Marine Electricals
direction commands updated to Up down RPM value
Dependencies: MAX7219pot MCP23S17 mbed
Fork of
POT_V_1_0
by 
Marine Electricals
main.cpp
- Committer:
- viewdeep51
- Date:
- 2018-04-28
- Revision:
- 4:710464cb44fc
- Parent:
- 3:ae45e29f5d4f
- Child:
- 5:f7b7ee0702cc
File content as of revision 4:710464cb44fc:
/*Board configuration
>>>>>place JP5 to E5V side to use external 5V supply
>>>>>Remove jumper link SB13,SB14 usb uart debug disabled
>>>>>Place jumper link SB62,SB63...uart PA2,PA3 enabled by these jumper links
*/
#include "mbed.h"
#include "pot.h"
#include "max7219.h"
#include "MCP23S17.h"
using namespace std;
//------------------------------------
// Hyperterminal configuration
// 9600 bauds, 8-bit data, no parity
//------------------------------------
Serial UART(SERIAL_TX, SERIAL_RX);
//timer instances creation//
Ticker pot_HB;
Ticker HB_Ticker;
Ticker flash_Ticker;
Ticker R_A_Ticker;
Ticker CMD_Ticker;
Ticker DIR_Ticker;
Ticker HB_fail;
Ticker RTC_ticker;
Ticker led_refresh;
Timeout timeout;
//SPI instances creation//
SPI _SPI2(SPI2_MOSI, SPI2_MISO, SPI2_SCK); //for displays max7219
SPI _SPI3(SPI3_MOSI, SPI3_MISO, SPI3_SCK); //for keyscan mcp23s17
//class object instances for key I/O expander and segment driver//
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
InterruptIn int_C(INT_C); //4(3 controls(INC+,DEC-,TEST)+1 req) enbaled for all
//chip select definations for max7219 & mcp23s17 as digitalout pins//
DigitalOut cs_disp1(SPI2_CS1);
DigitalOut cs_disp2(SPI2_CS2); //max7219
DigitalOut cs_key1(SPI3_CS1);
DigitalOut cs_key2(SPI3_CS2); //mcp23s17
DigitalOut Drive_En(TX_EN); //uart driver enable
//discrete outputs definations buzzer and hooter
DigitalOut buzzer(BUZ);
DigitalOut hooter(HTR);
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
uint8_t spi_error,no_pot_connected,num_bytes,ticker_count,ticker_count_fast,norm_count,set_bit;
int dir, last_dir;
int checksum_send_byte,checksum_rcvd_byte;
char pot_Addr,addr_ID;
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 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,disp_clear;
bool switch_CH, pot_MCR_err, pot_ER_err, ACH_SW_over;
bool data_fail,disp_test;
int device_addr = -1;
char valid;
char valid_sentence[8] = {'A', 'A','A','A','A','A','A','A'};
char rx_buf[RX_BUFFER_SIZE+1];
char tx_buf[TX_BUFFER_SIZE+1];
char RTC_buffer[5] = {1,2,3,4,0};
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
//DigitalOut myled(PB_13); //for internal test LED1
PwmOut mypwm(_PWM);
struct _POT
{
int slave_ID;
int err_cnt;
bool err_status;
};
struct _POT* POT=NULL;
enum AddrID
{
pot_Master = 1,
pot_Submaster,
pot_Slave_MCR,
pot_Slave_ER,
pot_Listner_WP,
pot_Listner_WS,
pot_Listner_OPS,
pot_Listner_ASP = 8
};
enum LED_STATUS
{
OFF = 0,
ON,
_FLASH = 2
};
LED_STATUS led_cmd_ack; //only in slave devices
LED_STATUS led_ctrl[2];
LED_STATUS led_dir[2];
LED_STATUS led_ach[8];
enum KEY
{
ZERO = 0,
ONE,
TWO,
THREE,
FOUR,
FIVE,
SIX,
SEVEN,
EIGHT,
NINE,
FALSE0 = 10
};
enum KEY num_KEY;
enum CTRL
{
REQ_ = 1,
ACK_ = 2,
FALSE1= 3
};
enum CTRL ctrl_KEY;
enum direction_KEY
{
AHEAD = 1,
ASTERN,
FALSE2 = 3
};
enum direction_KEY dir_KEY;
enum display_KEY
{
clr_ENTRY = 0, //CE
clr_ALL, //C, all data turns to zero
ENTER_ACK, //enter in case of master and ACK in case of slaves/repeaters
FALSE3 = 3
};
enum display_KEY disp_KEY;
enum SET
{
INC=0,
DEC,
TEST,
FALSE4 = 4
};
enum SET set_KEY;
enum CHANNEL
{
ch_A=1,
ch_B,
ch_C,
ch_D=4
}; //keyscan channelA,B,C,Dof MCP23s17 1& 2 respectively
enum CHANNEL ch;
/**************************************************************************************
EOT RTC display update FUNCTIONS
**************************************************************************************/
void RTC_display(char* 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
else
__nop();
max7219.write_digit(1, i+1, *(digits+i)); //device 2, digit 1-4 ,data 0x01
}
}
/**************************************************************************************
EOT RTC read FUNCTION
**************************************************************************************/
void read_RTC()
{
time_t seconds = time(NULL);
strftime(RTC_buffer, 5, "%H%M\n", localtime(&seconds));
wait_ms(5);
RTC_display(RTC_buffer);
wait_ms(1);
}
/**************************************************************************************
EOT CHECK LED STATUS FUNCTION
**************************************************************************************/
void update_led()
{
if(++ticker_count == 25) //25x20 = 500ms
{
ticker_count = 0;
toggle = !toggle; //normal cmd flash
}
else
__nop();
if(++ticker_count_fast == 10) //20x10 =200
{
ticker_count_fast = 0;
toggle_fast = !toggle_fast; //error flashing
}
else
__nop();
if(test)
{
LED_CMD_ACK = ON; //in slave only
for(uint8_t i=0;i<=1;i++) //control
{
LED_CTRL[i] = ON;
}
for(uint8_t i=0;i<=1;i++) //control
{
LED_DIR[i] = ON; /////////////////working here
}
for(uint8_t i=0;i<=7;i++) //active channel
{
LED_ACH[i] = ON; //duty cycle 10%
}
max7219.set_display_test(); //all on
wait_us(1);
disp_test = true;
}
else
{
if(disp_test)
{
disp_test = false;
max7219.clear_display_test(); //normal operation
}
else
__nop();
if(led_cmd_ack == ON) //status update LED_CMD_ACK
LED_CMD_ACK = ON;
else
__nop();
if(led_cmd_ack == OFF)
LED_CMD_ACK = OFF;
else
__nop();
if(led_cmd_ack == _FLASH)
{
if(toggle)
LED_CMD_ACK= ON;
else
LED_CMD_ACK = OFF;
}
else
__nop();
for(uint8_t i=0;i<=1;i++) //status update LED_CTRL
{
if(led_ctrl[i] == ON)
LED_CTRL[i] = ON;
else
__nop();
if(led_ctrl[i] == OFF)
LED_CTRL[i] = OFF; //duty cycle 10%
else
__nop();
if(led_ctrl[i] == _FLASH)
{
if(toggle)
LED_CTRL[i]= ON;
else
LED_CTRL[i] = OFF;
}
else
__nop();
}
for(uint8_t i=0;i<=1;i++) //status update LED_CTRL
{
if(led_dir[i] == ON)
LED_DIR[i] = ON;
else
__nop();
if(led_dir[i] == OFF)
LED_DIR[i] = OFF; //duty cycle 10%
else
__nop();
if(led_dir[i] == _FLASH)
{
if(toggle)
LED_DIR[i]= ON;
else
LED_DIR[i] = OFF;
}
else
__nop();
}
for(uint8_t i=0;i<=7;i++) //status update LED_ACH
{
if(led_ach[i] == ON)
LED_ACH[i] = ON; //duty cycle 10%
else
__nop();
if(led_ach[i] == OFF)
LED_ACH[i] = OFF; //duty cycle 10
else
__nop();
if(led_ach[i] == _FLASH)
{
if(toggle_fast)
LED_ACH[i]= ON;
else
LED_ACH[i] = OFF;
}
else
__nop();
}
}
if(display_flash) //if command executed or command received
{
if(toggle)
max7219.enable_device(2); //enable device 1 or normal mode
else
max7219.disable_device(2); //shutdown mode
}
else if(!device_ERR) //specific device is not in error device
max7219.enable_device(2); //enable device 1 or normal mode;
else
__nop();
}
/**************************************************************************************
POT State Machines FUNCTIONS
**************************************************************************************/
void HB_State_Machine() //run at an interval of 10ms,event driven start stop
{
static int hb_state_cnt = 0;
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;
if(POT[device_addr].err_status) //if that specific device is in error before but revert back 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 abot active channels and rpm data
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
{
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 if((POT[device_addr].slave_ID != ach_S)&&(led_ach[send_ADDR - 1] != OFF))
led_ach[send_ADDR - 1] = OFF;
else
__nop();
if((addr_ID == ach_M)&&(led_ach[ach_M-1] != ON))
led_ach[ach_M-1] = ON;
else if((addr_ID != ach_M)&&(led_ach[ach_M-1] != OFF))
led_ach[ach_M-1] = OFF;
else
__nop();
}
}
else
{
if(++hb_state_cnt >= 5) //if HB_response not arrived till 50ms
{
hb_state_cnt=0;
HB_Ticker.detach();
if((++POT[device_addr].err_cnt >= 5)&&(!POT[device_addr].err_status)) //specific device in error state after 05 hb response missing
{
POT[device_addr].err_cnt = 0;
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) //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)
{
pot_ER_err = 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
__nop();
}
else
__nop();
}
else
__nop();
}
}
void CMD_State_Machine() //function run periodcally in all connected devices on bus
{
static int cmd_state_cnt=0;
if(RPM_cmd_ack) //PEOTX,CMD received in Master/SUB_Master, non Active Slave & Listner
{
for(uint8_t i = 0; i <=3; i++)
{
last_entry[i] = rpm_data[i]; //data saved to last entery
}
for(uint8_t i = 5; i <=8; i++)
{
max7219.write_digit(1,i,last_entry[i-5]); //last entery displayed
}
if(addr_ID == ach_M)
{
mcp23s17_1.gpintena(0xff); //ACK key interrupts disabled
wait_us(1);
mcp23s17_1.gpintenb(0xff); //ACK key interrupts disabled
wait_us(1);
disp_clear = true;
}
else if(addr_ID == ach_S)
{
int_B.rise(NULL); //all key functions/interrupt disabled for PORTA,B
wait_us(1);
mcp23s17_1.gpintenb(0x00); //interrupts disabled
wait_us(1);
}
else
__nop();
led_cmd_ack = ON;
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(++cmd_state_cnt >= 12) //Hotter ON after 3sec
{
if((hooter == OFF)&&(addr_ID == ach_S)) //if hooter still off
{
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
buzzer = OFF;
hooter = OFF;
int_A.rise(NULL);
int_A.rise(NULL);
CMD_ticker.detach(); //timer stoped in all connected devices if ack not received in 3sec
} */
}
else
__nop();
}
else
__nop();
}
void R_A_Statemachine()
{
static int state_cnt = 0;
if(++state_cnt >= 60) //REQ not acknowledged for 30 sec, leds turn off, timer stopped
{
state_cnt = 0;
REQ_rcvd = false; //clear any pending request
R_A_Ticker.detach();
/*
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
__nop();
if(ACK_rcvd) //active channel switchover true only after acknowledge receive
{
ACK_rcvd = false;
led_ctrl[REQ_-1] = OFF;
if(addr_ID == pot_Master)
{
if(ack_ADDR == 3 || ack_ADDR == 4)
{
if(ach_S == pot_Slave_MCR)
ach_S = pot_Slave_ER;
else if(ach_S == pot_Slave_ER)
ach_S = pot_Slave_MCR;
}
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();
}
else
{
state_cnt = 0;
R_A_Ticker.detach();
}
}
else
__nop();
}
void DIR_state_machine(void)
{
static int dir_state_cnt = 0;
if(DIR_cmd_ack)
{
DIR_cmd = false;
DIR_cmd_ack = false;
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
{
hooter = ON;
dir_state_cnt = 0;
}
else
__nop();
}
}
void HB_fail_state_machine()
{
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-1] = OFF; //current command if any turned OFF
led_cmd_ack = OFF;
display_flash = false;
device_ERR = true;
max7219.disable_device(2); //shutdown mode
wait_ms(2);
if(addr_ID != ach_M)
{
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
{
uint8_t num;
num = key_ID;
if(key_ID != FALSE0)
{
if(((ach_M == pot_Master) && (addr_ID == pot_Master)) || ((ach_M == pot_Submaster) && (addr_ID == pot_Submaster))) //for Master
{
if(disp_clear) //if last command has been acknowledged
{
for (uint8_t j = 0; j < 4; j++)
{
rpm_data[j] = 0; //clear rpm_data to enter new values
}
disp_clear = false;
}
else
__nop();
for (uint8_t j = 0; j < 4; j++)
{
rpm_data[j] = rpm_data[j + 1]; //at every key press array shift to left
}
rpm_data[3] = num; //new value be updated at place of digit 4
for (uint8_t j = 1; j <= 4; j++)
{
max7219.write_digit(2,j,rpm_data[j-1]);
}
}
else
__nop();
}
else
__nop();
}
void CTRL_handler(uint8_t CTRL_ID) //handle control transfer
{
if(CTRL_ID != FALSE1)
{
if((addr_ID == pot_Slave_MCR) || (addr_ID == pot_Slave_ER))
{
if((CTRL_ID == REQ_)&&(!REQ_rcvd)) //if no request has been received
{
req = REQ_; //req data updated 0 here, same int values as in enum
REQ_key = true;
led_ctrl[REQ_-1] = _FLASH; //req led flash starts
R_A_Ticker.attach(&R_A_Statemachine,0.5);
}
else
__nop();
if((CTRL_ID == ACK_)&& (REQ_rcvd))
{
REQ_rcvd = false;
ack = ACK_; //ack data updated 2 here
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
__nop(); //then do nothing
}
void DIR_handler(uint8_t DIR_ID) //handle control transfer
{
if(DIR_ID != FALSE2)
{
if(addr_ID == ach_M)
{
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
{
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
__nop();
}
else
__nop(); //then do nothing
}
void DISP_handler(uint8_t DISP_ID) //handle control transfer
{
uint8_t disp_key;
disp_key = DISP_ID;
if(DISP_ID != FALSE3)
{
switch(disp_key)
{
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 j = 3; j > 0; j--)
{
rpm_data[j] = rpm_data[j - 1]; //at every key press array shift to left
}
rpm_data[0] = 0;
for (uint8_t j = 1; j <= 4; j++)
{
max7219.write_digit(2,j,rpm_data[j-1]);
}
}
else
{
__nop();
}
break;
case clr_ALL:
if(addr_ID == ach_M)
{ //C delete all digits in DS1 and show last entered value
for (uint8_t j = 0; j <=3; j++)
{
rpm_data[j] = 0; //at every key press array shift to left
}
for (uint8_t j = 1; j <= 4; j++) // all digits turns to zero
{
max7219.write_digit(2,j,rpm_data[j-1]);
}
}
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
{
RPM_cmd = false;
display_flash = false;
buzzer = OFF;
int_B.rise(NULL);
wait_us(10);
mcp23s17_1.gpintenb(0x00); //ACK key interrupts disabled
wait_us(10);
ENTER_ACK_key = true; //flashing display1 turned steady //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
display_flash = true; //display starts flashing
mcp23s17_1.gpintena(0x00); //ACK key interrupts disabled
wait_us(10);
mcp23s17_1.gpintenb(0x00); //ACK key interrupts disabled
wait_us(10);
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
}
/******************************************************************
function to set brightness of leds and seven segment
******************************************************************/
void SET_handler(uint8_t Set_ID)
{
if(Set_ID != FALSE2)
{
switch(Set_ID)
{
case INC:
duty_cycle = mypwm.read(); //as duty cycle decreases creases brightnes increases
if( duty_cycle > 0.02f)
{
duty_cycle = duty_cycle-0.01f;
mypwm.write(duty_cycle);
}
else
{
duty_cycle = 0.01f;
}
if(DEVICE1.intensity < 14)
{
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 =15;
DEVICE2.intensity =15;
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 < 0.98f) //as duty cycle increases brightnes decreases
{
duty_cycle = duty_cycle+0.01f;
mypwm.write(duty_cycle);
}
else
{
duty_cycle = 0.99f;
}
if(DEVICE1.intensity > 2)
{
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 =1;
DEVICE2.intensity =1; //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();
}
/**************************************************************************************
POT SPI Data Read KEY FUNCTIONS
**************************************************************************************/
unsigned char read_KEY_SPI(int CH)
{
char _key;
switch(CH)
{
case 1:
wait_ms(1);
_key = mcp23s17_1.intcapa(); // read(INTCAPA_ADDR);
wait_ms(1);
break;
case 2:
wait_ms(1);
_key=mcp23s17_1.intcapb();
wait_ms(1);
break;
case 3:
wait_ms(1);
_key=mcp23s17_2.intcapa();
wait_ms(1);
break;
case 4:
wait_ms(1);
_key = mcp23s17_2.gpiob(); //address read PORTB of chip2
wait_ms(1);
break;
default:
_key = 0;
break;
}
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
{
switch(key_status)
{
case 0xfe: //0xfe GPA0
num_KEY = ZERO;
break;
case 0xfd: //0xfd GPA1
num_KEY = ONE;
break;
case 0xfb: //0xfb GPA2
num_KEY = TWO;
break;
case 0xf7: //0xf7 GPA3
num_KEY = THREE;
break;
case 0xef: //0xef GPA4
num_KEY = FOUR;
break;
case 0xdf: //0xdf GPA5
num_KEY = FIVE;
break;
case 0xbf: //0xbf GPA6
num_KEY = SIX;
break;
case 0x7f: //0x7f GPA7
num_KEY = SEVEN;
break;
default:
num_KEY = FALSE0;
break;
}
NUMERIC_handler(num_KEY);
}
}
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)
{
switch(key_status)
{
case 0xfe: //0xfe GPA0
num_KEY = EIGHT;
NUMERIC_handler(num_KEY);
break;
case 0xfd: //0xfd GPA1
num_KEY = NINE;
NUMERIC_handler(num_KEY);
break;
case 0xfb: //0xfb GPA2
dir_KEY = AHEAD;
DIR_handler(dir_KEY);
break;
case 0xf7: //0xf7 GPA3
dir_KEY = ASTERN;
DIR_handler(dir_KEY);
break;
case 0xef: //0xef GPA4
ctrl_KEY = ACK_;
CTRL_handler(ctrl_KEY);
break;
case 0xdf: //0xdf GPA5
disp_KEY = clr_ENTRY; //CE
DISP_handler(disp_KEY);
break;
case 0xbf: //0xbf GPA6
disp_KEY = clr_ALL; //C
DISP_handler(disp_KEY);
break;
case 0x7f: //0x7f GPA7
disp_KEY = ENTER_ACK;
DISP_handler(disp_KEY);
break;
default:
num_KEY = FALSE0;
ctrl_KEY = FALSE1;
dir_KEY = FALSE2;
disp_KEY = FALSE3;
break;
}
}
}
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)
{
if(key_status==0xfe)
{
ctrl_KEY = REQ_; //control transfer REQ button pressed
CTRL_handler(ctrl_KEY);
}
else
{
if(key_status==0xfd)
set_KEY = INC; //setting key INC
else if(key_status==0xfb)
set_KEY = DEC; //setting key DEC
else if(key_status==0xf7)
set_KEY = TEST; //setting key TEST
else
{
set_KEY = FALSE4; //setting key TEST
ctrl_KEY = FALSE1;
}
SET_handler(set_KEY);
}
}
}
/**************************************************************************************
POT Serial Data Out FUNCTIONS
**************************************************************************************/
uint8_t get_checksum(const char *sentence)
{
const char *n = sentence + 1; // Plus one, skip '$'
uint8_t chk = 0;
/* While current char isn't '*' or sentence ending (newline) */
while (('*' != *n) &&(NMEA_END_CHAR_1 != *n))
{
if ('\0' == *n || n - sentence > NMEA_MAX_LENGTH)
{
/* Sentence too long or short */
chk = 0;
}
chk ^= (uint8_t) *n;
n++;
}
return chk;
}
void resp_HB(uint8_t seq) //presentees(submaster,slaves,listeners will respond back to the HB along with REQ and CMD ack status
{
switch(seq)
{
case 0:
sprintf(tx_buf,"$PPOTA,%u,%c*", addr_ID,valid);
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTA,%u,%c*%u",addr_ID,valid,checksum_send_byte);
break;
case 1:
sprintf(tx_buf,"$PPOTR,%u,%u,%c*", addr_ID, REQ_,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTR,%u,%u,%c*%u",addr_ID,REQ_,'A',checksum_send_byte);
break;
case 2:
sprintf(tx_buf,"$PPOTK,%u,%u,%c*", addr_ID, ACK_,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTK,%u,%u,%c*%u",addr_ID, ACK_,'A',checksum_send_byte);
break;
default:
__nop(); //sprintf(tx_buf,"$PPOTA,%u,%c", addr_ID, valid);
break;
}
Drive_En = 1;
UART.printf("%s\r\n",tx_buf);
wait_ms(2);
Drive_En = 0;
}
void send_ack_CMD(uint8_t cmd_t)
{
sprintf(tx_buf,"$PPOTX,%u,%u,%c*", addr_ID, cmd_t,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTX,%u,%u,%c*%u",addr_ID,cmd_t,'A',checksum_send_byte);
Drive_En = 1;
UART.printf("%s\r\n",tx_buf);
wait_ms(2);
Drive_En = 0;
}
void send_RPM(uint8_t _adr)
{
sprintf(tx_buf,"$PPOTC,%u,%u,%u,%u,%u,%c*", _adr, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTC,%u,%u,%u,%u,%u,%c*%u",_adr, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],'A',checksum_send_byte);
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(tx_buf,"$PPOTD,%u,%u,%c*",_adr,dir,'A'); // dir is 1 for ahead, 2 for astern
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTD,%u,%u,%c*%u",_adr,dir,'A',checksum_send_byte);
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 heartbeat to all presentees at periodic intervals
{
sprintf(tx_buf,"$PPOTH,%u,%c*", _adr,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTH,%u,%c*%u",_adr,'A',checksum_send_byte);
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(tx_buf,"$PPOTB,%u,%u,%c*",err_ALL,err_Status,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTB,%u,%u,%c*%u",err_ALL,err_Status,'A',checksum_send_byte);
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,"$PPOTS,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%c*", ach_M, ach_S, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],last_entry[0],last_entry[1],last_entry[2],last_entry[3],dir,current_status,current_status_dir,'A');
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTS,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%c,*%u", ach_M, ach_S, rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],last_entry[0],last_entry[1],last_entry[2],last_entry[3],dir,current_status,current_status_dir,'A',checksum_send_byte);
Drive_En = 1;
UART.printf("%s\r\n",tx_buf);
wait_ms(2);
Drive_En = 0;
}
void ask_TIME()
{
Hrs_1 = Hrs_2 = Mins_1 = Mins_2 = 0;
sprintf(tx_buf,"$PPOTQ,%u,%u,%u,%u,%c*", Hrs_1,Hrs_2, Mins_1, Mins_2,'A'); //querry to CPU for time
checksum_send_byte = get_checksum(tx_buf);
sprintf(tx_buf,"$PPOTQ,%u,%u,%u,%u,%c*%u", Hrs_1,Hrs_2, Mins_1, Mins_2,'A',checksum_send_byte);
Drive_En = 1;
UART.printf("%s\r\n",tx_buf);
wait_ms(2);
Drive_En = 0;
}
/**************************************************************************************
EOT Serial Data In FUNCTIONS
**************************************************************************************/
void rcvd_HB() //all devices check for HB along with req response for all presentees
{
if(rcvd_ADDR == addr_ID) //addr_ID self address received
{
HB_rcvd = true;
if(addr_ID > pot_Slave_ER)
{ //all listners replied with
resp_HB(0); //normal HB response
}
else //in case of active slave
{
if(ENTER_ACK_key) //RPM ACK key is detected at active slave only
{
send_ack_CMD(1);
RPM_cmd_ack = 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
}
else if(ACK_key)
{
ACK_key = false;
resp_HB(2); //req and ack status data in req=1 and ack=2 if true
}
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();
}
void resp_rcvd_HB() //master and active/passive slaves check HB response along with req/ack commands
{
static uint8_t checksum_flt[8] = {0,0,0,0,0,0,0,0};
static bool checksum_err[8] = {false,false,false,false,false,false,false,false};
if(addr_ID == pot_Master) //only master will be able to monitor status of all eots connected
{
if(send_ADDR == rcvd_ADDR) //valid broadcast not received
{
if(valid_sentence[rcvd_ADDR] == 'A')
{
HB_ack_rcvd = true;
checksum_err[rcvd_ADDR] = false;
checksum_flt[rcvd_ADDR] = 0;
}
else if((valid_sentence[rcvd_ADDR] == 'V')&&(++checksum_flt[rcvd_ADDR]<=3))
{
HB_ack_rcvd = true;
BROADCAST_send = true; //again broadcast
switch_CH = true; //send active channels again
}
else if((valid_sentence[rcvd_ADDR] == 'V')&&(checksum_flt[rcvd_ADDR]>3)&&(!checksum_err[rcvd_ADDR]))
{
HB_ack_rcvd = false;
checksum_err[rcvd_ADDR] = true;
}
else
__nop();
}
else
HB_ack_rcvd = false;
}
else
__nop();
}
void rcvd_ACH()
{
led_ach[ach_M-1] = ON;
if(current_status == 2)
{
led_cmd_ack = _FLASH;
max7219.enable_device(2);
display_flash = true;
}
else if(current_status == 1)
{
led_cmd_ack = ON;
max7219.enable_device(2);
display_flash = false;
}
else
{
led_cmd_ack = 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 = 1; i <= 4 ; i++) //current cmd information
{
max7219.write_digit(2,i,rpm_data[i-1]); //device 2 digits 1-4 //data 0 means left most digit will be blank bcoz no decode mode is used
}
for(uint8_t i = 5; i <=8; i++) //last command executed
{
max7219.write_digit(1,i,last_entry[i-5]); //last cmd 0000
}
if(ach_S != 9)
{
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);
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();
}
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
{
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 portb interupts
mcp23s17_1.gpintenb(0xff); //ff
wait_us(10);
}
DIR_Ticker.attach(&DIR_state_machine,0.25);
}
void rcvd_BROADCAST()
{
for(uint8_t i = 0 ; i <= 7 ; i++)
{
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();
}
}
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 at_timeout()
{
timeout.detach();
data_fail = true;
}
void read_SERIAL()
{
char rcvd_char;
char rcvd_valid;
int cmd_t;
uint8_t checksum_calculated;
timeout.attach(&at_timeout,0.100); //100ms timeout
data_fail = false;
while(UART.readable() && (num_bytes < RX_BUFFER_SIZE)&&(!data_fail))
{
rcvd_char = UART.getc();
if(rcvd_char == '$') //first character
num_bytes = 0;
else
__nop();
rx_buf[num_bytes] = rcvd_char;
num_bytes++;
if(rcvd_char == '\n') //last character received
{
timeout.detach();
strtok(rx_buf,",");
if(strcmp(rx_buf,"$PPOTH") == 0) //* present submaster,Slaves or lsitners receive HB *//
{
sscanf(strtok (NULL,","),"%u", &rcvd_ADDR); //address of connected device
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTH,%u,%c*",rcvd_ADDR,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
rcvd_HB(); //valid sentence received
}
else
__nop(); //valid sentence receivedrcvd_HB(); //set flag when Heartbeat received
}
else if(strcmp(rx_buf,"$PPOTA") == 0) //* Master,submaster and Slaves receive heartbeat resp *//
{
sscanf(strtok (NULL,","),"%u", &rcvd_ADDR);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid);
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTA,%u,%c*",rcvd_ADDR,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid_sentence[rcvd_ADDR] = rcvd_valid;
resp_rcvd_HB(); //valid sentence received
}
else
__nop();
}
else if(strcmp(rx_buf,"$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);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTB,%u,%u,%c*",err_ALL,err_Status,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{ //valid sentence received
valid = 'A';
rcvd_BROADCAST();
}
else
valid = 'V'; //not valid
}
else if(strcmp(rx_buf,"$PPOTC") == 0) //* submaster,Slaves or listener receive CMD *//
{
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]);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTC,%u,%u,%u,%u,%u,%c*",rcvd_ADDR,rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
RPM_cmd = true; // in all devices who receive RPM command
rcvd_rpm_CMD();
}
else
valid = 'V';
}
else if(strcmp(rx_buf,"$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
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTD,%u,%u,%c*",rcvd_ADDR,dir,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
DIR_cmd = true;
rcvd_dir_CMD();
}
else
valid = 'V'; //set flag when Heartbeat received
}
else if(strcmp(rx_buf,"$PPOTX") == 0) //* Master,submaster,Slave or listners receive CMD acknowledge *//
{
sscanf(strtok (NULL,","), "%u", &rcvd_ADDR); //address extracted
sscanf(strtok (NULL,","), "%u",&cmd_t);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTX,%u,%u,%c*",rcvd_ADDR,cmd_t,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
switch(cmd_t)
{
case 1:
RPM_cmd_ack = true;
break;
case 2:
DIR_cmd_ack = true;
led_dir[last_dir-1] = OFF;
last_dir = dir;
led_dir[dir-1] = ON;
break;
default:
__nop();
break;
}
}
else
valid = 'V'; // not valid sentence received;
}
else if(strcmp(rx_buf,"$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", &last_entry[0]);
sscanf(strtok (NULL,","), "%u", &last_entry[1]);
sscanf(strtok (NULL,","), "%u", &last_entry[2]);
sscanf(strtok (NULL,","), "%u", &last_entry[3]);
sscanf(strtok (NULL,","), "%u", &dir);
sscanf(strtok (NULL,","), "%u", ¤t_status);
sscanf(strtok (NULL,","),"%u", ¤t_status_dir);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTS,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%u,%c*",ach_M,ach_S,rpm_data[0],rpm_data[1],rpm_data[2],rpm_data[3],last_entry[0],last_entry[1],last_entry[2],last_entry[3],dir,current_status,current_status_dir,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A'; //valid sentence received
rcvd_ACH();
}
else
valid = 'V';
}
else if(strcmp(rx_buf,"$PPOTR") == 0) //* control transfer request arrived*//
{
sscanf(strtok (NULL,","),"%u", &rcvd_ADDR);
sscanf(strtok (NULL,","),"%u", &req); //e.g $R req or $K ack
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
if(addr_ID <= pot_Slave_ER)
{
sprintf(rx_buf,"$PPOTR,%u,%u,%c*",rcvd_ADDR,req,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
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
valid = 'V';
}
else
__nop();
}
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 $K ack
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid);
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
if(addr_ID <= pot_Slave_ER)
{
sprintf(rx_buf,"$PPOTK,%u,%u,%c*",rcvd_ADDR,ack,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
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
valid = 'V';
}
else
__nop();
}
else if(strcmp(rx_buf,"$PPOTT") == 0) //* submaster,Slaves or listener receive CMD *//
{
sscanf(strtok (NULL,","), "%u", &Hrs_1); //cmd extracted
sscanf(strtok (NULL,","), "%u", &Hrs_2);
sscanf(strtok (NULL,","), "%u", &Mins_1);
sscanf(strtok (NULL,","),"%u", &Mins_2);
sscanf(strtok (NULL,"*"),"%c", &rcvd_valid); //sentence validity char
sscanf(strtok (NULL,","),"%u", &checksum_rcvd_byte);
sprintf(rx_buf,"$PPOTT,%u,%u,%u,%u,%c*",Hrs_1,Hrs_2,Mins_1,Mins_2,rcvd_valid);
checksum_calculated = get_checksum(rx_buf);
if(checksum_calculated == checksum_rcvd_byte)
{
valid = 'A';
rcvd_TIME();
}
else
valid = 'V';
}
else
__nop();
}
else
__nop();
}
}
/********END of FUNCTION****************/
/**************************************************************************************
EOT Handler FUNCTIONS
**************************************************************************************/
void HB_handler() //function run periodically within active master only
{
if(++sync_count >= sync_time)
{
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_pot_connected) //max no-pot-conneted = 7
device_addr = 0;
}
else
__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 = POT[device_addr].slave_ID;
if(RPM_cmd)
{
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_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)
{
send_BROADCAST(); //broadcast needed err_ID nd err_Status
BROADCAST_send = false;
wait_ms(2);
}
else if(switch_CH) //active channel switch over happened
{
send_ACH(); //active channel changeover
switch_CH = false;
wait_ms(2);
}
else
{
send_HB(send_ADDR); //hb is to be going on
HB_Ticker.attach(&HB_State_Machine,0.015); //HB_state_machine timer started
}
}
else if(++norm_count >= 5)
{
norm_count = 0;
if(!time_RCVD)
norm_op = true;
else
__nop();
}
else
__nop();
}
/**************************************************************************************
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)
{
for( uint8_t i=0;i<=7;i++)
{
if(((1 << i) & pot_Addr)== 0) // to check which bit of eot_Addr register is '0'
{
if(i==0) // bit 0 means master present and soon
{
addr_ID = pot_Master;
ach_M = pot_Master;
for(i = 1 ; i <= 7 ; i++)
{
if((((uint8_t)1<<i) & pot_Addr) == 0)
{
switch(i)
{
case 1:
POT[no_pot_connected].slave_ID = pot_Submaster;
POT[no_pot_connected].err_cnt=0;
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:
if(ach_S == pot_Slave_MCR) //if MCR ispresent
__nop();
else
{ //if MCR is not present
ach_S = pot_Slave_ER;
}
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
{
switch(i)
{
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:
pot_Error = true;
}
}
}
}
}
}
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);
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<=1;i++) //ctrl led intialisation
{
LED_DIR[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;
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<=1;i++) //ctrl led intialisation
{
LED_DIR[i] = OFF;
led_dir[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 pwm_init()
{
mypwm.period_ms(10); //initialy 20ms
wait_us(1);
mypwm.write(.10); //10%duty cycle more bright with less duty cycle
wait_us(1);
}
void mcp23s17_init()
{
//device1 configuration
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);
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);
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.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);
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);
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 Spi3_init() //for mcp23s17
{
_SPI3.format(8,0); //8bit,mode 0
_SPI3.frequency(1000000); //1mhz
wait_ms(1);
}
void RTC_init()
{
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
DEVICE1.device_number = 0x01;
DEVICE1.decode_mode = 0xff; //bcd decode mode
DEVICE1.intensity = 0x01; //Max7219::MAX7219_INTENSITY_8,
DEVICE1.scan_limit = 0x07; // 1-4 digits RTC,5-8 digits last cmd RPM
wait_ms(1);
DEVICE2.device_number = 0x02; //
DEVICE2.decode_mode = 0xff; //bcd decode mode
DEVICE2.intensity = 0x01; //Max7219::MAX7219_INTENSITY_8, //intensity moderate
DEVICE2.scan_limit = 0x03; //1-4 digits current
wait_ms(1);
max7219.init_device(DEVICE1); //DEVICE 1 configured as per above settings
wait_ms(1);
max7219.enable_device(1); //normal operation
wait_ms(1);
max7219.init_device(DEVICE2); //DEVICE 2 configured as per above settings
wait_ms(1);
max7219.enable_device(2); //normal operation
wait_ms(1);
max7219.set_display_test(); //all on
wait(1);
max7219.clear_display_test(); //normal operation
wait_ms(1);
for(uint8_t i=1; i<=4; i++)
{
max7219.write_digit(1, i, 0x00); //device 1 RTC, digit 1-4 ,data 0x01
wait_us(100);
}
wait_ms(100);
for(uint8_t i=4; i<=8; i++)
{
max7219.write_digit(1, i, 0x00); //device 1 last cmd, digit 4-8 ,data 0x01
wait_us(100);
}
wait_ms(100);
for(uint8_t i=1; i<=4;i++)
{
max7219.write_digit(2, i, 0x00); //device 2 current CMD, digits 1-4 ,data 0x01
}
wait_ms(100);
}
void Spi2_init() // for max7219
{
_SPI2.format(16,0); //16bit,mode 0
_SPI2.frequency(1000000); //1mhz
wait_ms(1);
}
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;
device_ERR = false;
pot_MCR_err = false;
pot_ER_err = 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_CMD = false;
key_CTRL = 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;
disp_clear = false;
/*intialization of all bool data types indicating flags while serial receive */
RPM_cmd_ack = false;
HB_ack_rcvd = false;
BROADCAST_rcvd = false;
HB_rcvd = false;
REQ_rcvd = false;
ACK_rcvd = false;
time_RCVD = false;
data_fail = false;
/*intialization of all bool data types indicating flags while serial transmit */
BROADCAST_send = false;
RPM_cmd_ack_send = false;
DIR_cmd_ack_send = false;
REQ_send = false;
ACK_send = false;
HB_send = false;
/*intialization of all bool data types indicating active channel changeover*/
test=false;
disp_test = false;
ACH_SW_over = switch_CH = false;
display_flash = false;
/*intialization of all int data types*/
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 = ticker_count = ticker_count_fast = current_status = current_status_dir= 0;
spi_error = set_bit = err_ALL = no_pot_connected = norm_count = Hrs_1 = Hrs_2 = Mins_1 = Mins_2 = 0;
checksum_send_byte = checksum_rcvd_byte = 0;
dir = last_dir = 0;
HB_timer =0;
sync_time = 0;
num_bytes = 0;
device_addr = -1;
valid = 'A';
POT = new _POT[NO_MAX_POT];
}
void POT_INIT()
{
Parameters_init();
wait_ms(1);
Discrete_init();
wait_ms(1);
Spi2_init();
wait_ms(1);
max7219_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();
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
{
wait(10); //wait for 10sec,as MCU take time to read time from GPS
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);
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)
{
wait(1);
led_ach[0] = ON; //by default master led turns on
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); //refresh rate 20ms
wait_ms(2);
RTC_ticker.attach(&read_RTC , 59); //after 60 sec
wait_ms(2);
while(1)
{
}
}