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Bernhard
211
io/io.c
Executable file
211
io/io.c
Executable file
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#include "io.h"
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#include <can/can_client.h>
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struct GPIO_KEY_DATA gpioKeyStop;
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struct GPIO_KEY_DATA gpioKeyPwrUp;
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struct GPIO_KEY_DATA gpioKeyPwrDown;
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int IO_Init()
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{
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if (wiringPiSetupPinType(WPI_PIN_BCM))
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{
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printf("IO: Set up wiringPi failed!\n");
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return 1;
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}
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// IO-Pins für Tasten konfigurieren
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SetupKeyPin(&gpioKeyStop, GPIO_KEY_STOP);
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SetupKeyPin(&gpioKeyPwrUp, GPIO_KEY_PWRUP);
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SetupKeyPin(&gpioKeyPwrDown, GPIO_KEY_PWRDOWN);
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// IO-Pins für Ausgänge konfigurieren
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SetupOutputPin(GPIO_LED_MOTRUN);
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// Einschaltsequenz
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WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
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delay(500);
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WriteOutputPin(GPIO_LED_MOTRUN, LOW);
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delay(500);
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WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
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delay(500);
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WriteOutputPin(GPIO_LED_MOTRUN, LOW);
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delay(500);
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printf("IO initialized successfull!\n");
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return 0;
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}
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void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
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{
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pdata->iKeyPin = iKeyPin;
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pdata->iKeyValue = 0;
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pdata->iKeyRisingEdge = 0;
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pdata->iKeyFallingEdge = 0;
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pdata->nHighCycleCounter = 0;
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pdata->nLowCycleCounter = 0;
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pdata->iKeyPressedCycleCounter = 0;
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pdata->iKeyRepeatCycleCounter = 0;
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// Wenn Eingang verwendet wird
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if (pdata->iKeyPin > 0)
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{
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pinMode(pdata->iKeyPin, INPUT);
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pullUpDnControl(pdata->iKeyPin, PUD_UP);
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}
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}
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void ReadKey(struct GPIO_KEY_DATA *pdata)
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{
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if (pdata->iKeyPin > 0)
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{
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int newval = pdata->iKeyValue;
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if (digitalRead(pdata->iKeyPin) == LOW) // invertierte Logik weil wir PullUp-Widerstand bei Betätigung auf low ziehen
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{
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// Signal liegt an
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if (pdata->nLowCycleCounter > 0)
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{
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pdata->nLowCycleCounter--;
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}
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if (pdata->nHighCycleCounter < KEY_RISING_FILTERCYCLES)
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{
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pdata->nHighCycleCounter++;
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if (pdata->nHighCycleCounter >= KEY_RISING_FILTERCYCLES)
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{
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// gewünschte Anzahl Zyklen stabil
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newval = 1;
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}
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}
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}
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else
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{
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// Signal liegt nicht an
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if (pdata->nHighCycleCounter > 0)
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{
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pdata->nHighCycleCounter--;
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}
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if (pdata->nLowCycleCounter < KEY_FALLING_FILTERCYCLES)
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{
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pdata->nLowCycleCounter++;
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if (pdata->nLowCycleCounter >= KEY_FALLING_FILTERCYCLES)
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{
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// gewünschte Anzahl Zyklen stabil
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newval = 0;
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}
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}
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}
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if (newval && !pdata->iKeyValue)
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{
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// Taster wurde betätigt
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pdata->iKeyRisingEdge = 1;
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pdata->iKeyValue = newval;
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pdata->iKeyPressedCycleCounter = 0;
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pdata->iKeyRepeatCycleCounter = 0;
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}
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else if (pdata->iKeyValue && !newval)
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{
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// Taster wurde losgelassen
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pdata->iKeyFallingEdge = 1;
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pdata->iKeyValue = newval;
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}
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else
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{
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// Keine Änderung
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pdata->iKeyRisingEdge = 0;
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pdata->iKeyFallingEdge = 0;
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if (pdata->iKeyValue)
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{
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// Wenn Taste gedrückt ist
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if (pdata->iKeyPressedCycleCounter < KEY_START_REPEAT_CYCLECOUNT)
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{
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// Zyklen zählen
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pdata->iKeyPressedCycleCounter++;
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}
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if (pdata->iKeyPressedCycleCounter >= KEY_START_REPEAT_CYCLECOUNT)
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{
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// Wenn Taste länger als KEY_START_REPEAT_CYCLECOUNT gedrückt ist
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pdata->iKeyRepeatCycleCounter++;
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if (pdata->iKeyRepeatCycleCounter >= KEY_REPEAT_CYCLECOUNT)
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{
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// alle KEY_REPEAT_CYCLECOUNT Zyklen Tastendruck signalisieren
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pdata->iKeyRisingEdge = 1;
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pdata->iKeyRepeatCycleCounter = 0;
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}
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}
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}
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}
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}
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}
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void SetupOutputPin(int iOutPin)
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{
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if (iOutPin > 0)
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{
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pinMode(iOutPin, OUTPUT);
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digitalWrite(iOutPin, LOW);
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}
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}
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void WriteOutputPin(int iOutPin, int iValue)
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{
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if (iOutPin > 0)
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{
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digitalWrite(iOutPin, iValue);
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}
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}
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void IO_DoCyclic()
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{
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ReadKey(&gpioKeyStop);
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ReadKey(&gpioKeyPwrUp);
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ReadKey(&gpioKeyPwrDown);
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if (gpioKeyStop.iKeyValue)
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{
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// Stop-Taste betätigt -> hat Vorrang vor den anderen Tasten
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if (gpioKeyStop.iKeyRisingEdge)
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{
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Can_SetMotorGear(0, 0);
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}
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}
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else
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{
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if (gpioKeyPwrUp.iKeyRisingEdge)
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{
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// Leistung erhöhen
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if (motctrl[0].iMotorGear == MOTOR_GEAR_NEUTRAL)
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{
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Can_SetMotorGear(0, 1);
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Can_SetMotorPower(0, MOTOR_PWR_MIN_PCT);
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}
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else
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{
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Can_SetMotorPower(0, motctrl[0].iMotorPowerPct + MOTOR_PWR_STEP);
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}
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}
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if (gpioKeyPwrDown.iKeyRisingEdge)
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{
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// Leistung verringern
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if (motctrl[0].iMotorPowerPct > MOTOR_PWR_MIN_PCT)
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{
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Can_SetMotorPower(0, motctrl[0].iMotorPowerPct - MOTOR_PWR_STEP);
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}
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else
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{
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Can_SetMotorGear(0, 0);
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}
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}
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}
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}
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37
io/io.h
Executable file
37
io/io.h
Executable file
@@ -0,0 +1,37 @@
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#if !defined(__IO_H__)
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#define __IO_H__
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#include <wiringPi.h>
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#include <stdio.h>
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#define GPIO_LED_MOTRUN 17 // GPIO Pin fuer LED Motor läuft
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#define GPIO_KEY_STOP 26 // GPIO Pin fuer Taster Stop
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#define GPIO_KEY_PWRUP 5 // GPIO Pin fuer Taster Leistung-Erhöhen
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#define GPIO_KEY_PWRDOWN 6 // GPIO Pin fuer Taster Leistung-Verringern
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#define KEY_RISING_FILTERCYCLES 5 // Filterwert für Eingänge steigende Flanke
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#define KEY_FALLING_FILTERCYCLES 15 // Filterwert für Eingänge (Zyklen-Zähler)
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#define KEY_START_REPEAT_CYCLECOUNT 50 // Anzahl Zyklen, nach denen Wiederholungen beginnen
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#define KEY_REPEAT_CYCLECOUNT 50 // Anzahl Zyklen, nach den wiederholt wird
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// Datenstruktur für einen Taster
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struct GPIO_KEY_DATA
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{
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int iKeyPin;
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int iKeyValue;
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int iKeyRisingEdge;
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int iKeyFallingEdge;
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unsigned int nHighCycleCounter;
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unsigned int nLowCycleCounter;
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int iKeyPressedCycleCounter;
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int iKeyRepeatCycleCounter;
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};
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int IO_Init();
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void IO_DoCyclic();
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void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin);
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void SetupOutputPin(int iOutPin);
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void WriteOutputPin(int iOutPin, int iValue);
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#endif
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