/

void etUserEntry(void){
	initHw();
	etTimer_init();
}

void etUserPreRun(void){
	enableInterrupt();
}

void etUserPostRun(void){ }
void etUserExit(void){ }


/* platform specific functions */



/*****************************************************/


void initHw(void) {
volatile unsigned int i=0;
volatile unsigned char j,m;

	WDTCTL = WDTPW + 0x36; //WDT as Timer;

	SetVCore(PMMCOREV_3);
	initClockSystem();

	initPortsForElevator();
	allLedsOff();
	enableLatchOutput();
	initMotor();
}

void enableInterrupt(void){
	SFRIE1|=WDTIE;
	_enable_interrupt();
}
void initPortsForElevator(void){
	P2DIR |= 0x02;
	P2OUT &= ~0x02;

	P4OUT = 0x00;
	P4DIR = 0xFF;

	P3OUT = 0xC0;
	P3DIR = 0xFF;

	P8OUT = 0x00;
	P8DIR = 0x00;
	P8REN = 0xE0;
}

void toggleTestLed(void){
	P2OUT ^= 0x02;
}
void enableLatchOutput(void){
	P3OUT &= ~0x80;
}

void setData(unsigned char data){
	P4OUT = data;
	P3OUT &= ~0x01;
	P3OUT |= 0x01;
}

void allLedsOff(void){
unsigned int i;
	P3OUT &= ~0x40;
	setData(0xFF);
	P4OUT &= ~0xFF;
	P3OUT &= ~0x1E;
	P3OUT |= 0x1E;
	P4OUT |= 0xFF;
	P3OUT &= ~0x1E;
	P3OUT |= 0x1E;
	for(i=0;i<6;i++){
		floorLatchShadow[i]=0;
	}
}

void writeTo7Seg(unsigned char data){
	if (data<=9){
	setData(_7seg[data]);
	genLatchClock(0x1001);
	}
}

void genLatchClock(unsigned int mask){
unsigned char dataLow, dataHigh;
	dataLow=mask & 0xFF;
	dataHigh=((mask >> 8) & 0xFF);
	P4OUT = ~dataLow;
	P3OUT &= ~dataHigh;
	P3OUT |= dataHigh;
	P4OUT = 0xFF;
	P3OUT &= ~dataHigh;
	P3OUT |= dataHigh;
}

void updateFloorLatch(floor){
unsigned char dataLow, dataHigh;

	dataLow=(unsigned char)(floorLatchShadow[floor]);
	dataHigh=(unsigned char) (floorLatchShadow[floor]>>8);

	setData(~dataLow);
	genLatchClock(latchClockFloorLowPattern[floor]);

	setData(~dataHigh);
	genLatchClock(latchClockFloorHighPattern[floor]);
}

void updateMotorLatch(void){
unsigned char i;
	for(i=0;i<12;i++){
		setData(~motorLatchShadow[i]);
		genLatchClock(latchClockMotorPattern[i]);
	}
}

unsigned char getMotorPosition(void){

	if (motorLatchShadow[10]==0x3C) return 0x80;
	if ((motorLatchShadow[7]==0xC0)&(motorLatchShadow[8]==0x03)) return 0x81;
	if (motorLatchShadow[5]==0x78) return 0x82;
	if ((motorLatchShadow[2]==0xC0)&(motorLatchShadow[3]==0x03)) return 0x83;
	if (motorLatchShadow[0]==0x78) return 0x84;
	return 0x00;

}

void shiftMotorUp(void){
unsigned char i;
	if(motorLatchShadow[0]&0x01)return;
	for(i=0;i<11;i++){
		motorLatchShadow[i]>>=1;
		if (motorLatchShadow[i+1]&0x01){motorLatchShadow[i]|=0x80;}
	}
	motorLatchShadow[11] >>=1;
	updateMotorLatch();
}

void shiftMotorDown(void){
unsigned char i;
	if (motorLatchShadow[11]&0x02)return;
	for(i=11;i>0;i--){
		motorLatchShadow[i]<<=1;
		if (motorLatchShadow[i-1]&0x80){motorLatchShadow[i]|=0x01;}
	}
	motorLatchShadow[0] <<=1;
	updateMotorLatch();
}

void initMotor(void){
unsigned char i;
	for(i=0;i<12;i++){
		motorLatchShadow[i]=0x00;
	}
	motorLatchShadow[11]=0x03;
	motorLatchShadow[10]=0xC0;
	updateMotorLatch();
}

void writeToButtonLed(unsigned char floor, unsigned char id, unsigned char onOff){
unsigned int data;
		data=id;
		data<<=10;
		if (floor>5)return;
		switch (onOff){
		case ON:
			floorLatchShadow[floor] |= data;
			break;
		case OFF:
			floorLatchShadow[floor] &= ~data;
			break;
		case TOGGLE:
			floorLatchShadow[floor]^=data;
			break;
		default:break;
		};
		updateFloorLatch(floor);
}

void writeToDoor(unsigned char floor, unsigned char data){
	// clear door bits
	// avoid array out of bound access
	if (data > 11)return;
	if(floor > 5)return;
	floorLatchShadow[floor] &= ~0x03FF;
	// set door bits according data
	floorLatchShadow[floor] |= (doorPattern3[data] & 0x3FF);
	updateFloorLatch(floor);
}

unsigned char getButtonStatus(unsigned char floor, unsigned int id){
unsigned char mask = 0x01;
unsigned char retVal=0;
	if ((floor == 0) && (id == DOWN_BUTTON_ID)){return 0;}
	if (id == CABINE_DOOR_BUTTON_ID){floor = 0; id=DOWN_BUTTON_ID;}
	mask <<= floor;
	P8OUT = mask;
	P8DIR = mask;
	if (P8IN & id) retVal=1;
	P8DIR = 0x00;
	return retVal;
}

unsigned char getFloorButtons(unsigned char floor){
unsigned char mask = 0x01;
	mask <<= floor;
	P8OUT = mask;
	P8DIR = mask;
	mask = P8IN & 0xE0;
	P8DIR = 0x00;

	return mask;
}

void initClockSystem(void){
	//Select DCO range 4..60Mhz
	UCSCTL1=DCORSEL_6;
	//enable XT1
	P7SEL|=0x01;
	UCSCTL6=0x01CC;
	// wait until Clock is ok
	while(UCSCTL7&0x0002){UCSCTL7=0;}

	// DCO => appr. 50Mhz
	// SMCLK MCLK => 25Mhz
	UCSCTL2 = FLLD_1 + 0x2f8;

	// Loop until XT1,XT2 & DCO fault flag is cleared
	do
  	{
    	UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + XT1HFOFFG + DCOFFG);
    	                                        // Clear XT2,XT1,DCO fault flags
    	SFRIFG1 &= ~OFIFG;                      // Clear fault flags
  	}while (SFRIFG1&OFIFG);                   // Test oscillator fault flag

}