main.cpp

00001 #include "main.h"
00002 
00003 #define REVISION "1.0.3"
00004 #define CR 13
00005 #define LF 10
00006 
00007 // Note: all warmstart related functions are commented-out. The parameter list and 
00008 //   flags are presently going through a major revision.
00009 
00010 
00011 
00012 //******************************
00013 //  Function prototypes
00014 //******************************
00015 void read_BuildVersion(void);
00016 void executeSerialFunction(char key);
00017 
00018 //*******************************
00019 // Global Variables
00020 //*******************************
00021 u8      serialCommandMode;
00022 u8      serialSensorID;
00023 u16     serialSensorRate; 
00024 u16     serialCommandValue;
00025 
00026 u8      fifoBuffer[24 * 1024];
00027 u32     bytesRead;
00028 
00029 u8      apSuspendMode = 0;
00030 u8      displayText = 1;       // Also see simular "printData" in em7186.cpp
00031 u8      reportMetaData = 0;
00032 
00033 u8      fw[] = { "/sd/sentral.fw" };
00034 u8      logfilename[] = { "/sd/log.csv" };
00035 //u8      warmStartFile[] = { "/sd/warmstart.dat" }; 
00036 u8 sentral_service_flag=0;
00037 
00038 FILE *flog;
00039 
00040 char    serial_inchar;
00041 
00042 //******************************
00043 //  Interrupt callback functions
00044 //******************************
00045  
00046 void SENtral_Interrupt(void)
00047 {
00048 
00049     sentral_service_flag=1;
00050     SENtral_InterruptPin.disable_irq();
00051         
00052 }
00053 
00054 void OnSerial(void)
00055 {
00056     serial_inchar = pc.getc();
00057 }
00058 
00059 //=============================================================================
00060 //  Serial input Character (Key) Commands
00061 //=============================================================================
00062 
00063 // processSerialInchar function is called upon every incomming serial character 
00064 //   as defined in mbed_objects.cpp
00065 void processSerialInchar(char key)
00066 {
00067     // The Simple Serial protocal mostly consists of single character commands
00068     //   the exceptions are commands that require additional information like 's' and 'X'.
00069     //   In these cases serialCommandMode states are used and operands are then preprocessed 
00070     //   inside this function.
00071 
00072     // If the protocal gets larger and more commands require additional data a more complex
00073     //    command processor with incoming serial buffer will have to be implimented
00074     //    presently this simple processor does the job
00075 
00076     // serialCommandMode  ** STATES **
00077     // 0: Not in Sensor command building mode
00078     // 1: 's' Sensor Rate chane. State 1 = Constructing Sensor ID number
00079     // 2:                        State 2 = Constructing Sensor Rate Value
00080     // 3: 'X' Firmware Image Tranfer Mode (waiting for source/destination character)
00081     // CR: [carrage return] sends constructed sensor rate request
00082     
00083     // send '?' to mbed for menu of commands
00084 
00085 
00086     serial_inchar = NULL;
00087 
00088     if ((serialCommandMode > 0) && (serialCommandMode < 3)) { //'s' virutual sensor rate change request
00089         if ((key >= '0') && (key <= '9')) {
00090             serialCommandValue = (serialCommandValue * 10) + (key - '0');
00091         }
00092         else if (key == ',') {
00093             serialSensorID = (unsigned char)serialCommandValue;
00094             serialCommandValue = 0;
00095             serialCommandMode = 2;
00096         } else if (key == CR || key == LF) {
00097             if (serialCommandMode == 1) {
00098                 serialSensorID = serialCommandValue;
00099             } else {
00100                 serialSensorRate = serialCommandValue;
00101             }
00102             if (serialSensorID > 0) {
00103                 if (displayText) printf("\n\rChanging rate of sensor %u to %d\n\r", serialSensorID, serialSensorRate);
00104                 em7186_set_sensor_rate(serialSensorID,serialSensorRate);
00105                 if (serialSensorRate > 0) {
00106                     sensorEnabled[serialSensorID-1] = TRUE;
00107                 } else {
00108                     sensorEnabled[serialSensorID-1] = FALSE;
00109                 }
00110             }
00111             serialCommandMode = 0;
00112             serialSensorID = 0;
00113             serialSensorRate = 0;
00114         }
00115     } else if (serialCommandMode == 3) { // 'X' Transfer firmware command
00116         firmwareTransfer(key);
00117         serialCommandMode = 0;
00118     } else
00119         executeSerialFunction(key);
00120 }
00121 
00122 void executeSerialFunction(char key)
00123 {
00124     u8 paramValues[2];
00125     ParamInfo param = { 1,1 }; // parameter# 1, size=1
00126     switch (key)
00127     {
00128     case 'B':
00129         if (displayText) printf("\n\r\n\r ********** PREPARING FOR SENSOR SELF TEST REQUEST; STANDBY REQUEST MADE ********** \n\r\n\r");
00130         paramValues[0] = 0x01; // Request Sensor Self Test bit and NOT standby bit
00131         em7186_i2c_write(0x55, paramValues, 1); // 0x55 = Host Interface Control Reg
00132         if (displayText) printf("\n\r\n\r ********** SENSOR SELF TEST REQUEST + RUN MADE ********** \n\r\n\r");
00133         paramValues[0] = 0x40; // Request Sensor Self Test bit and NOT standby bit
00134         em7186_i2c_write(0x55, paramValues, 1); // 0x55 = Host Interface Control Reg
00135         break;
00136     case 'c':
00137         displayStatusRegisters();
00138         break;
00139 //    case 'd':
00140 //        displayParams(2, warmStartList, sizeof(warmStartList) / sizeof(warmStartList[0]));
00141 //        break;
00142     case 'D':  // this togggles display of SENtral(FIFO) Data 
00143                // Only useful when intending to log data through SD Card and want to suspend terminal display of data
00144         printData = !printData;
00145         if (displayText) printf("Display SENtral Data  - %s\n\r", (printData ? "Enabled" : "Disabled"));
00146         break;
00147     case 'e':
00148         displayPhysicalSensorStatus();
00149         break;
00150     case 'f':
00151         displaySensorStatus();
00152         break;
00153 
00154     case 'g':
00155         logData = !logData;
00156         if(logData) {
00157             flog = fopen(logfilename, "a");
00158             if (!flog) {
00159                 printf("Error Opening log file\n\r");
00160                 logData = 0;
00161             }
00162             else
00163                 printf("%s Log file open\n\r",logfilename);            
00164         }
00165         else {
00166             if(flog) {
00167                 fclose(flog);
00168                 printf("Log file closed\n\r");
00169             }
00170         }
00171         break;    
00172               
00173     case 'h':
00174         apSuspendMode = !apSuspendMode;
00175         if (apSuspendMode) em7186_ap_suspend(1);
00176         else em7186_ap_suspend(0);
00177         if (displayText) printf("AP Suspend Mode %s\n\r", (apSuspendMode ? "Enabled" : "Disabled"));
00178         break;
00179     case 'H':
00180         em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_CPU_STOP);        
00181         //SENtral_InterruptPin.enable_irq();
00182         if (displayText) printf("Exit Run Mode Request sent\n\r");
00183         break;
00184     case 'i':
00185     {
00186         displayPhysicalSensorInformation();
00187         break;
00188     }
00189     case 'j':
00190         em7186_set_fifo_watermarks(1000, 1000);
00191         break;
00192 //    case 'l':
00193 //        em7186_warm_start_load(warmStartFile);
00194 //        break;
00195     case 'm':
00196         reportMetaData = !reportMetaData;
00197         if (reportMetaData) printf("Meta Data reporting  - %s\n\r", (printData ? "Enabled" : "Disabled"));
00198         break;
00199     case 'n':
00200         displaySensorInformation();
00201         break;
00202     case 'r':
00203         em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_CPU_RUN);        
00204         em7186_set_scale_factors();
00205         SENtral_InterruptPin.enable_irq();
00206         if (displayText) printf("Run Mode Request sent\n\r");
00207         break;
00208     case 'R':
00209         em7186_i2c_write_value(RESET_REQ_REG, 1);        
00210         if (displayText) printf("Reset Request Sent\n\r"); 
00211         break;
00212     case 's':
00213         serialCommandMode = 1; // user beginning to Enable/Disable or change SensorRate
00214         serialSensorID = 0; serialSensorRate = 0; serialCommandValue = 0;
00215         if (displayText) printf("Enter Sensor ID,Rate--> ");
00216         // reminder: SENtral must be "run"-ing before the virtual sensor actually starts
00217         // run mode ('r' command) can be executed before or after this command
00218         break;
00219 //    case 'S':
00220 //        em7186_warm_start_save(warmStartFile);
00221 //        break;
00222    case 't':
00223         displayText = !displayText;
00224         if (displayText) printf("Text Display %s\n\r", (displayText ? "Enabled" : "Disabled"));
00225         break;
00226     case 'X':
00227             if (displayText) printf("Firmware Transfer. Enter source/destination code: %s\n\r",fw);
00228             serialCommandMode = 3;
00229             break;
00230     case 'v':
00231     case 'V':
00232         read_BuildVersion();
00233         break;
00234 //    case 'w':
00235 //        warmStart(); // this is to test the warmstart save/load process
00236 //        break;
00237     case 'y':
00238         break;
00239     case 'z':
00240         displaySensorConfiguration();
00241         break;
00242      case '?':
00243         {
00244         u8 bar[45];
00245         memset(bar, 205, sizeof(bar));
00246         bar[sizeof(bar)-1] = 0;
00247         printf("\n\r");
00248         printf("  RM3100RTI-SEntral Simple Serial Interface\n\r");
00249         printf("                  Revision: %s\n\r",REVISION);
00250         printf("  %c%s%c\n\r", 201, bar, 187);
00251         printf("  %c        Commands  (case sensitive)          %c\n\r", 186, 186);
00252         // Status and configuration
00253         printf("  %c%s%c\n\r", 204, bar, 185);
00254         printf("  %c         Configuration and Status           %c\n\r", 186, 186);
00255         printf("  %c%s%c\n\r", 204, bar, 185);
00256         printf("  %c c : Display status registers               %c\n\r", 186, 186);
00257         printf("  %c e : Display physical sensor status         %c\n\r", 186, 186);
00258         printf("  %c f : Display sensor status                  %c\n\r", 186, 186);
00259         printf("  %c i : Display Physical Sensor Information    %c\n\r", 186, 186);
00260         printf("  %c n : Display sensor information             %c\n\r", 186, 186);
00261         printf("  %c z : Display sensor configuration           %c\n\r", 186, 186);
00262         printf("  %c v : Display Firmware Version information   %c\n\r", 186, 186);
00263 
00264         // Sensor control
00265         printf("  %c%s%c\n\r", 204, bar, 185);
00266         printf("  %c               Firmware Transfers           %c\n\r", 186, 186);
00267         printf("  %c%s%c\n\r", 204, bar, 185);
00268         printf("  %c XR : From SD Card to SENtral RAM           %c\n\r", 186, 186);
00269         printf("  %c XE : From SD Card to EEPROM                %c\n\r", 186, 186);
00270  
00271         // Sensor control
00272         printf("  %c%s%c\n\r", 204, bar, 185);
00273         printf("  %c               Sensor Rates                 %c\n\r", 186, 186);
00274         printf("  %c%s%c\n\r", 204, bar, 185);
00275         printf("  %c s @@@,###[CR]                              %c\n\r", 186, 186);
00276         printf("  %c   where:                                   %c\n\r", 186, 186);
00277         printf("  %c    @@@ = Sensor ID                         %c\n\r", 186, 186);
00278         printf("  %c    ### = Data rate                         %c\n\r", 186, 186); 
00279         printf("  %c    [CR]= carriage return (0x0D)            %c\n\r", 186, 186); 
00280  
00281         // Display controls
00282         printf("  %c%s%c\n\r", 204, bar, 185);
00283         printf("  %c             Display Controls               %c\n\r", 186, 186);
00284         printf("  %c%s%c\n\r", 204, bar, 185);
00285         printf("  %c t : Toggle command feedback text           %c\n\r", 186, 186);
00286         printf("  %c m : Meta event reporting (on/off)          %c\n\r", 186, 186);
00287 
00288         // Data logging
00289         printf("  %c%s%c\n\r", 204, bar, 185);
00290         printf("  %c               Data Logging                 %c\n\r", 186, 186);
00291         printf("  %c%s%c\n\r", 204, bar, 185);
00292         printf("  %c g : Toggle sensor Data log (on/off)        %c\n\r", 186, 186);
00293         printf("  %c D : Toggle sensor Data display (on/off)    %c\n\r", 186, 186);
00294 
00295         // Additional controls
00296         printf("  %c%s%c\n\r", 204, bar, 185);
00297         printf("  %c           Additional Controls              %c\n\r", 186, 186);
00298         printf("  %c%s%c\n\r", 204, bar, 185);
00299         printf("  %c j : Set fifo watermarks to 1000            %c\n\r", 186, 186);
00300         printf("  %c h : Toggle AP suspend mode (on/off)        %c\n\r", 186, 186);
00301         printf("  %c R : Send Reset Request to SENtral          %c\n\r", 186, 186);
00302         printf("  %c r : Request SENtral Run Mode ON            %c\n\r", 186, 186);
00303         printf("  %c H : Request SENtral Run Mode OFF (Halt)    %c\n\r", 186, 186);
00304  
00305         // Warm-start
00306         printf("  %c%s%c\n\r", 204, bar, 185);
00307         printf("  %c                Warm-Start                  %c\n\r", 186, 186);
00308         printf("  %c%s%c\n\r", 204, bar, 185);
00309         printf("  %c S : Save warm-start parameters             %c\n\r", 186, 186);
00310         printf("  %c l : Load warm-start parameters             %c\n\r", 186, 186);
00311         printf("  %c d : Display warm-start parameters          %c\n\r", 186, 186);
00312         printf("  %c w : Perform warm-start test                %c\n\r", 186, 186);
00313         
00314         // Tests
00315         printf("  %c%s%c\n\r", 204, bar, 185);
00316         printf("  %c                  Tests                     %c\n\r", 186, 186);
00317         printf("  %c%s%c\n\r", 204, bar, 185);
00318         printf("  %c B : Run sensor Self tests                  %c\n\r", 186, 186);
00319 
00320         printf("  %c%s%c\n\r", 200, bar, 188);
00321 
00322         }
00323     }
00324 }
00325 
00326 
00327 void runScript(void)
00328 {
00329     
00330     // This script(function) runs when the Pushbutton on the RM3100 Arduino
00331     // shield is pressed, which is connected to pin D5.
00332     
00333     green_LED = 1; // flash to denote start
00334     wait(0.1);
00335     green_LED = 0;
00336     
00337     if (displayText) printf("Running Special script\n\r");  
00338     
00339 /*
00340     Your custom code goes here
00341 */
00342 
00343 
00344 }
00345 
00346 
00347 //******************************
00348 //  MAIN
00349 //******************************
00350 
00351 int main()
00352 {
00353 
00354     // Init user serial interface
00355     pc.baud(115200);
00356     printf("SENtral Simple Serial Host Interface %s\n\r",REVISION);
00357 
00358     // Initialize Stuff
00359     if (!em7186_i2c_init()) {
00360         printf("Failed to see SENtral device.\n\r Check connections\n\r");
00361     }
00362 
00363 
00364     // Setup interrupt callback functions
00365     SENtral_InterruptPin.rise(&SENtral_Interrupt); // SENtral host interrupt
00366     pc.attach(&OnSerial);                          // user input from serial term 
00367     
00368     
00369     // flash ready signal on expansion board Assumes LED is jumpered to D4
00370     for (char i=4;i;i--)
00371     {
00372         green_LED       = 1;     // This LED is optional RM3100RTI shield board specific
00373         wait(0.1);
00374         green_LED       = 0;
00375         wait(.1);
00376     }
00377     green_LED       = 1;
00378     wait(.25);
00379    
00380     while (1) 
00381     {
00382 
00383         if (serial_inchar) 
00384         {
00385             processSerialInchar(serial_inchar); // process user key commands
00386             serial_inchar = NULL;
00387         }
00388         
00389         if (sentral_service_flag)
00390         {
00391             sentral_service_flag=0;
00392             bytesRead = em7186_read_fifo(fifoBuffer);
00393             em7186_parse_fifo(fifoBuffer, bytesRead);
00394             SENtral_InterruptPin.enable_irq();
00395     
00396         }
00397 
00398         if (pushButton == 1) // PBSwitch is wired as active high
00399             runScript();    // execute special script(function)
00400  
00401     }
00402 
00403 }
00404