KenYEAH! 2k15 / Mbed 2 deprecated locker4

comms not ready

Dependencies:   NRF2401P mbed-rtos mbed

main.cpp@1:51a5cfbfd25c, 2015-06-12 (annotated)

Committer:
newc4420
Date:
Fri Jun 12 13:46:53 2015 +0000
Revision:
1:51a5cfbfd25c
Parent:
0:05989ea2d008 
V4

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
newc4420 0:05989ea2d008 1 #include "mbed.h"
newc4420 0:05989ea2d008 2 #include "rtos.h"
newc4420 1:51a5cfbfd25c 3 #include "NRF2401P.h"
newc4420 1:51a5cfbfd25c 4
newc4420 1:51a5cfbfd25c 5 Serial pc(USBTX, USBRX); // tx, rx
newc4420 0:05989ea2d008 6
newc4420 0:05989ea2d008 7 /*Program to open locker when a signal level (lock) is sent in from an external controller.
newc4420 0:05989ea2d008 8 System is split into threads so main loop can run even when waiting in door unlock function.
newc4420 0:05989ea2d008 9
newc4420 0:05989ea2d008 10 The circuit uses a metal contact to detect if the door is open/closed(latch engaged or not) and sends out an external signal.
newc4420 0:05989ea2d008 11 Main loop checks if door needs to be unlocked(from external signal) and if door is open.
newc4420 0:05989ea2d008 12 Door unlock solenoid is controlled by function unlock*/
newc4420 0:05989ea2d008 13
newc4420 0:05989ea2d008 14 /*function definitions*/
newc4420 0:05989ea2d008 15 void unlock (void const *args); //function statement to unlock door,
newc4420 0:05989ea2d008 16
newc4420 1:51a5cfbfd25c 17 void battcomms (void const *args); //function statement to communicate with battery
newc4420 1:51a5cfbfd25c 18
newc4420 0:05989ea2d008 19 /*set pins*/
newc4420 0:05989ea2d008 20 DigitalOut latch(D0); //signal out to open door
newc4420 0:05989ea2d008 21 DigitalIn lock(D1); //signal in from interface to unlock door
newc4420 0:05989ea2d008 22 DigitalIn doorclosed(D2); //detect if door is closed(logic 1 for door closed)
newc4420 0:05989ea2d008 23 DigitalOut flagdoor(D3); //flag out if door is open
newc4420 0:05989ea2d008 24 PwmOut alarm(PTE20); //alarm via pulse width modulated signal on pin PTE20
newc4420 0:05989ea2d008 25
newc4420 0:05989ea2d008 26 //testing parameters
newc4420 0:05989ea2d008 27 DigitalOut led(LED1); //light to denote unlock thread
newc4420 0:05989ea2d008 28 DigitalOut led2(LED2); //light to denote cycle
newc4420 0:05989ea2d008 29
newc4420 0:05989ea2d008 30 //global flags used in both treads, hence volatile
newc4420 0:05989ea2d008 31 volatile int unlockflag = 0; //internal flag to denote need to unlock door
newc4420 0:05989ea2d008 32 volatile int alarmflag = 1; //alarm activated flag
newc4420 0:05989ea2d008 33
newc4420 0:05989ea2d008 34 volatile int justarmed = 0; //flag to remember if alarm has just been armed to not run unlocking process
newc4420 0:05989ea2d008 35 int main()
newc4420 0:05989ea2d008 36 {
newc4420 0:05989ea2d008 37 //initital set up for system
newc4420 0:05989ea2d008 38 led=1;
newc4420 0:05989ea2d008 39 alarmflag = 1; //initially alarm armed
newc4420 0:05989ea2d008 40 unlockflag = 0; //initially no call to unlock
newc4420 0:05989ea2d008 41 alarm = 0; //initialise alarm as not sounding
newc4420 0:05989ea2d008 42 latch = 1; //solenoid initially locked
newc4420 0:05989ea2d008 43
newc4420 0:05989ea2d008 44 Thread Tunlock(unlock); //set up unlock function as a thread, thread should not run while unlockflag ==0
newc4420 1:51a5cfbfd25c 45 Thread Tbattcomms(battcomms); //set up battcomms as a thread
newc4420 0:05989ea2d008 46
newc4420 0:05989ea2d008 47 //main loop that runs forever, checking for external flags and if door open/closed and to fire off alarm(status thread)
newc4420 0:05989ea2d008 48 while(true)
newc4420 0:05989ea2d008 49 {
newc4420 0:05989ea2d008 50 led2 = !led2;
newc4420 0:05989ea2d008 51 //check if need to unlock door(external flag, lock), setting internal flag(unlockflag) so unlock function will run accordingly
newc4420 0:05989ea2d008 52 if (lock == 0 && alarmflag ==1 && justarmed == 0) {
newc4420 0:05989ea2d008 53 unlockflag = 1;
newc4420 0:05989ea2d008 54 Thread :: wait(100);
newc4420 0:05989ea2d008 55 }
newc4420 0:05989ea2d008 56 //after one cycle from arming alarm, turn off justarmed flag and wait for more than a second before testing for next unlock signal
newc4420 0:05989ea2d008 57 else if(justarmed ==1 && alarmflag==1)
newc4420 0:05989ea2d008 58 {
newc4420 0:05989ea2d008 59 justarmed = 0;
newc4420 0:05989ea2d008 60 Thread :: wait(1100);
newc4420 0:05989ea2d008 61 }
newc4420 0:05989ea2d008 62
newc4420 0:05989ea2d008 63 //check if door is open
newc4420 0:05989ea2d008 64 if (doorclosed == 1) { //if door is open(electric contact lost), send out flag(logic 1)
newc4420 0:05989ea2d008 65 flagdoor = 0;
newc4420 0:05989ea2d008 66 } else {
newc4420 0:05989ea2d008 67 flagdoor = 1;
newc4420 0:05989ea2d008 68 }
newc4420 0:05989ea2d008 69 Thread :: wait(200); //only check door status every 0.2s
newc4420 0:05989ea2d008 70
newc4420 0:05989ea2d008 71 //check if door broken into(alarm active, no unlock signal and door open)
newc4420 0:05989ea2d008 72 if(alarmflag == 1 && lock == 1 && doorclosed == 0)
newc4420 0:05989ea2d008 73 {
newc4420 0:05989ea2d008 74 alarm = 0.5; //alarm goes off, doesnt stop until investigated by operator
newc4420 0:05989ea2d008 75 }
newc4420 0:05989ea2d008 76 }
newc4420 0:05989ea2d008 77 }
newc4420 0:05989ea2d008 78
newc4420 1:51a5cfbfd25c 79
newc4420 1:51a5cfbfd25c 80
newc4420 0:05989ea2d008 81 /*function to unlock door to be called in thread. Note time limit on solenoid open to prevent overheating
newc4420 0:05989ea2d008 82 (should put spring to force door open once unlocked) unlock protocol thread*/
newc4420 0:05989ea2d008 83 void unlock (void const *args)
newc4420 0:05989ea2d008 84 {
newc4420 0:05989ea2d008 85 (void)args; //to note thread function has no input parameter
newc4420 0:05989ea2d008 86
newc4420 0:05989ea2d008 87
newc4420 0:05989ea2d008 88 while (true) {
newc4420 0:05989ea2d008 89 //unlock process should only run code below if unlockflag == 1, checks every cycle, does nothing if internal flag(unlockflag)==0
newc4420 0:05989ea2d008 90 if (unlockflag == 1)
newc4420 0:05989ea2d008 91 {
newc4420 0:05989ea2d008 92 alarmflag = 0; //deactivate alarm
newc4420 0:05989ea2d008 93 latch = 0; //open latch via relay activating solenoid
newc4420 0:05989ea2d008 94 led = 0; //test light on to tell if solenoid should be on
newc4420 0:05989ea2d008 95 Thread :: wait(5000); //latch stays open(solenoid activated) for 5 seconds
newc4420 0:05989ea2d008 96 latch = 1; //turn off solenoid, let latch closed
newc4420 0:05989ea2d008 97 led = 1; //turn off test light
newc4420 0:05989ea2d008 98 unlockflag = 0; //reset internal flag for door lock
newc4420 0:05989ea2d008 99
newc4420 0:05989ea2d008 100 //wait for door to be closed, do other loop checks
newc4420 0:05989ea2d008 101 while (doorclosed == 0)
newc4420 0:05989ea2d008 102 {
newc4420 0:05989ea2d008 103 Thread :: wait(100); //wait 0.5s, allowing other threads to run
newc4420 0:05989ea2d008 104 }
newc4420 0:05989ea2d008 105 //if door is closed and alarm not activated, activate alarm and remember that alarm is just armed
newc4420 0:05989ea2d008 106 if (doorclosed == 1 && alarmflag==0 && justarmed ==0)
newc4420 0:05989ea2d008 107 {
newc4420 0:05989ea2d008 108 alarmflag = 1;
newc4420 0:05989ea2d008 109 justarmed = 1;
newc4420 0:05989ea2d008 110 }
newc4420 0:05989ea2d008 111 else
newc4420 0:05989ea2d008 112 {
newc4420 0:05989ea2d008 113 Thread :: wait(200); //do main thread checks while waiting(superfluous code from previous iteration?)
newc4420 0:05989ea2d008 114 }
newc4420 0:05989ea2d008 115
newc4420 0:05989ea2d008 116 }
newc4420 0:05989ea2d008 117 }
newc4420 0:05989ea2d008 118 }
newc4420 1:51a5cfbfd25c 119
newc4420 1:51a5cfbfd25c 120 /*battery communication function to be called in thread*/
newc4420 1:51a5cfbfd25c 121 void battcomms (void const *args)
newc4420 1:51a5cfbfd25c 122 {
newc4420 1:51a5cfbfd25c 123
newc4420 1:51a5cfbfd25c 124 long long addr1=0xAB12CD; // setup address - any 5 byte number - same as TX
newc4420 1:51a5cfbfd25c 125 int channel =52; // [0-126] setup channel, must be same as TX
newc4420 1:51a5cfbfd25c 126 bool txOK;
newc4420 1:51a5cfbfd25c 127 char msg[32];
newc4420 1:51a5cfbfd25c 128 char ackData[32];
newc4420 1:51a5cfbfd25c 129 char len;
newc4420 1:51a5cfbfd25c 130
newc4420 1:51a5cfbfd25c 131 // Setup
newc4420 1:51a5cfbfd25c 132 NRF2401P nrf1(PTD2,PTD3, PTD1,PTA13, PTD0); //pins on mosi, miso, sclk, csn, ce)
newc4420 1:51a5cfbfd25c 133
newc4420 1:51a5cfbfd25c 134 nrf1.quickRxSetup(channel, addr1); // sets nrf24l01+ as receiver, using pipe 1
newc4420 1:51a5cfbfd25c 135 while(true)
newc4420 1:51a5cfbfd25c 136 {
newc4420 1:51a5cfbfd25c 137
newc4420 1:51a5cfbfd25c 138 // receive
newc4420 1:51a5cfbfd25c 139 pc.printf("Waiting for Data ...\r\n");
newc4420 1:51a5cfbfd25c 140 while (! nrf1.isRxData()); // note this blocks until RX data
newc4420 1:51a5cfbfd25c 141 len= nrf1.getRxData(msg); // gets the message, len is length of msg
newc4420 1:51a5cfbfd25c 142 msg[len] = '\0';
newc4420 1:51a5cfbfd25c 143 pc.printf("Received %d bytes: %s\r\n",len, msg);
newc4420 1:51a5cfbfd25c 144 // set ack data
newc4420 1:51a5cfbfd25c 145 sprintf(ackData,"HELLO");
newc4420 1:51a5cfbfd25c 146 nrf1.acknowledgeData(ackData, strlen(ackData),1); // ack for pipe 1
newc4420 1:51a5cfbfd25c 147 pc.printf("Sent HELLO\r\n");
newc4420 1:51a5cfbfd25c 148
newc4420 1:51a5cfbfd25c 149 wait(0.1);
newc4420 1:51a5cfbfd25c 150 }
newc4420 1:51a5cfbfd25c 151 }