Marine Electricals
direction commands updated to Up down RPM value
Dependencies: MAX7219pot MCP23S17 mbed
Fork of
POT_V_1_0
by 
Marine Electricals
Diff: main.cpp
- Revision:
- 3:ae45e29f5d4f
- Parent:
- 1:e116808d8b00
- Child:
- 4:710464cb44fc
--- a/main.cpp Fri Jan 05 04:37:54 2018 +0000
+++ b/main.cpp Sat Jan 13 11:49:18 2018 +0000
@@ -1,5 +1,3 @@
-#include "mbed.h"
-
#include "mbed.h"
#include "pot.h"
#include "max7219.h"
@@ -19,8 +17,10 @@
Ticker flash_Ticker;
Ticker R_A_Ticker;
Ticker CMD_Ticker;
-Ticker disp_FLASH; //display blink
Ticker DIR_Ticker;
+Ticker HB_fail;
+Ticker RTC_ticker;
+Ticker led_refresh;
//SPI instances creation//
SPI _SPI2(SPI2_MOSI, SPI2_MISO, SPI2_SCK); //for displays max7219
@@ -31,7 +31,7 @@
MCP23S17 mcp23s17_1(1,_SPI3, SPI3_CS1,SPI3_RST); //class MCP23S17 object instance for mcp23s17 IC-1 key detection
MCP23S17 mcp23s17_2(2,_SPI3, SPI3_CS2,SPI3_RST); //class MCP23S17 object instance for mcp23s17 IC-2 key detection
Max7219 max7219(SPI2_MOSI, SPI2_MISO, SPI2_SCK,SPI2_CS1); //object instance for seven segment drivers
-
+max7219_configuration_t DEVICE1, DEVICE2;
//interrupts definations
InterruptIn int_A(INT_A); //8commands
InterruptIn int_B(INT_B); //4 3commands+1ack
@@ -49,27 +49,35 @@
DigitalOut buzzer(BUZ);
DigitalOut hooter(HTR);
-int addr,req,ack,cmd,dir,last_cmd, send_ADDR, rcvd_ADDR, ach_S,ach_M,test_cnt,req_ADDR,ack_ADDR, err_ID, err_Status;
-
-uint8_t digit_disp_1, digit_disp_2, digit_disp_3; //disp1 for new rpm, disp2 for current rpm, disp3 for rtc
+int err_ALL,sync_count,Hrs_1,Hrs_2, Mins_1, Mins_2, current_cmd, current_status,current_status_dir;
+int addr, req,ack, send_ADDR, rcvd_ADDR, ach_S,ach_M,test_cnt,req_ADDR,ack_ADDR, err_ID, err_Status;
+int rpm_data[4] = {0,0,0,0}; //digits 0-3
+int last_entry[4] = {0,0,0,0}; //digits 0-3
-float brightness;
+uint8_t spi_error,no_pot_connected,num_bytes,ticker_count,ticker_count_fast,norm_count,set_bit;
-uint8_t spi_error,no_pot_connected;
+uint8_t digit_disp1, digit_disp2, digit_disp3; //disp1 for new rpm, disp2 for current rpm, disp3 for rtc
+
+int dir, last_dir;
char pot_Addr,addr_ID,checksum;
-float HB_timer;
+float HB_timer,duty_cycle,sync_time;
+
+bool device_ERR,pot_Error, norm_op;
+bool toggle,test,toggle_fast,display_flash;
+bool key_CMD,key_CTRL,key_SET;
+bool HB_rcvd, HB_ack_rcvd, REQ_rcvd, BROADCAST_rcvd, ACK_rcvd,time_RCVD;
-bool spi_ERR,pot_Error,_disp_FLASH;
-bool RPM_cmd,DIR_cmd, RPM_cmd_ack, DIR_cmd_ack;
-bool HB_rcvd, HB_ack_rcvd, CMD_rcvd, CMD_ack_rcvd, REQ_rcvd, BROADCAST_rcvd, ACK_rcvd, rcvd_DIR;
-bool HB_send, CMD_send, BROADCAST_send, REQ_send, ACK_send, CMD_ack_send;
-bool test;
-bool CMD_key;
+bool DIR_cmd,DIR_cmd_ack,DIR_cmd_ack_send;
+bool RPM_cmd,RPM_cmd_ack,RPM_cmd_ack_send;
+
+bool HB_send, CMD_send, BROADCAST_send, REQ_send, ACK_send;
+
+bool ENTER_ACK_key,DIR_key,REQ_key,ACK_key;
+
bool switch_CH, pot_MCR_err, pot_ER_err, ACH_SW_over;
-char *key; // = new char[RX_BUFFER_SIZE]; //memory allocation for Receive buffer
char valid;
int device_addr = -1;
@@ -77,7 +85,7 @@
char tx_buf[TX_BUFFER_SIZE+1];
char RTC_buffer[5] = {1,2,3,4,0};
-DigitalOut LED_CMD(_CMD_ACK); //ack command in slave devices only
+DigitalOut LED_CMD_ACK(_CMD_ACK); //ack command in slave devices only
DigitalOut LED_CTRL[2] = {_REQ,_ACK}; //control transfer
DigitalOut LED_DIR[2] = {_AHEAD,_ASTERN}; //dir command
DigitalOut LED_ACH[8] = {_WH,_BRDG,_MCR,_ER,_WP,_WS,_OPS,_ASP}; //active channels
@@ -86,16 +94,13 @@
PwmOut mypwm(_PWM);
-uint8_t rpm_data[4] = {0,0,0,0}; //digits 0-3
-uint8_t last_entry[4] = {0,0,0,0}; //digits 0-3
-
struct _POT
{
int slave_ID;
- uint8_t err_cnt;
- bool c_err; //communication error
+ int err_cnt;
+ bool err_status;
};
-_POT* POT=NULL;
+struct _POT* POT=NULL;
enum AddrID
{
@@ -115,7 +120,7 @@
ON,
_FLASH = 2
};
-LED_STATUS led_cmd_ack[1]; //only in slave devices
+LED_STATUS led_cmd_ack; //only in slave devices
LED_STATUS led_ctrl[2];
LED_STATUS led_dir[2];
LED_STATUS led_ach[8];
@@ -180,21 +185,14 @@
}; //keyscan channelA,B,C,Dof MCP23s17 1& 2 respectively
enum CHANNEL ch;
-enum ack_dir_rpm
-{
- _RPM = 1,
- _DIR = 2
-};
+
/**************************************************************************************
- EOT display update FUNCTIONS
+ EOT RTC display update FUNCTIONS
**************************************************************************************/
-void display_update(bool RTC_disp, char* digits)
+void RTC_display(char* digits)
{
- if(RTC_disp)
- {
- RTC_disp = false;
- for(uint8_t i = 0; i <= 3; i++) //to write all the four digits
+ for(uint8_t i = 0; i <= 3; i++) //to write all the four digits
{
if(i == 1)
RTC_buffer[i] = RTC_buffer[i]|0b10000000; // to inc
@@ -202,14 +200,6 @@
__nop();
max7219.write_digit(1, i+1, *(digits+i)); //device 2, digit 1-4 ,data 0x01
}
- }
- else
- {
- for(uint8_t i = 0; i <= 3; i++) //to write all the four digits
- {
- max7219.write_digit(2, i+1, *(digits+i)); //device 1, digit 1-4 ,data pointer
- }
- }
}
/**************************************************************************************
@@ -220,7 +210,7 @@
time_t seconds = time(NULL);
strftime(RTC_buffer, 5, "%H%M\n", localtime(&seconds));
wait_ms(5);
- display_update(true, RTC_buffer);
+ RTC_display(RTC_buffer);
wait_ms(1);
}
@@ -247,7 +237,7 @@
if(test)
{
- LED_CMD = ON;
+ LED_CMD_ACK = ON; //in slave only
for(uint8_t i=0;i<=1;i++) //control
{
@@ -261,32 +251,33 @@
{
LED_ACH[i] = ON; //duty cycle 10%
}
+
+ /*TO DO DISPLAY TEST */
}
else
{
- for(uint8_t i=0;i<=10;i++) //cmd
- {
- if(led_cmd[i] == ON)
- LED_CMD[i] = ON;
+ ///////////////////////////////////
+ if(led_cmd_ack == ON) //status update LED_CMD_ACK
+ LED_CMD_ACK = ON;
else
__nop();
- if(led_cmd[i] == OFF)
- LED_CMD[i] = OFF;
+ if(led_cmd_ack == OFF)
+ LED_CMD_ACK = OFF;
else
__nop();
- if(led_cmd[i] == _FLASH)
+ if(led_cmd_ack == _FLASH)
{
if(toggle)
- LED_CMD[i]= ON;
+ LED_CMD_ACK= ON;
else
- LED_CMD[i] = OFF;
+ LED_CMD_ACK = OFF;
}
else
__nop();
- }
- for(uint8_t i=0;i<=1;i++) //control
+ /////////////////////////////////////
+ for(uint8_t i=0;i<=1;i++) //status update LED_CTRL
{
if(led_ctrl[i] == ON)
LED_CTRL[i] = ON;
@@ -308,7 +299,8 @@
else
__nop();
}
- for(uint8_t i=0;i<=7;i++) //active channel
+ ///////////////////////////////////
+ for(uint8_t i=0;i<=7;i++) //status update LED_ACH
{
if(led_ach[i] == ON)
LED_ACH[i] = ON; //duty cycle 10%
@@ -345,107 +337,186 @@
}
/**************************************************************************************
- EOT State Machines FUNCTIONS
+ POT State Machines FUNCTIONS
**************************************************************************************/
void HB_State_Machine() //run for 50ms at an interval of 10ms,event driven start stop
{
static int hb_state_cnt = 0;
- /* if(HB_send)
+ if(HB_send)
{
HB_send = false;
hb_state_cnt = 0;
}
else
__nop();
- */
+
if(HB_ack_rcvd)
{
HB_ack_rcvd = false;
HB_Ticker.detach();
POT[device_addr].err_cnt = 0;
- POT[device_addr].c_err = false;
+ if(POT[device_addr].err_status) //if that specific device is in error before but revert bak to healthy state
+ {
+ POT[device_addr].err_status = false;
+ err_Status = 0;
+ err_ID = POT[device_addr].slave_ID;
+
+ set_bit = (uint8_t)1<<(err_ID-1);
+ err_ALL = err_ALL^set_bit; //bitwise XOR
+
+ BROADCAST_send = true; // to tell all device that error diminished
+ switch_CH = true; // to tell specific device active channell
+ if(POT[device_addr].slave_ID == pot_Slave_MCR)
+ {
+ pot_MCR_err = false;
+ if(pot_ER_err)
+ {
+ ach_S = pot_Slave_MCR;
+ switch_CH = true; //automatic takeover if ER is already faulty
+ }
+ else
+ __nop();
+ }
+ else
+ __nop();
+
+ if(POT[device_addr].slave_ID == pot_Slave_ER)
+ {
+ pot_ER_err = false;
+ if(pot_MCR_err)
+ {
+ ach_S = pot_Slave_ER;
+ switch_CH = true; //automatic takeover if ER is already faulty
+ }
+ else
+ __nop();
+ }
+ else
+ __nop();
+ }
+ else
+ __nop();
+
+ POT[device_addr].err_status = false;
hb_state_cnt = 0;
+ err_Status = 0;
if(POT[device_addr].slave_ID == ach_S)
- LED_ACH[send_ADDR - 1].ON();
+ led_ach[send_ADDR - 1] = ON;
else
- LED_ACH[send_ADDR - 1].OFF();
+ led_ach[send_ADDR - 1] = OFF;
+
}
else
{
- if(++hb_state_cnt >= 5) //50ms
+ if(++hb_state_cnt >= 5)
{
- if((++POT[device_addr].err_cnt >= 3) && (!POT[device_addr].c_err)) //hb ack not received in third attempt
+ hb_state_cnt=0;
+ HB_Ticker.detach();
+
+ if((++POT[device_addr].err_cnt >= 3)&&(!POT[device_addr].err_status)) //specific device come to the error state
{
- POT[device_addr].c_err = true;
- POT[device_addr].err_cnt = 0;
- LED_ACH[send_ADDR - 1].FLASHH();
- err_ID = POT[device_addr].slave_ID;
+ led_ach[send_ADDR - 1] = _FLASH;
+ err_ID = POT[device_addr].slave_ID;
+
+ set_bit = (uint8_t)1<<(err_ID-1);
+ err_ALL = err_ALL|set_bit; //bitwise OR
+
+ POT[device_addr].err_status = true;
err_Status = 1;
- BROADCAST_send = true; //broadcast needed to be sent
- if((POT[device_addr].slave_ID == pot_Slave_MCR) && (ach_S == pot_Slave_MCR))
+ BROADCAST_send = true; //broadcast needed to be sent
+ if(POT[device_addr].slave_ID == pot_Slave_MCR) //means MCR fail
+ {
+ pot_MCR_err = true;
+ if(ach_S == pot_Slave_MCR)
+ {
+ if(!pot_ER_err) //automatic changeover if ER healthy
+ {
+ ach_S = pot_Slave_ER;
+ switch_CH = true; //transfer all slaves the new active slave
+ }
+ else
+ {
+ pot_Error = true;
+ ach_S = 9;
+ switch_CH = true; //both start flashing for ER nd MCR in all slaves
+ }
+ }
+ else
+ __nop();
+ }
+ else
+ __nop();
+
+ if(POT[device_addr].slave_ID == pot_Slave_ER)
{
- ach_S = pot_Slave_ER;
- pot_MCR_err = true;
- switch_CH = true;
- }
- else if((POT[device_addr].slave_ID == pot_Slave_ER) && (!POT[device_addr-1].c_err))
- {
- //if((ach_S == pot_Slave_ER) && (pot_MCR_err))
- // pot_Error = true;
- // if((ach_S == pot_Slave_ER) && (!pot_MCR_err))
- // {
- ach_S = pot_Slave_MCR;
pot_ER_err = true;
- switch_CH = true;
+ if(ach_S == pot_Slave_ER)
+ {
+ if(!pot_MCR_err) //automatic changeover if MCR healthy
+ {
+ ach_S = pot_Slave_MCR;
+ switch_CH = true;
+ }
+ else
+ {
+ pot_Error = true;
+ ach_S = 9;
+ switch_CH = true; //both start flashing for all MCR nd ER
+ }
+ }
+ else
+ __nop();
}
else
- pot_Error = false;
+ __nop();
}
+ else
+ __nop();
}
- hb_state_cnt=0;
- // pot_MCR_err = false;
- // pot_ER_err = false;
- err_Status = 0; // no communication error
- HB_Ticker.detach();
- }
+ else
+ __nop();
}
}
-void CMD_State_Machine() //function run periodcally in all connected devices on bus
+void CMD_State_Machine() //function run periodcally in all connected devices on bus
{
- int cmd_state_cnt=0;
+ static int cmd_state_cnt=0;
- if(RPM_cmd_ack) //PEOTX,CMD received in Master/SUB_Master, non Active Slave & Listner
+ if(RPM_cmd_ack) //PEOTX,CMD received in Master/SUB_Master, non Active Slave & Listner
{
- RPM_cmd = false; //no more PEOTC will be sent onwards
- disp_FLASH.detach(); //timer stoped
- max7219.enable_device(1); //disp 1 back in normal mode
- buzzer = _OFF;
- hooter = _OFF;
+ current_status = 1; //display steady
cmd_state_cnt = 0;
+ RPM_cmd = false;
RPM_cmd_ack = false;
+ display_flash = false;
+ buzzer = OFF;
+ hooter = OFF;
CMD_Ticker.detach(); //cmd state machine ticker stopped in all devices
}
- //else
- // {
- //if(addr_ID != ach_S) //PEOTC, CMD received in other than Active Slave
- // return;
- else if((CMD_ack_send) && (addr_ID == ach_S)) //if Hotter is ON then send ACK, in case of active Slave
- {
- disp_FLASH.detach(); //flash timer stoped
- max7219.enable_device(1); //disp 1 back in normal mode steady ON
- buzzer = _OFF;
- hooter = _OFF;
- cmd_state_cnt = 0;
- CMD_ack_send = false;
- int_B.rise(NULL); //cmd ack send so disable the key of active slave
- CMD_Ticker.detach(); //would be stopped in active slave only
+ else
+ {
+ if(addr_ID != ach_S) //PEOTC, CMD received in other than Active Slave
+ return;
+ else if(RPM_cmd_ack_send) //if RPM_cmd_ack in acitve slave
+ {
+ led_cmd_ack = ON; //RPM cmd ACK by active slave
+ cmd_state_cnt = 0;
+ buzzer = OFF; //steady ON
+ hooter = OFF;
+ cmd_state_cnt=0;
+ RPM_cmd_ack_send = false;
+ RPM_cmd = false;
+ int_B.rise(NULL); //all key functions/interrupt disabled for PORTA,B
+ mcp23s17_1.gpintenb(0x00); //interrupts disabled
+ wait_us(10);
+ CMD_Ticker.detach(); //would be stopped in active slave only
}
- else if(hooter == _OFF) //if hooter still off
+ else if(hooter == OFF) //if hooter still off
{
if(++cmd_state_cnt >= 12) //Hotter ON after 3sec
{
- hooter = _ON;
+ cmd_state_cnt = 0;
+ hooter = ON;
/* if(++cmd_state_cnt >= 96) //still command ack not recived for 24 sec
{
LED_CMD[cmd].OFF(); //command suspended
@@ -459,34 +530,38 @@
else
__nop();
}
+ else
+ __nop();
}
}
void R_A_Statemachine()
{
static int state_cnt = 0;
- if(ACK_rcvd)
- {
- //ack_ADDR = rcvd_ADDR;
- ACK_rcvd = false;
- }
- else if(REQ_rcvd)
+ if(++state_cnt >= 60) //REQ not acknowledged for 30 sec, leds turn off, timer stopped
{
- //req_ADDR = rcvd_ADDR;
- REQ_rcvd = false;
- }
-
- if(++state_cnt >= 10) //REQ not acknowledged for 5 sec, leds turn off, timer stopped
- {
+ state_cnt = 0;
R_A_Ticker.detach();
- LED_CTRL[REQ_-1].OFF();
- LED_CTRL[ACK_-1].OFF();
+
+ if(addr_ID != ach_M) //*********** TODO****************//
+ {
+ int_B.rise(NULL);
+ mcp23s17_1.gpintenb(0x00); //portb of mcp1 keys disabled related to ACK
+ wait_us(10);
+ }
+ else
+ __nop();
+
+ led_ctrl[REQ_-1] = OFF;
+ led_ctrl[ACK_-1] = OFF;
}
else
- {
- if(ACH_SW_over) //active channel switchover true only after acknowledge receive
+ __nop();
+
+ if(ACK_rcvd) //active channel switchover true only after acknowledge receive
{
- ACH_SW_over = false;
+ ACK_rcvd = false;
+ led_ctrl[REQ_-1] = OFF;
if(addr_ID == pot_Master)
{
if(ack_ADDR == 3 || ack_ADDR == 4)
@@ -496,13 +571,19 @@
else if(ach_S == pot_Slave_ER)
ach_S = pot_Slave_MCR;
}
- else if(ack_ADDR == 2 || ack_ADDR == 1)
+ else
+ __nop();
+
+ if(ack_ADDR == 2 || ack_ADDR == 1)
{
if(ach_M == pot_Master)
ach_M = pot_Submaster;
else if(ach_M == pot_Submaster)
ach_M = pot_Master;
}
+ else
+ __nop();
+
switch_CH = true;
state_cnt = 0;
R_A_Ticker.detach();
@@ -513,41 +594,58 @@
R_A_Ticker.detach();
}
}
- }
+ else
+ __nop();
}
-void DIR_Statemachine(void)
+void DIR_state_machine(void)
{
static int dir_state_cnt = 0;
if(DIR_cmd_ack)
{
+ DIR_cmd = false;
DIR_cmd_ack = false;
- LED_DIR[dir-1].ON(); //led direction acknowledged turn steady
- buzzer = _OFF; //buzzer Off
- hooter = _OFF
+ current_status_dir = 1; //steady
+ led_dir[dir-1] = ON; //led direction acknowledged turn steady
+ buzzer = OFF; //buzzer Off
+ hooter = OFF;
DIR_Ticker.detach();
}
else
{
- if((++dir_state_cnt >= 12) && (hooter == _OFF)) //direction command not ack for 03 sec
+ if((++dir_state_cnt >= 12) && (hooter == OFF)) //direction command not ack for 03 sec
{
- hooter = _ON;
+ hooter = ON;
dir_state_cnt = 0;
}
else
__nop();
- }
-
+ }
}
-
-
-void DISP_FLASH(void) //function attached to event driven ticker disp_FLASH
+void HB_fail_state_machine()
{
- _disp_FLASH = !_disp_FLASH;
- if(_disp_FLASH)
- max7219.disable_device(1);
- else
- max7219.enable_device(1);
+ static uint8_t fail_count = 0;
+ if(HB_rcvd)
+ {
+ HB_rcvd = false;
+ device_ERR = false;
+ }
+ else if(++fail_count >=3) // if max 07 number of connected eots 7x3=21, it takes 150x21=3.150 sec to alarm
+ {
+ fail_count = 0;
+ led_dir[dir] = OFF; //current command if any turned OFF
+ // led_cmd[current_cmd] = OFF;
+ display_flash = false;
+ device_ERR = true;
+ max7219.disable_device(2); //shutdown mode
+ wait_ms(2);
+ for(uint8_t i = 0; i <=7; i++)
+ {
+ led_ach[i] = OFF; //all other active chnnels leds or device errors
+ }
+ led_ach[addr_ID - 1] = _FLASH; //specific device is in error flshes only
+ HB_fail.detach();
+ }
}
void NUMERIC_handler(uint8_t key_ID) //function sacnning all the 0-9 number keys
@@ -557,23 +655,24 @@
if(key_ID != FALSE0)
{
if(((ach_M == pot_Master) && (addr_ID == pot_Master)) || ((ach_M == pot_Submaster) && (addr_ID == pot_Submaster))) //for Master
- {
- if(digit_disp1 <= 1)
- digit_disp1 = 4;
- else
- digit_disp1-- ;
-
- rpm_data[digit_disp1-1] = num;
- max7219.write_digit(1,digit_disp1,rpm_data[digit_disp1-1]); //4th digit updated on first press, then 3rd on next press....soon
- }
+ {
+ if(digit_disp1 <= 1)
+ digit_disp1 = 4;
+ else
+ digit_disp1-- ;
+
+ rpm_data[digit_disp1-1] = num; //data stored in global buffer
+ max7219.write_digit(2,digit_disp1,rpm_data[digit_disp1-1]); //4th digit updated on first press, then 3rd on next press....soon
+ wait_us(10);
+ }
else
__nop();
}
else
__nop();
- }
}
+
void CTRL_handler(uint8_t CTRL_ID) //handle control transfer
{
if(CTRL_ID != FALSE1)
@@ -583,15 +682,27 @@
if(CTRL_ID == REQ_)
{
req = REQ_; //req data updated 0 here, same int values as in enum
- LED_CTRL[REQ_-1].FLASHH(); //req led flash starts
+ REQ_key = true;
+ led_ctrl[REQ_-1] = _FLASH; //req led flash starts
R_A_Ticker.attach(&R_A_Statemachine,0.5);
}
- if(CTRL_ID == ACK_ && REQ_rcvd)
+ else
+ __nop();
+
+ if((CTRL_ID == ACK_)&& (REQ_rcvd))
{
+ REQ_rcvd = false;
ack = ACK_; //ack data updated 2 here
- LED_CTRL[ACK_-1].OFF(); //ack led turns off
+ ACK_key = true;
+ int_B.rise(NULL); //interrupt disabled
+ wait_us(10);
+ mcp23s17_1.gpintenb(0x00); //ACK key interrupts disabled
+ wait_us(10);
+ led_ctrl[ACK_-1] = OFF; //ack led turns off
R_A_Ticker.detach();
}
+ else
+ __nop();
}
}
else
@@ -603,50 +714,36 @@
if(DIR_ID != FALSE2)
{
if(addr_ID == ach_M)
- {
- if(DIR_ID == AHEAD)
- {
- dir = AHEAD;
- LED_DIR[dir-1].FLASHH(); //led direction AHEAD start flashing
- buzzer = _ON; //buzzer ON
- DIR_cmd = true;
- DIR_Ticker.attach(&DIR_Statemachine,0.5);
- }
- else
- __nop();
- if(DIR_ID == ASTERN)
+ {
+ current_status_dir = 2; //flash
+ led_dir[dir-1] = OFF;
+ dir = DIR_ID;
+ led_dir[dir-1] = _FLASH; //led direction AHEAD start flashing
+ buzzer = ON; //buzzer ON
+ DIR_cmd = true; // dir cmd needs to be sent
+ }
+ else
+ __nop();
+
+ if (addr_ID == ach_S)
+ {
+ if((dir == DIR_ID)&&(DIR_cmd)) //direction command is received
{
- dir = ASTERN;
- LED_DIR[dir-1].FLASHH(); //led direction AHEAD start flashing
- buzzer = _ON; //buzzer ON
- DIR_cmd = true;
- DIR_Ticker.attach(&DIR_Statemachine,0.5);
+ current_status_dir = 1;
+ led_dir[dir-1] = OFF;
+ dir = DIR_ID;
+ led_dir[dir-1] = ON; //led direction AHEAD start flashing
+ buzzer = OFF; //buzzer OFF
+ DIR_key = true; //dir ack will be sent in response to HB
}
else
__nop();
}
- else if (addr_ID == ach_S)
- {
- if(DIR_ID == AHEAD)
- {
- if(rcvd_DIR && (dir == AHEAD)); //direction command is received
- LED_DIR[dir-1].ON(); //led direction AHEAD start flashing
- buzzer = _OFF; //buzzer ON
- DIR_cmd = true;
- DIR_Ticker.attach(&DIR_Statemachine,0.5);
- }
- if(DIR_ID == ASTERN)
- {
- dir = ASTERN;
- LED_DIR[dir-1].FLASHH(); //led direction AHEAD start flashing
- buzzer = _ON; //buzzer ON
- DIR_cmd = true;
- DIR_Ticker.attach(&DIR_Statemachine,0.5);
- }
- }
+ else
+ __nop();
}
else
- __nop(); //then do nothing
+ __nop(); //then do nothing
}
void DISP_handler(uint8_t DISP_ID) //handle control transfer
@@ -655,213 +752,191 @@
disp_key = DISP_ID;
if(DISP_ID != FALSE3)
{
- if((addr_ID == ach_M)||(addr_ID == ach_S))
+ switch(disp_key)
{
- switch(disp_key)
- {
- case clr_ENTRY: //CE delete only last/4th digit and shift others digits towards right/4th digit
- if(addr_ID == ach_M)
+ case clr_ENTRY: //CE,elete only last/4th digit and shift others digits towards right/4th digit
+ if(addr_ID == ach_M)
+ {
+ for(uint8_t i = 3; i >= 0 ; i--)
+ {
+ rpm_data[i] = rpm_data[i-1];
+ if(i==0)
+ rpm_data[i] = 0; //data 0 means left most digit will be blank bcoz no decode mode is used
+ }
+ for(uint8_t i = 0; i <=3; i++)
{
- for(uint8_t i = 3; i >= 0 ; i--)
- {
- rpm_data[i] = rpm_data[i-1];
- if(i==0)
- rpm_data[i] = 0; //data 0 means left most digit will be blank bcoz no decode mode is used
- }
- for(uint8_t i = 0; i >=3; i++)
- {
- max7219.write_digit(1,i+1,rpm_data[i]); //4th digit will be deleted whilers are shifted towards right 1st will be blank
- }
+ max7219.write_digit(2,i+1,rpm_data[i]); //4th digit will be deleted whilers are shifted towards right 1st will be blank
}
- else
+ }
+ else
+ {
+ __nop();
+ }
+ break;
+
+ case last_ENTRY:
+ if(addr_ID == ach_M)
+ { //C delete all digits in DS1 and show last entered value
+ for(uint8_t i = 0; i >=3; i++)
{
- __nop();
- }
- break;
-
- case last_ENTRY: //C delete all digits in DS1 and show last entered value
- if(addr_ID == ach_M)
- {
- for(uint8_t i = 0; i >=3; i++)
- {
- max7219.write_digit(1,i+1,last_entry[i]); //last entery displayed
- }
+ max7219.write_digit(2,i+1,last_entry[i]); //last entery displayed
}
- else
+ }
+ else
+ {
+ __nop();
+ }
+ break;
+
+ case ENTER_ACK: //work as Enter in master and CMD ACK in slave
+ if((addr_ID == ach_S)&&(RPM_cmd)) //RPM command ack needs to be sent
+ {
+ display_flash = false;
+ buzzer = OFF;
+ ENTER_ACK_key = true; //flashing display1 turned steady
+ RPM_cmd_ack = true; //RPM command acknowledged by active slave
+ }
+ else if (addr_ID == ach_M) //in case of active masters
+ { //disp1 start flashing, and data sent over UART for all digits 1-4
+ for(uint8_t i = 0; i >=3; i++)
{
- __nop();
- }
- break;
-
- case ENTER_ACK:
- if((addr_ID == ach_S)&&(CMD_rcvd)) //RPM command ack needs to be sent
- { //flashing display1 turned steady
- RPM_cmd_ack = true; //RPM command acknowledged by active slave
- }
- else if (addr_ID == ach_M) //in case of active masters
- { //disp1 start flashing, and data sent over UART for all digits 1-4
- for(uint8_t i = 0; i >=3; i++)
- {
- last_entry[i] = rpm_data[i]; //data saved to last entery
- }
- disp_FLASH.attach(&DISP_FLASH,0.500); //timer started
- int_A.rise(NULL); //all key functions DISabled for PORTA,B in active MASTER only
- int_B.rise(NULL);
- RPM_cmd = true; //command need to be send
+ last_entry[i] = rpm_data[i]; //data saved to last entery
}
- else
- {
- __nop();
- }
- break;
-
- default:
-
- break;
- }
+ display_flash = true; //display starts flashing
+ int_A.rise(NULL); //all key functions DISabled for PORTA,B in active MASTER only
+ int_B.rise(NULL);
+ current_status = 2; //flash
+ buzzer = ON;
+ RPM_cmd = true; //command need to be send
+ }
+ else
+ {
+ __nop();
+ }
+ break;
+
+ default:
+ __nop();
+ break;
}
}
else
__nop(); //then do nothing
}
-void BRT_handler(float brt)
-{
- for(uint8_t i=0;i<=1;i++) //cmd led initialisation
- {
- LED_DIR[i].set_Brightness(brt); //setting period 100 ms
- }
- for(uint8_t i=0;i<=1;i++) //ctrl led intialisation
- {
- LED_CTRL[i].set_Brightness(brt);
- }
- for(uint8_t i=0; i<=7;i++) //ach led initialisation
- {
- LED_ACH[i].set_Brightness(brt);
- }
-}
-
+/******************************************************************
+function to set brightness of leds and seven segment
+******************************************************************/
void SET_handler(uint8_t Set_ID)
{
- if(Set_ID != FALSE4)
+ if(Set_ID != FALSE2)
{
- if(Set_ID == INC)
- {
- if(brightness <= 0.99f)
- {
- brightness = +0.01;
- BRT_handler(brightness);
- }
- else
- {
- brightness = 0.99;
- BRT_handler(brightness);
- }
-
- }
- else if(Set_ID == DEC)
+ switch(Set_ID)
{
- if(brightness >= 0.01f)
- {
- brightness = -0.01;
- BRT_handler(brightness);
- }
- else
- {
- brightness = 0.01; //minimum brightnes
- BRT_handler(brightness);
- }
- }
- else if(Set_ID == TEST)
- {
- test_cnt++;
- if(test_cnt <= 1)
- test = true;
- else if(test_cnt >= 2)
- {
- test = false;
- test_cnt = 0;
- }
+ case INC:
+ duty_cycle = mypwm.read(); //as duty cycle decreases creases brightnes increases
+ if( duty_cycle >= 0.01f)
+ {
+ duty_cycle = duty_cycle-0.01f;
+ mypwm.write(duty_cycle);
+ }
+ else
+ {
+ duty_cycle = 0.01;
+ }
+ if((DEVICE1.intensity || DEVICE2.intensity) <= 0x0f)
+ {
+ DEVICE1.intensity ++; //intensity modified
+ DEVICE2.intensity ++;
+ max7219.set_intensity(DEVICE1); //updating brightness value of DEVICE1
+ max7219.set_intensity(DEVICE2); //updating brightness value of DEVICE2
+ }
+ else
+ {
+ DEVICE1.intensity =0x0f;
+ DEVICE2.intensity =0x0f;
+ max7219.set_intensity(DEVICE1); //updating brightness value of DEVICE1
+ max7219.set_intensity(DEVICE2); //updating brightness value of DEVICE2
+ }
+ break;
+
+ case DEC:
+ duty_cycle = mypwm.read();
+ if( duty_cycle < 0.99f) //as duty cycle increases brightnes decreases
+ {
+ duty_cycle = duty_cycle+0.01f;
+ mypwm.write(duty_cycle);
+ }
+ else
+ {
+ duty_cycle = 0.99;
+ }
+ if((DEVICE1.intensity || DEVICE2.intensity) >= 0x01)
+ {
+ DEVICE1.intensity --; //intensity modified
+ DEVICE2.intensity --;
+ max7219.set_intensity(DEVICE1); //updating brightness value of DEVICE1
+ max7219.set_intensity(DEVICE2); //updating brightness value of DEVICE2
+ }
+ else
+ {
+ DEVICE1.intensity =0x01;
+ DEVICE2.intensity =0x01; //minimum brightnes
+ max7219.set_intensity(DEVICE1); //updating brightness value of DEVICE1
+ max7219.set_intensity(DEVICE2); //updating brightness value of DEVICE2
+ }
+ break;
+
+ case TEST:
+ test_cnt++;
+ if(test_cnt <= 1)
+ test = true;
+ else if(test_cnt >= 2)
+ {
+ test = false;
+ test_cnt = 0;
+ }
+ else
+ __nop();
+ break;
+
+ default:
+ __nop();
+ break;
}
}
else
__nop();
}
-
-
-
-
/**************************************************************************************
- EOT SPI Data Read KEY FUNCTIONS
+ POT SPI Data Read KEY FUNCTIONS
**************************************************************************************/
unsigned char read_KEY_SPI(int CH)
{
char _key;
- uint8_t spi_err=0;
switch(CH)
{
case 1:
- if(spi_err<3)
- {
- _key=mcp23s17_1.intcapa(); // read(INTCAPA_ADDR);
- if(mcp23s17_1.intcapa()) //read(INTCAPA_ADDR)) again if some non zero value obtained //if Interrupt pending
- {
- spi_err++;
- }
- else
- {
- spi_err=0;
- }
- }
- else
- {
- _key=0;
- spi_ERR=true;
- }
+ wait_ms(1);
+ _key = mcp23s17_1.intcapa(); // read(INTCAPA_ADDR);
+ wait_ms(1);
break;
case 2:
- if(spi_err<3)
- {
+ wait_ms(1);
_key=mcp23s17_1.intcapb();
- if(mcp23s17_1.intcapb()) //if Interrupt pending
- {
- spi_err++;
- }
- else
- {
- spi_err=0;
- }
- }
- else
- {
- _key=0;
- spi_ERR=true;
- }
+ wait_ms(1);
break;
case 3:
- if(spi_err<3)
- {
+ wait_ms(1);
_key=mcp23s17_2.intcapa();
- if(mcp23s17_2.intcapa()) //if Interrupt pending
- {
- spi_err++;
- }
- else
- {
- spi_err=0;
- }
- }
- else
- {
- _key=0;
- spi_ERR=true;
- }
+ wait_ms(1);
break;
-
case 4:
- _key = mcp23s17_2.gpiob(); //address read PORTB of chip2 for getting pot addresses
+ wait_ms(1);
+ _key = mcp23s17_2.gpiob(); //address read PORTB of chip2
+ wait_ms(1);
break;
default:
_key = 0;
@@ -869,9 +944,11 @@
}
return(_key);
}
+
void read_KEY_A() //function check status of PORTA of MCP23S17 (1) chip
{
char key_status = 0;
+ uint8_t num_KEY = 0;
key_status = read_KEY_SPI(ch_A); //to read portA of mcp23s17(1)
if(key_status != 0xff) //means some key must have been pressed
{
@@ -912,6 +989,10 @@
void read_KEY_B()
{
char key_status = 0;
+ uint8_t num_KEY = 0;
+ uint8_t dir_KEY = 0;
+ uint8_t disp_KEY = 0;
+ uint8_t ctrl_KEY = 0;
key_status = read_KEY_SPI(ch_B); //to read portBof mcp23s17(1)
if(key_status != 0xff)
{
@@ -933,19 +1014,19 @@
dir_KEY = ASTERN;
DIR_handler(dir_KEY);
break;
- case 0xef: //0xef GPA4
- ctrl_KEY = ACK;
+ case 0xef: //0xef GPA4
+ ctrl_KEY = ACK_;
CTRL_handler(ctrl_KEY);
break;
- case 0xdf: //0xdf GPA5
+ case 0xdf: //0xdf GPA5
disp_KEY = clr_ENTRY; //CE
DISP_handler(disp_KEY);
break;
- case 0xbf: //0xbf GPA6
+ case 0xbf: //0xbf GPA6
disp_KEY = last_ENTRY; //C
DISP_handler(disp_KEY);
break;
- case 0x7f: //0x7f GPA7
+ case 0x7f: //0x7f GPA7
disp_KEY = ENTER_ACK;
DISP_handler(disp_KEY);
break;
@@ -961,6 +1042,8 @@
void read_KEY_C()
{
char key_status = 0;
+ uint8_t ctrl_KEY = 0;
+ uint8_t set_KEY = 0;
key_status = read_KEY_SPI(ch_C); //to read portA of mcp23s17(2)
if(key_status != 0xff)
{
@@ -990,7 +1073,7 @@
/**************************************************************************************
-EOT Serial Data Out FUNCTIONS
+POT Serial Data Out FUNCTIONS
**************************************************************************************/
uint8_t get_checksum(const char *sentence)
{
@@ -1017,99 +1100,156 @@
switch(seq)
{
case 0:
- sprintf(key,"$PEOTA,%u,%c*", addr_ID, *valid);
+ sprintf(tx_buf,"$PPOTA,%u,%c", addr_ID, valid);
break;
case 1:
- sprintf(key,"$PEOTR,%u,%u,%c*", addr_ID, req, *valid);
+ sprintf(tx_buf,"$PPOTR,%u,%u,%c", addr_ID, REQ_, valid);
break;
case 2:
- sprintf(key,"$PEOTK,%u,%u,%c*", addr_ID, ack, *valid);
+ sprintf(tx_buf,"$PPOTK,%u,%u,%c", addr_ID, ACK_, valid);
break;
default:
- sprintf(key,"$PEOTA,%u,%c*", addr_ID, *valid);
+ sprintf(tx_buf,"$PPOTA,%u,%c", addr_ID, valid);
break;
}
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
-void send_ack_CMD(uint8_t _adr, uint8_t x)
+void send_ack_CMD(uint8_t cmd_t)
{
- sprintf(key,"$PEOTX,%u,%u,%c*", _adr, x, *valid);
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ switch(cmd_t)
+ {
+ case 1: //RPM cmd ack
+ sprintf(tx_buf,"$PPOTX,%u,%u,%c", addr_ID, cmd_t, valid);
+ break;
+ case 2: //DIR cmd Ack
+ sprintf(tx_buf,"$PPOTX,%u,%u,%c", addr_ID, cmd_t, valid);
+ break;
+ default:
+ __nop();
+ break;
+ }
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
-void send_CMD(uint8_t _adr)
-{ //digiit1 digit2 digit3 digit4
- sprintf(key,"$PEOTC,%u,%u,%u,%u,%u,%c*", _adr, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3], *valid);
- checksum = get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+void send_RPM(uint8_t _adr)
+{
+ sprintf(tx_buf,"$PPOTC,%u,%u,%u,%u,%u,%c", _adr, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3], valid);
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
void send_DIR(uint8_t _adr) //addr 1-8 of leds,error=1 or 0(no error)
{
- sprintf(key,"$PEOTD,%u,%u,%c*",_adr,dir,*valid); // dir is 1 for ahead, 2 for astern
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ sprintf(tx_buf,"$PPOTD,%u,%u,%c",_adr,dir,valid); // dir is 1 for ahead, 2 for astern
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
void send_HB(uint8_t _adr) //master will send the haertbeat to all presentees at periodic intervals
{
- sprintf(key,"$PEOTH,%u,%c*", _adr, *valid);
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ sprintf(tx_buf,"$PPOTH,%u,%c", _adr, valid);
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
void send_BROADCAST() //addr 1-8 of leds,error=1 or 0(no error)
{
- sprintf(key,"$PEOTB,%u,%u,%c*",err_ID,err_Status,*valid);
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ sprintf(tx_buf,"$PPOTB,%u,%u,%c",err_ALL,err_Status,valid);
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
BROADCAST_send=false;
}
+ /** Function will send ac-M, ac-S, rpm-data(04digits), cmd_state)**/
+void send_ACH()
+{
+ sprintf(tx_buf,"$PPOTS,%u,%u,%u,%u,%u,%u,%u,,%u,%u,%c", ach_M, ach_S, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],dir,current_status,current_status_dir,valid);
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
+}
-void send_ACH()
+void ask_TIME()
{
- sprintf(key,"$PEOTS,%u,%u,%c*", ach_M, ach_S, *valid);
- checksum=get_checksum(key);
- sprintf(key,"%u\r\n",checksum);
- UART.printf("%s",key);
+ Hrs_1 = Hrs_2 = Mins_1 = Mins_2 = 0;
+ sprintf(tx_buf,"$PPOTQ,%u,%u,%u,%u,%c", Hrs_1,Hrs_2, Mins_1, Mins_2,valid); //querry to CPU for time
+ //checksum=get_checksum(tx_buf);
+ //sprintf(tx_buf,"%u",checksum);
+ Drive_En = 1;
+ UART.printf("%s\r\n",tx_buf);
+ wait_ms(2);
+ Drive_En = 0;
}
-
/**************************************************************************************
EOT Serial Data In FUNCTIONS
**************************************************************************************/
-void rcvd_HB() //master check HB along with req response for all presentees
+void rcvd_HB() //all devices check for HB along with req response for all presentees
{
- if(rcvd_ADDR == addr_ID) //self address received
- {
+ if(rcvd_ADDR == addr_ID) //==addr_ID self address received
+ {
+ HB_rcvd = true;
if(addr_ID > pot_Slave_ER)
- { //if no req
+ { //all listners replied with
resp_HB(0); //normal HB response
}
- else
+ else //in case of active slave
{
- if(req)
+ if(ENTER_ACK_key) //RPM ACK key is detected at active slave
+ {
+ send_ack_CMD(1);
+ RPM_cmd_ack_send = true;
+ ENTER_ACK_key = false;
+ }
+ else if(DIR_key) //dir ack key detected at active slave
{
+ DIR_key = false;
+ DIR_cmd_ack_send = true;
+ send_ack_CMD(2);
+ }
+ else if(REQ_key)
+ {
+ REQ_key = false;
resp_HB(1); //req and ack status data in req=1 and ack=2 if true
- req = 0;
}
- else if(ack)
+ else if(ACK_key)
{
+ ACK_key = false;
resp_HB(2); //req and ack status data in req=1 and ack=2 if true
- ack = 0;
}
else
resp_HB(0); //req and ack status data in req=1 and ack=2 if true
}
+ HB_fail.attach(&HB_fail_state_machine,1);
}
else
__nop();
@@ -1117,7 +1257,7 @@
void resp_rcvd_HB() //master and active/passive slaves check HB response along with req/ack commands
{
- if(addr_ID == eot_Master) //only master will be able to monitor status of all eots connected
+ if(addr_ID == pot_Master) //only master will be able to monitor status of all eots connected
{
if(send_ADDR == rcvd_ADDR)
HB_ack_rcvd = true;
@@ -1127,180 +1267,317 @@
else
__nop();
}
-
-void rcvd_rpm_CMD() //all devices check for received command
+void rcvd_ACH()
{
- for(uint8_t i = 0; i >= 3 ; i--)
+ led_ach[ach_M-1] = ON;
+ if(current_status == 2)
+ {
+ led_dir[dir-1] = _FLASH;
+ max7219.enable_device(2);
+ display_flash = true;
+ }
+ else if(current_status == 1)
+ {
+ led_dir[dir-1] = ON;
+ max7219.enable_device(2);
+ display_flash = false;
+ }
+ else
+ {
+ led_dir[dir-1] = OFF;
+ max7219.enable_device(2);
+ }
+
+ if(current_status_dir == 2)
+ {
+ led_dir[dir-1] = _FLASH;
+ }
+ else if(current_status_dir == 1)
+ {
+ led_dir[dir-1] = ON;
+ }
+ else
+ {
+ led_dir[dir-1] = OFF;
+ }
+
+ for(uint8_t i = 3; i <= 7 ; i++)
+ {
+ max7219.write_digit(1,i+1,rpm_data[i]); //device 1 digits 1-4 //data 0 means left most digit will be blank bcoz no decode mode is used
+ }
+
+ if(ach_S != 9)
{
- max7219.write_digit(1,i+1,rpm_data[i]); //disp1 //data 0 means left most digit will be blank bcoz no decode mode is used
- }
- buzzer = _ON; //buzzer on
+ if(ach_S == pot_Slave_MCR)
+ {
+ led_ach[pot_Slave_MCR -1] = ON;
+ if(led_ach[pot_Slave_ER -1] == ON)
+ led_ach[pot_Slave_ER -1] = OFF; //ER off
+ else
+ __nop();
+ }
+ else if(ach_S == pot_Slave_ER)
+ {
+ led_ach[pot_Slave_ER -1] = ON; //ER ON
+ if(led_ach[pot_Slave_MCR -1] == ON)
+ led_ach[pot_Slave_MCR -1] = OFF; //ER off
+ else
+ __nop();
+ }
+ else
+ __nop();
+
+ if((RPM_cmd || DIR_cmd)&& (addr_ID == ach_S)) // cmd ack not received before its failure control shifted to another slave
+ { //all key functions enabled for PORTB in active slave only
+ int_B.rise(&read_KEY_B);
+ wait_us(10);
+ mcp23s17_1.gpintenb(0xff); //ff
+ wait_us(10);
+ }
+ else
+ __nop();
+ }
+ else
+ {
+ led_ach[pot_Slave_MCR-1] = _FLASH;
+ led_ach[pot_Slave_ER-1] = _FLASH;
+ }
+}
+
+void rcvd_rpm_CMD() //all devices check for received command
+{
+ led_cmd_ack = _FLASH; //ack cmd led start flashing
+ for(uint8_t i = 0; i <= 3 ; i++)
+ {
+ max7219.write_digit(2,i+1,rpm_data[i]); //device 2 digits 1-4 //data 0 means left most digit will be blank bcoz no decode mode is used
+ }
+ wait_us(10);
+ buzzer = ON;
+ display_flash = true; //display start flashing //buzzer on
+
if(ach_S == addr_ID)
{
- int_B.rise(&read_KEY_B); //portc is always enbaled in all cases and PORTA is enabled only for active master
- }
- else
- {
- __nop();
- }
- if(addr_ID == rcvd_ADDR) //particular device responds cmd_ack
- {
- resp_HB(0); //CMD_ack or response with PEOTA syntax send by devices as per their addresss
+ int_B.rise(&read_KEY_B); //only PORTB needs to be enabled
+ wait_us(10);
+ mcp23s17_1.gpintenb(0xff); //ff
+ wait_us(10); //portc is always enbaled in all cases and PORTA is enabled only for active master
}
else
{
__nop();
}
-
- disp_FLASH.attach(&DISP_FLASH,0.50); //disp1 flash timer started in all connected devices except master
- CMD_Ticker.attach(&CMD_State_Machine,0.25); //state machine timer started in all connected devices except master
+ CMD_Ticker.attach(&CMD_State_Machine,0.25); //state machine timer started in all connected devices except master
}
+
void rcvd_dir_CMD() //all devices check for received command
{
- rcvd_DIR = true;
- LED_DIR[last_dir-1].OFF();
- LED_DIR[dir-1].FLASHH(); //led flash started
- buzzer = _ON; //buzzer on
- last_dir = dir;
- //ACK_pending = true; //HB-cmd ack pending with "A"
- DIR_Ticker.attach(&DIR_State_Machine,0.25); //state machine timer started in all connected devices
+ DIR_cmd = true;
+ led_dir[last_dir-1] = OFF;
+ led_dir[dir-1] = _FLASH; //led flash started
+ buzzer = ON; //buzzer on
+ last_dir = dir; //HB-cmd ack pending with "A"
if(ach_S == addr_ID)
{
- int_B.rise(&read_KEY_B); //enable keys bcoz ahead/astern keys co-grouped to PORTB of mcp23s17(1)
+ int_B.rise(&read_KEY_B); //enable portb interupts
+ mcp23s17_1.gpintenb(0xff); //ff
+ wait_us(10);
}
+ DIR_Ticker.attach(&DIR_state_machine,0.25);
}
void rcvd_BROADCAST()
{
- if(err_Status==1) //err non zero
+ for(uint8_t i = 0 ; i <= 7 ; i++)
{
- LED_ACH[err_ID].FLASHH();
+ if(((uint8_t)1<<i) & (uint8_t)err_ALL)
+ {
+ led_ach[i] = _FLASH;
+ }
+ else if(led_ach[i] != ON)
+ {
+ led_ach[i]= OFF;
+ }
+ else
+ __nop();
}
- else
+ for(uint8_t i = 3; i <= 7 ; i++)
{
- LED_ACH[err_ID].OFF();
- }
+ max7219.write_digit(2,i+1,rpm_data[i]); //device 2 digits 4-8 //data 0 means left most digit will be blank bcoz no decode mode is used
+ }
+ wait_us(10);
}
+void rcvd_TIME()
+{
+ uint8_t Hrs,Mins;
+ struct tm t;
+ Hrs = 10*Hrs_1+Hrs_2;
+ Mins = 10*Mins_1+Mins_2;
+ t.tm_year = 2018-1900;
+ t.tm_mon = 5;
+ t.tm_mday = 16;
+ t.tm_hour = Hrs;
+ t.tm_min = Mins;
+ t.tm_sec = 51;
+ set_time((time_t)mktime(&t));
+ wait_ms(1);
+ read_RTC();
+ wait_ms(1);
+ time_RCVD = true;
+}
void read_SERIAL()
{
- UART.scanf("%s",key);
- strtok(key,",");
- if(strcmp(key,"$PEOTH") == 0) //* present submaster,Slaves or lsitners receive HB *//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address of connected device
- rcvd_HB(); //set flag when Heartbeat received
- }
- else if(strcmp(key,"$PEOTA") == 0) //* Master,submaster and Slaves receive heartbeat resp *//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
- if(RPM_cmd_ack && addr_ID == ach_S) //ENTER_ACK key here is detected from active slave
- {
- send_ack_CMD(addr_ID,RPM); //PEOTX,addr_ID,R(for RPM)
- CMD_ack_send = true;
- RPM_cmd_ack = false; //in active slave
- }
- else if(DIR_cmd_ack && addr_ID == ach_S)
- {
- send_ack_CMD(addr_ID,DIR); //PEOTX,addr_ID,D(for direction)
- DIR_cmd_ack = false;
- DIR_Ticker.detach(); //DIR_state_machine suspended in active slave
- }
- else
- resp_rcvd_HB();
- }
- else if(strcmp(key,"$PEOTB") == 0) //* submaster,Slaves or listener receive broadcast *//
- {
- sscanf(strtok (NULL,","), "%u", &err_ID); //cmd extracted
- sscanf(strtok (NULL,","), "%u", &err_Status);
- rcvd_BROADCAST();
- }
- else if(strcmp(key,"$PEOTC") == 0) //* submaster,Slaves or listener receive CMD *//
+ char rcvd_char;
+ int cmd_t;
+ while(UART.readable() && (num_bytes < RX_BUFFER_SIZE))
{
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address extracted
- sscanf(strtok (NULL,","), "%u", &rpm_data[0]); //rpm data digit 1 and soon
- sscanf(strtok (NULL,","), "%u", &rpm_data[1]);
- sscanf(strtok (NULL,","), "%u", &rpm_data[2]);
- sscanf(strtok (NULL,","), "%u", &rpm_data[3]);
- CMD_rcvd = true;
- rcvd_rpm_CMD();
- }
- else if(strcmp(key,"$PEOTD") == 0) //* present submaster,Slaves or lsitners receive HB *//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address of connected device
- sscanf(strtok (NULL,","), "%u", &dir); // 1 for ahead and 2 for astern
- rcvd_dir_CMD(); //set flag when Heartbeat received
- }
- else if(strcmp(key,"$PEOTX") == 0) //* Master,submaster,Slave or listners receive CMD acknowledge *//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //addr extracted
- sscanf(strtok (NULL,","), "%u", &ack_rpm_dir); //ack extracted
-
- if(ack_rpm_dir == RPM)
- RPM_cmd_ack = true;
- else if (ack_rpm_dir == DIR)
- DIR_cmd_ack = true;
- else
- __nop();
- }
- else if(strcmp(key,"$PEOTS") == 0) //*active channel status recieved *//
- {
- int _M = ach_M;
- int _S = ach_S;
- sscanf(strtok (NULL,","), "%u", &ach_M); //cmd extracted
- sscanf(strtok (NULL,","), "%u", &ach_S);
- if(_M != ach_M)
- {
- LED_ACH[ach_M-1].ON(); //TODO in case of master submaster PORTA,B needs to be enabled/disabled
- LED_ACH[_M-1].OFF(); // along with HB_ticker attach/detach
- }
- else if(_S != ach_S)
- {
- LED_ACH[ach_S-1].ON();
- LED_ACH[_S-1].OFF();
- }
+ rcvd_char = UART.getc();
+ if(rcvd_char == '$') //first character
+ num_bytes = 0;
else
__nop();
- }
- else if(strcmp(key,"$PEOTR") == 0) //* control transfer request arrived*//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
- sscanf(strtok (NULL,","), "%u", &req); //e.g $R req or $K ack
- if(addr_ID < eot_Slave_ER)
+
+ rx_buf[num_bytes] = rcvd_char;
+ num_bytes++;
+ if(rcvd_char == '\n') //last character
{
- REQ_rcvd = true;
- req_ADDR = rcvd_ADDR;
- R_A_Ticker.attach(&R_A_Statemachine,0.5);
- if((rcvd_ADDR == eot_Master || rcvd_ADDR == eot_Submaster) && (addr_ID == eot_Master || addr_ID == eot_Submaster))
+ strtok(rx_buf,",");
+ if(strcmp(rx_buf,"$PPOTH") == 0) //* present submaster,Slaves or lsitners receive HB *//
+ {
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address of connected device
+ rcvd_HB(); //set flag when Heartbeat received
+ }
+ else if(strcmp(rx_buf,"$PPOTA") == 0) //* Master,submaster and Slaves receive heartbeat resp *//
+ {
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
+ resp_rcvd_HB();
+ }
+ else if(strcmp(rx_buf,"$PPOTB") == 0) //* submaster,Slaves or listener receive broadcast *//
+ {
+ sscanf(strtok (NULL,","), "%u", &err_ALL); //device in error with addr_ID = err_ID
+ sscanf(strtok (NULL,","), "%u", &err_Status);
+ rcvd_BROADCAST();
+ }
+ else if(strcmp(rx_buf,"$PPOTC") == 0) //* submaster,Slaves or listener receive CMD *//
{
- LED_CTRL[ACK_-1].FLASHH(); //ack led blink
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //cmd extracted
+ sscanf(strtok (NULL,","), "%u", &rpm_data[0]); //rpm data digit 1 and soon
+ sscanf(strtok (NULL,","), "%u", &rpm_data[1]);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[2]);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[3]);
+ RPM_cmd = true; // in all devices who receive RPM command
+ rcvd_rpm_CMD();
+ }
+ else if(strcmp(rx_buf,"$PPOTD") == 0) //* present submaster,Slaves or lsitners receive HB *//
+ {
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address of connected device
+ sscanf(strtok (NULL,","), "%u", &dir); // 1 for ahead and 2 for astern
+ DIR_cmd = true;
+ rcvd_dir_CMD(); //set flag when Heartbeat received
}
- else if((rcvd_ADDR == eot_Slave_ER || rcvd_ADDR == eot_Slave_MCR) && (addr_ID == eot_Slave_ER || addr_ID == eot_Slave_MCR))
+ else if(strcmp(rx_buf,"$PPOTX") == 0) //* Master,submaster,Slave or listners receive CMD acknowledge *//
{
- LED_CTRL[ACK_-1].FLASHH(); //ack led blink
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address extracted
+ sscanf(strtok (NULL,","), "%u", &cmd_t);
+ switch(cmd_t)
+ {
+ case 1:
+ RPM_cmd_ack = true;
+ break;
+
+ case 2:
+ DIR_cmd_ack = true;
+ led_dir[last_dir-1] = OFF;
+ last_dir = dir;
+ led_dir[dir-1] = ON;
+ break;
+
+ default:
+ __nop();
+ break;
+ }
}
- else
- __nop();
- }
- else
- __nop();
- }
- else if(strcmp(key,"$PEOTK") == 0) //* Master,submaster,Slave or listners receive CMD acknowledge *//
- {
- sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
- sscanf(strtok (NULL,","), "%u", &ack); //e.g $R req or $K ack
- ACK_rcvd = true;
- if(addr_ID < eot_Slave_ER)
- {
- ack_ADDR = rcvd_ADDR;
- ACK_rcvd = true;
- ACH_SW_over = true;
-
- if((rcvd_ADDR == eot_Master || rcvd_ADDR == eot_Submaster) && (addr_ID == eot_Master || addr_ID == eot_Submaster))
- LED_CTRL[ACK_-1].OFF();
- else if((rcvd_ADDR == eot_Slave_ER || rcvd_ADDR == eot_Slave_MCR) && (addr_ID == eot_Slave_ER || addr_ID == eot_Slave_MCR))
- LED_CTRL[ACK_-1].OFF();
+ else if(strcmp(rx_buf,"$PPOTS") == 0) //*active channel status recieved *//
+ {
+ sscanf(strtok (NULL,","), "%u", &ach_M); //cmd extracted
+ sscanf(strtok (NULL,","), "%u", &ach_S);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[0]);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[1]);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[2]);
+ sscanf(strtok (NULL,","), "%u", &rpm_data[3]);
+ sscanf(strtok (NULL,","), "%u", &dir);
+ sscanf(strtok (NULL,","), "%u", ¤t_status);
+ sscanf(strtok (NULL,","), "%u", ¤t_status_dir);
+ rcvd_ACH();
+ }
+ else if(strcmp(rx_buf,"$PPOTR") == 0) //* control transfer request arrived*//
+ {
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
+ sscanf(strtok (NULL,","), "%u", &req); //e.g $R req or $K ack
+ if(addr_ID <= pot_Slave_ER)
+ {
+ REQ_rcvd = true;
+ req_ADDR = rcvd_ADDR;
+ if(((rcvd_ADDR == pot_Master) && (addr_ID == pot_Submaster)) || ((rcvd_ADDR == pot_Submaster) && (addr_ID == pot_Master)))
+ {
+ int_B.rise(&read_KEY_B); //to enable ACK key interrupt
+ wait_us(10);
+ mcp23s17_1.gpintenb(0xff); // portb of mcp1 ACK key enabled
+ wait_us(10);
+ led_ctrl[ACK_-1] = _FLASH; //ack led blink
+ }
+ else
+ __nop();
+
+ if(((rcvd_ADDR == pot_Slave_MCR) && (addr_ID == pot_Slave_ER)) || ((rcvd_ADDR == pot_Slave_ER) && (addr_ID == pot_Slave_MCR)))
+ {
+ int_B.rise(&read_KEY_B); //to enable ACK key interrupt
+ wait_us(10);
+ mcp23s17_1.gpintenb(0xff); //portb of mcp1 ACK key enabled
+ wait_us(10);
+ led_ctrl[ACK_-1] = _FLASH; //ack led blink
+ }
+ else
+ __nop();
+
+ R_A_Ticker.attach(&R_A_Statemachine,0.5);
+ }
+ }
+ else if(strcmp(rx_buf,"$PPOTK") == 0) //* Master,submaster,Slave or listners REQ acknowledge *//
+ {
+ sscanf(strtok (NULL,","), "%u", &rcvd_ADDR);
+ sscanf(strtok (NULL,","), "%u", &ack); //e.g $R req or $K ack
+ if(addr_ID <= pot_Slave_ER)
+ {
+ ack_ADDR = rcvd_ADDR;
+ ACK_rcvd = true;
+ //ACH_SW_over = true;
+
+ if(((rcvd_ADDR == pot_Master) && (addr_ID == pot_Submaster)) || ((rcvd_ADDR == pot_Submaster) && (addr_ID == pot_Master)))
+ {
+ led_ctrl[ACK_-1] = OFF;
+ //R_A_Ticker.detach();
+ }
+ else if(((rcvd_ADDR == pot_Slave_ER) && (addr_ID == pot_Slave_MCR)) || ((rcvd_ADDR == pot_Slave_MCR) && (addr_ID == pot_Slave_ER)))
+ {
+ led_ctrl[ACK_-1] = OFF;
+ //R_A_Ticker.detach();
+ }
+ else
+ __nop();
+ }
+ else
+ __nop();
+ }
+ else if(strcmp(rx_buf,"$PEOTT") == 0) //* submaster,Slaves or listener receive CMD *//
+ {
+ sscanf(strtok (NULL,","), "%u", &Hrs_1); //cmd extracted
+ sscanf(strtok (NULL,","), "%u", &Hrs_2);
+ sscanf(strtok (NULL,","), "%u", &Mins_1);
+ sscanf(strtok (NULL,","), "%u", &Mins_2);
+ rcvd_TIME();
+ }
else
__nop();
}
@@ -1309,78 +1586,98 @@
}
}
+/********END of FUNCTION****************/
+
/**************************************************************************************
EOT Handler FUNCTIONS
**************************************************************************************/
void HB_handler() //function run periodically within active master only
{
- if(addr_ID == ach_M) //function run only in active master
+ if(++sync_count >= sync_time)
{
- if(ach_M == eot_Master)
+ time_RCVD = false;
+ norm_op = false;
+ sync_count = 0;
+ ask_TIME(); //master will send querry for GPS time
+ }
+ else if(time_RCVD || norm_op) //as all receive time update normal operation starts
+ {
+ if(ach_M == pot_Master)
{
device_addr++;
- if(device_addr >= no_eot_connected)
- device_addr = 0;
+ if(device_addr >= no_pot_connected)
+ device_addr = 0;
}
else
- __nop();
+ __nop();
/*else if(ach_M == eot_Submaster)
- {
- if(device_addr==2)
- {
- device_addr=3;
- }
- else
- {
- device_addr++;
- if(device_addr>NO_MAX_EOT)
- device_addr=1;
- }
- }
- */
- send_ADDR = EOT[device_addr].slave_ID;
+ {
+ if(device_addr==2)
+ {
+ device_addr=3;
+ }
+ else
+ {
+ device_addr++;
+ if(device_addr>NO_MAX_EOT)
+ device_addr=1;
+ }
+ }
+ */
+ send_ADDR = POT[device_addr].slave_ID;
if(RPM_cmd)
{
- send_CMD(send_ADDR); //cmd to be send with current running address and rpm data value
- HB_Ticker.attach(&HB_State_Machine,0.010); //HB_state_machine runing for CMD_ack with PEOTA sentence in master only
- CMD_Ticker.attach(&CMD_State_Machine,0.25); //CMD_state_machine ticker started in master only
+ send_RPM(send_ADDR);
+ RPM_cmd = false; //cmd to be send with current running address and cmd value
+ wait_ms(2);
+ //HB_Ticker.attach(&HB_State_Machine,0.010);
+ CMD_Ticker.attach(&CMD_State_Machine,0.25); //CMD_state_machine ticker started
}
else if(DIR_cmd)
{
- send_CMD(send_ADDR);
- HB_Ticker.attach(&HB_State_Machine,0.010);
- DIR_Ticker.attach(&DIR_State_Machine,0.25);
+ send_DIR(send_ADDR);
+ DIR_cmd = false; //cmd to be send with current running address and cmd value
+ wait_ms(2);
+ //HB_Ticker.attach(&HB_State_Machine,0.010);
+ DIR_Ticker.attach(&DIR_state_machine,0.25); //CMD_state_machine ticker started
}
- else if(BROADCAST_send)
+ else if(BROADCAST_send)
{
- send_BROADCAST(); //broadcast needed err_ID nd err_Status
+ send_BROADCAST(); //broadcast needed err_ID nd err_Status
BROADCAST_send = false;
+ wait_ms(2);
}
- else if(switch_CH) //active channel switch over happened
+ else if(switch_CH) //active channel switch over happened
{
- send_ACH(); //active channel changeover
+ send_ACH(); //active channel changeover
switch_CH = false;
+ wait_ms(2);
}
+
else
- {
- cmd=0x0;
- send_HB(send_ADDR); //hb is to be going on
- HB_ticker.attach(&HB_State_Machine,0.010); //HB_state_machine timer started
+ {
+ send_HB(send_ADDR); //hb is to be going on
+ HB_Ticker.attach(&HB_State_Machine,0.010); //HB_state_machine timer started
}
}
+ else if(++norm_count >= 5)
+ {
+ norm_count = 0;
+ if(!time_RCVD)
+ norm_op = true;
+ else
+ __nop();
+ }
else
__nop();
}
-
-
/**************************************************************************************
-EOT config FUNCTIONS
+POT config and address Read FUNCTIONS
**************************************************************************************/
void read_POT_ADDR() //function give present eots and no. of connected eots
{
pot_Addr = read_KEY_SPI(ch_D);
-
if(pot_Addr==0xff) //if 0xff it means no addressing done
pot_Error=true;
else if(pot_Addr!=0xff)
@@ -1402,12 +1699,14 @@
case 1:
POT[no_pot_connected].slave_ID = pot_Submaster;
POT[no_pot_connected].err_cnt=0;
- no_eot_connected++;
+ POT[no_pot_connected].err_status=false;
+ no_pot_connected++;
break;
case 2:
ach_S = pot_Slave_MCR;
POT[no_pot_connected].slave_ID = pot_Slave_MCR;
POT[no_pot_connected].err_cnt=0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
case 3:
@@ -1419,31 +1718,40 @@
}
POT[no_pot_connected].slave_ID = pot_Slave_ER;
POT[no_pot_connected].err_cnt = 0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
case 4:
POT[no_pot_connected].slave_ID = pot_Listner_WP;
POT[no_pot_connected].err_cnt = 0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
case 5:
POT[no_pot_connected].slave_ID = pot_Listner_WS;
POT[no_pot_connected].err_cnt=0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
case 6:
POT[no_pot_connected].slave_ID = pot_Listner_OPS;
POT[no_pot_connected].err_cnt=0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
case 7:
POT[no_pot_connected].slave_ID = pot_Listner_ASP;
POT[no_pot_connected].err_cnt=0;
+ POT[no_pot_connected].err_status=false;
no_pot_connected++;
break;
}
}
- }
+ }
+ if(no_pot_connected <=0)
+ pot_Error = true;
+ else
+ pot_Error = false;
}
else
{
@@ -1452,36 +1760,50 @@
case 1:
{
addr_ID = pot_Submaster;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 2:
{
addr_ID = pot_Slave_MCR;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 3:
{
addr_ID = pot_Slave_ER;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 4:
{
addr_ID = pot_Listner_WP;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 5:
{
addr_ID = pot_Listner_WS;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 6:
{
addr_ID = pot_Listner_OPS;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
case 7:
{
addr_ID = pot_Listner_ASP;
+ ach_S = pot_Slave_MCR;
+ led_ach[ach_S-1] = ON;
break;
}
default:
@@ -1493,254 +1815,390 @@
}
}
-void Uart_Init()
-{ //buffer initialisation
- Serial UART(SERIAL_TX, SERIAL_RX);
+void interrupt_init()
+{
+ int_A.mode(PullUp);
+ wait_ms(1);
+ int_B.mode(PullUp);
+ wait_ms(1);
+ int_C.mode(PullUp);
+ wait_ms(1);
+}
+
+void Uart_init()
+{
UART.baud(9600);
UART.format(8,SerialBase::None,1);
- //UART.attach( &read_SERIAL, UART.RxIrq); //receive interrupt enabled
+ wait_ms(1);
}
+void Led_init()
+{
+
+ LED_CMD_ACK = ON;
+ wait_ms(1);
+
+ for(uint8_t i=0;i<=1;i++) //ctrl led intialisation
+ {
+ LED_CTRL[i] = ON;
+ wait_ms(1);
+ }
+ for(uint8_t i=0; i<=7;i++) //ach led initialisation
+ {
+ LED_ACH[i] = ON ;
+ wait_ms(1);
+ }
+
+ wait(1);
+
+ led_cmd_ack = OFF;
+ wait_ms(1);
+
+ for(uint8_t i=0;i<=1;i++) //ctrl led turned off
+ {
+ LED_CTRL[i] = OFF;
+ led_ctrl[i] = OFF;
+ wait_ms(1);
+ }
+ for(uint8_t i=0; i<=7;i++) //ach led turned off
+ {
+ LED_ACH[i] = OFF;
+ led_ach[i] = OFF;
+ wait_ms(1);
+ }
+}
-void Spi3_Init() //for mcp23s17
+void pwm_init()
{
- _SPI3.format(8,0); //8bit,mode 0
- _SPI3.frequency(1000000); //1mhz
+ mypwm.period_ms(50); //initialy 20ms
+ wait_us(1);
+ mypwm.write(.90); //90%duty cycle
+ wait_us(1);
}
void mcp23s17_init()
{
//device1 configuration
- mcp23s17_1.reset(); //reset on power-up
- mcp23s17_1.iodira(0xff); //set 8-bits PORTA as inputs
- mcp23s17_1.iodirb(0xff); //set 8-bits PORTb as inputs
+ mcp23s17_1.reset(); //reset on power-up
+ wait_ms(1);
+ mcp23s17_2.reset(); //reset on power-up
+ wait_ms(1);
+ mcp23s17_1.iocon(0x2a);
+ wait_ms(1);
+ mcp23s17_2.iocon(0x2a);
+ wait_ms(1);
+ mcp23s17_1.iodira(0xff); //set 8-bits PORTA as inputs
+ wait_ms(1);
+ mcp23s17_1.iodirb(0xff); //set 8-bits PORTB as inputs
+ wait_ms(1);
mcp23s17_1.ipola(0x00);
+ wait_ms(1);
mcp23s17_1.ipolb(0x00);
- mcp23s17_1.gpintena(0xff); //interrupt enabled on PORTA
- mcp23s17_1.gpintenb(0xff); //interrupt enabled on PORTB
+ wait_ms(1);
+ mcp23s17_1.gpintena(0x00); //initially disabled
+ wait_ms(1);
+ mcp23s17_1.gpintenb(0x00);
+ wait_ms(1);
mcp23s17_1.defvala(0xff);
+ wait_ms(1);
mcp23s17_1.defvalb(0xff);
- mcp23s17_1.intcona(0x2a); //bank0,mirror disabled, SEQOP disabled, slew rate disabled,HAEN enabled,open drain enabled,interrupt active high,not allowed
- mcp23s17_1.intconb(0x2a);
+ wait_ms(1);
+ mcp23s17_1.intcona(0x00); //bank0,mirror disabled, SEQOP disabled, slew rate disabled,HAEN enabled,open drain enabled,interrupt active high,not allowed
+ wait_ms(1);
+ mcp23s17_1.intconb(0x00);
+ wait_ms(1);
mcp23s17_1.gppua(0xff);
+ wait_ms(1);
mcp23s17_1.gppub(0xff);
+ wait_ms(1);
//device2 configuration
- mcp23s17_2.reset(); //reset on power-up
- mcp23s17_2.iodira(0xff); //set 8-bits PORTA as inputs
- mcp23s17_2.iodirb(0xff); //set 8-bits PORTb as inputs
+
+ mcp23s17_2.iodira(0xff); //set 8-bits PORTA as inputs
+ wait_ms(1);
+ mcp23s17_2.iodirb(0xff); //set 8-bits PORTb as inputs
+ wait_ms(1);
mcp23s17_2.ipola(0x00);
+ wait_ms(1);
mcp23s17_2.ipolb(0x00);
- mcp23s17_2.gpintena(0xff); //interrupt enabled on PORTA
- mcp23s17_2.gpintenb(0x00); //interrupts disabled for address PORTB
+ wait_ms(1);
+ mcp23s17_2.gpintena(0xff); //initially 0xff will be always enabled req/inc/dec/test
+ wait_ms(1);
+ mcp23s17_2.gpintenb(0x00); //interrupts disabled for address PORT
+ wait_ms(1);
mcp23s17_2.defvala(0xff);
+ wait_ms(1);
mcp23s17_2.defvalb(0xff);
- mcp23s17_2.intcona(0x2a); //bank0,mirror disabled, SEQOP disabled, slew rate disabled,HAEN enabled,open drain enabled,interrupt active high,not allowed
- mcp23s17_2.intconb(0x2a);
+ wait_ms(1);
+ mcp23s17_2.intcona(0x00); //bank0,mirror disabled, SEQOP disabled, slew rate disabled,HAEN enabled,open drain enabled,interrupt active high,not allowed
+ wait_ms(1);
+ mcp23s17_2.intconb(0x00);
+ wait_ms(1);
mcp23s17_2.gppua(0xff);
+ wait_ms(1);
mcp23s17_2.gppub(0xff);
+ wait_ms(1);
+ mcp23s17_1.intcapa(); //dummy read performed to clear any interrupt on power up
+ wait_ms(1);
+ mcp23s17_1.intcapb();
+ wait_ms(1);
+ mcp23s17_2.intcapa();
+ wait_ms(1);
+
}
-void Spi2_Init() // for max7219
+void Spi3_init() //for mcp23s17
+{
+ _SPI3.format(8,0); //8bit,mode 0
+ _SPI3.frequency(1000000); //1mhz
+ wait_ms(1);
+}
+
+void RTC_init()
{
- _SPI2.format(16,0); //16bit,mode 0
- _SPI2.frequency(1000000); //1mhz
+ read_RTC();
+ wait_ms(1);
+ RTC_display(RTC_buffer);
+ wait_ms(1);
+}
+
+void SetDateTime
+( int year = 0
+ ,int mon = 0
+ ,int day = 0
+ ,int hour = 0
+ ,int min = 0
+ ,int sec = 0
+)
+{
+ struct tm Clock;
+ Clock.tm_year = year - 1900;
+ Clock.tm_mon = mon;
+ Clock.tm_mday = day;
+ Clock.tm_hour = hour;
+ Clock.tm_min = min;
+ Clock.tm_sec = sec;
+ time_t epoch = mktime(&Clock);
+ set_time(epoch); //time set
}
void max7219_init()
{
- max7219.set_num_devices(2); //total 02 no. of devices which will drive 03 displays
- max7219_configuration_t DEVICE1, DEVICE2;
- DEVICE1.device_number = 1;
- DEVICE1.decode_mode = 0xff; //bcd decode mode
- DEVICE1.intensity = 8; //Max7219::MAX7219_INTENSITY_8, //intensity moderate
- DEVICE1.scan_limit = 8; // Max7219::MAX7219_SCAN_8, 8-digit scan driving two displays ds1 nd ds2
-
- DEVICE2.device_number = 2;
+ max7219.set_num_devices(2); //total 02 no. of devices
+ DEVICE1.device_number = 0x01;
+ DEVICE1.decode_mode = 0x00; //bcd decode mode
+ DEVICE1.intensity = 0x01; //Max7219::MAX7219_INTENSITY_8,
+ DEVICE1.scan_limit = 0x08; // 1-4 digits current CMD
+ wait_ms(1);
+ DEVICE2.device_number = 0x02; //
DEVICE2.decode_mode = 0xff; //bcd decode mode
- DEVICE2.intensity = 8; //Max7219::MAX7219_INTENSITY_8, //intensity moderate
- DEVICE2.scan_limit = 4; //Max7219::MAX7219_SCAN_4, 4-digit scan driving one display
-
+ DEVICE2.intensity = 0x01; //Max7219::MAX7219_INTENSITY_8, //intensity moderate
+ DEVICE2.scan_limit = 0x04; //1-4 digits RTC,5-8 digits last cmd RPM
+ wait_ms(1);
+
max7219.init_device(DEVICE1); //DEVICE 1 configured as per above settings
- max7219.enable_device(1);
+ wait_ms(1);
+ max7219.enable_device(1); //normal operation
+ wait_ms(1);
max7219.init_device(DEVICE2); //DEVICE 2 configured as per above settings
- max7219.enable_device(2);
- max7219.set_display_test();
+ wait_ms(1);
+ max7219.enable_device(2); //normal operation
+ wait_ms(1);
+ max7219.set_display_test(); //all on
wait(1);
- max7219.clear_display_test();
- for(uint8_t i=0; i<=07;i++)
+ max7219.clear_display_test(); //normal operation
+ wait_ms(1);
+ for(uint8_t i=0; i<=3;i++)
{
- max7219.write_digit(1, i+1, 0x01); //device 1 cmd display, digit 0-7 ,data 0x01, ----, ---- on both displays
+ max7219.write_digit(1, i+1, 0x00); //device 1 current cmd, digit 1-4 ,data 0x01
}
-
- for(uint8_t i=0; i<=03;i++)
+ wait_ms(1);
+ for(uint8_t i=3; i<=7;i++)
{
- max7219.write_digit(1, i+1, 0x01); //device 2 RTC display, digit 0-3 ,data 0x01, ---- on display
+ max7219.write_digit(1, i+1, 0x02); //device 2 RTC, digit 1-4 ,data 0x01
}
-}
-void Discrete_Init()
-{
- buzzer = _ON;
- hooter = _ON; //on
- wait(1); // one second delay
- buzzer = _OFF;
- hooter = _OFF; //off
+ wait_ms(100);
+ for(uint8_t i=0; i<=3;i++)
+ {
+ max7219.write_digit(2, i+1, 0x00); //device 2 Last CMD, digit 4-8 ,data 0x01
+ }
+ wait_ms(100);
}
-void Led_Init()
-{
- /* setting brightness as 50% duty cycle*/
-
- for(uint8_t i=0;i<=1;i++) //direction led initialisation 02 no.s
- {
- LED_DIR[i].set_Brightness(0.50); //setting duty cycle 50%
- }
- for(uint8_t i=0;i<=1;i++) //ctrl led intialisation 02 no.s
- {
- LED_CTRL[i].set_Brightness(0.50);
- }
- for(uint8_t i=0; i<=7;i++) //ach led initialisation 08 no.s
- {
- LED_ACH[i].set_Brightness(0.50);
- }
-
- /* turning all leds ON*/
-
- for(uint8_t i=0;i<=1;i++)
- {
- LED_DIR[i].ON();
- }
- for(uint8_t i=0;i<=1;i++)
- {
- LED_CTRL[i].ON();
- }
- for(uint8_t i=0; i<=7;i++)
- {
- LED_ACH[i].ON();
- }
-
- wait(1); //wait for a 1 sec
-
- /* turning all leds OFF*/
-
- for(uint8_t i=0;i<=1;i++)
- {
- LED_DIR[i].OFF();
- }
- for(uint8_t i=0;i<=1;i++)
- {
- LED_CTRL[i].OFF();
- }
- for(uint8_t i=0; i<=7;i++)
- {
- LED_ACH[i].OFF();
- }
+void Spi2_init() // for max7219
+{
+ _SPI2.format(16,0); //16bit,mode 0
+ _SPI2.frequency(1000000); //1mhz
+ wait_ms(1);
}
-void parameters_init()
+void Discrete_init()
+{
+ buzzer = ON;
+ hooter = ON; //on
+ wait(1); // one second delay
+ buzzer = OFF;
+ hooter = OFF; //off
+}
+
+void Parameters_init()
{
/*intialization of all bool data types indicating different error flags */
pot_Error = false;
- spi_ERR = false;
+ device_ERR = false;
pot_MCR_err = false;
pot_ER_err = false;
- test = false;
+ test = false;
+ toggle = false;
+ toggle_fast = false;
+ display_flash = false;
+ norm_op = false;
/*intialization of all bool data types indicating flag on key press interruption */
- key_NUM = false;
+ key_CMD = false;
key_CTRL = false;
- key_DISP = false;
key_SET = false;
-
+ REQ_key = false;
+ ACK_key = false;
RPM_cmd = false; //if true RPM command is raised
DIR_cmd = false; //if true DIR command is raised
+ ENTER_ACK_key = false;
/*intialization of all bool data types indicating flags while serial receive */
- CMD_ack_rcvd = false;
+ RPM_cmd_ack = false;
HB_ack_rcvd = false;
- CMD_rcvd = false;
BROADCAST_rcvd = false;
HB_rcvd = false;
REQ_rcvd = false;
ACK_rcvd = false;
- rcvd_DIR = false;
+ time_RCVD = false;
/*intialization of all bool data types indicating flags while serial transmit */
BROADCAST_send = false;
- CMD_send = false;
+ RPM_cmd_ack_send = false;
+ DIR_cmd_ack_send = false;
REQ_send = false;
ACK_send = false;
HB_send = false;
- CMD_ack_send = false;
/*intialization of all bool data types indicating active channel changeover*/
test=false;
ACH_SW_over = switch_CH = false;
- _disp_FLASH = false;
+ display_flash = false;
/*intialization of all int data types*/
- addr = req = ack = cmd = dir = last_cmd = ach_S = ach_M = brightness = 0;
+ addr = req = ack = ach_S = ach_M = duty_cycle = sync_count = 0;
pot_Addr = addr_ID = send_ADDR = rcvd_ADDR = req_ADDR = ack_ADDR = 0;
- test_cnt = err_ID = err_Status = 0;
- spi_error = no_pot_connected = checksum =0;
+ test_cnt = err_ID = err_Status = ticker_count = ticker_count_fast = current_status = current_status_dir= 0;
+ spi_error = set_bit = err_ALL = no_pot_connected = checksum = norm_count = Hrs_1 = Hrs_2 = Mins_1 = Mins_2 = 0;
HB_timer =0;
+ sync_time = 0;
+ num_bytes = 0;
device_addr = -1;
- digit_disp1 = 5; //bcoz 5-1 = 4th digit is entered first
- digit_disp2 = 0;
- digit_disp3 = 0;
+ valid = 'V';
- POT = new _POT[NO_MAX_POT];
+ POT = new _POT[NO_MAX_POT];
}
void POT_INIT()
{
- parameters_init();
- Led_Init();
- Discrete_Init();
- //INT_Init();
- Spi2_Init();
+ Parameters_init();
+ wait_ms(1);
+
+ Discrete_init();
+ wait_ms(1);
+
+ Spi2_init();
+ wait_ms(1);
+
max7219_init();
- Spi3_Init();
+ wait_ms(1);
+
+ SetDateTime(2017,11,16,16,45,40); // set default date and time
+ wait_ms(1);
+
+ RTC_init();
+ wait_ms(1);
+
+ Spi3_init();
+ wait_ms(1);
+
mcp23s17_init();
- Uart_Init();
- read_EOT_ADDR();
- //config_EOT();
- if(addr_ID == pot_Master) //if addres of master eot found, by default master
- {
- int_A.rise(&read_KEY_A); //all key functions enabled for PORTA,B,C
+ wait_ms(1);
+
+ pwm_init();
+ wait_ms(1);
+
+ Led_init();
+ wait_ms(1);
+
+ Uart_init();
+ wait_ms(1);
+
+ read_POT_ADDR();
+ wait_ms(1);
+
+ interrupt_init();
+ wait_ms(1);
+
+ if((addr_ID == pot_Master)&&(!pot_Error)) //if addres of master eot found, by default master
+ {
+ led_ach[ach_M-1] = ON;
+ int_A.rise(&read_KEY_A); //all key functions enabled for PORTA,B,C
int_B.rise(&read_KEY_B);
- int_C.rise(&read_KEY_C);
- HB_timer=(float)(1/no_pot_connected);
- // NVIC_SetPriority(UART2_IRQn,0);
- pot_HB.attach(&HB_handler,HB_timer); //HB timer started
- UART.attach( &read_SERIAL, UART.RxIrq); //receive interrupt enabled
+ int_C.rise(&read_KEY_C);
+ wait_ms(2);
+ mcp23s17_1.gpintena(0xff); //interrupts enabled
+ wait_us(100);
+ mcp23s17_1.gpintenb(0xff); //ff
+ wait_us(100);
+ HB_timer = 1.0/no_pot_connected;
+ sync_time = 3600/HB_timer; // 3600.0/HB_timer; required
+ pot_HB.attach(&HB_handler,HB_timer); //
+ wait_ms(1);
+ UART.attach( &read_SERIAL); //receive interrupt enabled
+ wait_ms(1);
+ ask_TIME(); //send enquiry to Central power unit for time setting
+ wait_ms(2);
+ send_ACH();
+ wait_ms(2);
}
- else
- {
- if(pot_Submaster <= addr_ID <= pot_Listner_ASP)
- {
- int_A.rise(NULL); //all key functions/interrupt disabled for PORTA & B
- int_B.rise(NULL);
- int_C.rise(&read_KEY_C); //only PORTC needs to be intialized in other all cases req,inc,dec,tst
- UART.attach( &read_SERIAL, UART.RxIrq); //receive interrupt enabled
- }
- else
- {
- int_A.rise(NULL);
- int_B.rise(NULL);
- int_C.rise(NULL);
- pot_Error = true;
- //return(-1);
- }
+ else if(pot_Submaster <= addr_ID <= pot_Listner_ASP)
+ {
+ int_A.rise(NULL); //all key functions/interrupt disabled for PORTA,B
+ int_B.rise(NULL);
+ int_C.rise(&read_KEY_C); //only PORTC needs to be intialized in other all cases,inc,dec,tst,req
+ wait_ms(1);
+ UART.attach( &read_SERIAL); //receive interrupt enabled
+ wait_ms(1);
+ }
+ else if(pot_Error)
+ {
+ int_A.rise(NULL);
+ int_B.rise(NULL);
+ int_C.rise(NULL);
+ pot_Error = true;
+ //return(-1);
+ }
+ else
+ {
+ __nop();
}
}
int main()
{
POT_INIT();
+
+ led_refresh.attach(&update_led , 0.020);
+ wait_ms(2);
+
+ RTC_ticker.attach(&read_RTC , 59); //after 60 sec
+ wait_ms(2);
+
while(1)
{
}