Pathfindr
init
Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
Diff: main.cpp
- Revision:
- 7:e9a19750700d
- Parent:
- 6:388d3c7efdd9
- Child:
- 8:7351f8c4cd60
--- a/main.cpp Wed Nov 14 16:08:28 2018 +0000
+++ b/main.cpp Tue Dec 11 22:18:24 2018 +0000
@@ -1,205 +1,207 @@
#include "main.h"
-#include "board.h"
-#include "modes.h"
-
//include "nrf_soc.h"
-//#include "ATCommand.h"
-
-//LowPowerTicker ticker; //no impact on power consumption
-
//------------------------------------------------------------------------------
-//Function declarations- Local
+//FUNCTION PROTOTYPES
//------------------------------------------------------------------------------
static void mainStateEngine(void);
-static void mode_mtu(void);
static void selftest(void);
-static void LEDon(void);
-static void LEDoff(void);
+static void buttonPress(void);
+static void buttonRelease(void);
//------------------------------------------------------------------------------
-//Var declarations- Local
+//GLOBAL VARS
//------------------------------------------------------------------------------
bool accel_healthy = false;
bool firstBoot = false;
bool requireSoftReset = false;
+bool motionFlagTriggered = false;
//------------------------------------------------------------------------------
-//Var declarations- RETAINED NOINIT RAM
+//RETAINED NOINIT RAM VARS
//------------------------------------------------------------------------------
-#if defined ( __CC_ARM )
-/** THIS IS THE MBED ONLINE COMPILER TOOLCHAIN*/
-static uint8_t RET_mode __attribute__((section("noinit"),zero_init));
-static uint32_t RET_unixtime_backup __attribute__((section("noinit"),zero_init));
-static char RET_buffer[64] __attribute__((section("noinit"),zero_init));
+#if defined ( __CC_ARM ) /** THIS IS THE MBED ONLINE COMPILER TOOLCHAIN*/
+static uint8_t RET_mode __attribute__((section("noinit"),zero_init));
+
+static uint8_t RET_buttonReleaseCount __attribute__((section("noinit"),zero_init));
+static uint32_t RET_buttonPressTime __attribute__((section("noinit"),zero_init));
+static uint32_t RET_buttonReleaseTime __attribute__((section("noinit"),zero_init));
+static uint32_t RET_unixtime_backup __attribute__((section("noinit"),zero_init));
+static bool RET_requireImpactFlag __attribute__((section("noinit"),zero_init));
+static char RET_buffer[64] __attribute__((section("noinit"),zero_init));
+
+//MOTION SETTINGS
+static bool RET_motionTriggered __attribute__((section("noinit"),zero_init));
+static time_t RET_motionStartTime __attribute__((section("noinit"),zero_init));
+static time_t RET_motionStopTime __attribute__((section("noinit"),zero_init));
+static uint32_t RET_motionStartThreshold_seconds __attribute__((section("noinit"),zero_init));
+static uint32_t RET_motionStopThreshold_seconds __attribute__((section("noinit"),zero_init));
+static bool RET_motionPendingOnState __attribute__((section("noinit"),zero_init));
+static bool RET_motionPendingOffState __attribute__((section("noinit"),zero_init));
+static bool RET_motionState __attribute__((section("noinit"),zero_init));
+
+//EVENT HANDLING
+static uint32_t RET_eventTime_location __attribute__((section("noinit"),zero_init));
+static uint32_t RET_eventTime_environmental __attribute__((section("noinit"),zero_init));
+static uint32_t RET_eventTime_activity __attribute__((section("noinit"),zero_init));
#elif defined ( __GNUC__ )
#elif defined ( __ICCARM__ )
#endif
-char RET_pf_identifier[9]; //includes null byte at end
-int RET_interval_setting = 720;
-int RET_interval_hours_failsafe = 24;
-int RET_motioncheck_interval_seconds = 60;
-int RET_gps_timeout = 180;
-int RET_gsm_timeout = 120;
-bool RET_gsmtimedout = false;
-int RET_beacon_scan = 0;
-int RET_accel_awake_thr = 11;
-int RET_accel_awake_triggercount = 0;
-int RET_accel_alarm_thr = 127;
-unsigned long RET_unixtime_configrun = 0;
-unsigned long RET_unixtime_lastpost = 0;
-unsigned long RET_unixtime_nextpost = 0;
-unsigned long RET_unixtime_nextpost_failsafe = 0;
-unsigned long RET_unixtime_framestart = 0;
-unsigned long RET_motionstarttime = 0;
-unsigned long RET_motionstoptime = 0;
-int RET_gsm_failcount = 0;
-int RET_serverresponse_failcount = 0;
-int RET_motionconsecutive = 0;
-int RET_no_motionconsecutive = 0;
-bool RET_wethinkinmotion = false;
-bool RET_wethinkhasmoved = false;
-bool RET_haveservertime = false;
-float RET_operationTimeHours = 0;
-float RET_operationFrameTimeHours = 0;
-int RET_operationCount = 0;
-char RET_operationTimeString[100];
-
-
//------------------------------------------------------------------------------
-//Pin states
-//------------------------------------------------------------------------------
-DigitalOut led1(PN_LED);
-DigitalOut vreg_en(PN_VREG_EN);
-DigitalOut gsm_pwkey(PN_GSM_PWR_KEY);
-DigitalOut lis3dh_cs(PN_SPI_CS0);
-DigitalOut flash_cs(PN_SPI_CS1);
-DigitalIn lis3dh_int1(PN_ACC_INT1); //IMPACT
-DigitalIn lis3dh_int2(PN_ACC_INT2); //DISTURBED
-
-//------------------------------------------------------------------------------
-//Peripherals
+//PERIPHERALS
//------------------------------------------------------------------------------
//BLE myble;
+WatchdogTimer watchdog(65.0); //Do not set to less than 4500ms or can cause issues with softdevice
+InterruptIn button(PN_IN_BUTTON); //This causes wake from sleep
#if NEED_CONSOLE_OUTPUT
Serial uart(PN_UART_TX, PN_UART_RX, 115200);
#endif
-//ATSerial atserial(PN_UART_TX, PN_UART_RX, 115200);
-WatchdogTimer watchdog(65.0); //Do not set to less than 4500ms or can cause issues with softdevice
//------------------------------------------------------------------------------
-//Singletons
+//SINGLETONS
//------------------------------------------------------------------------------
-NVStore &nvstore = NVStore::get_instance();
+//NVStore &nvstore = NVStore::get_instance();
-
+//------------------------------------------------------------------------------
+// LOW LEVEL CRITICAL FUNCS
+//------------------------------------------------------------------------------
void gotoSleep(long sleep_milliseconds) {
- //accelerometer.configureForSleep();
if (requireSoftReset) { //dont need to clear this var as reset changes it back to false
RET_unixtime_backup = time(NULL); //save unixtime for reset
- //NVIC_SystemReset();
system_reset();
}
- ThisThread::sleep_for(sleep_milliseconds);
-}
-
-void LED1on(long flash_milliseconds = 0) {
- led1 = 0;
- if (flash_milliseconds > 0) {
- ThisThread::sleep_for(flash_milliseconds);
- led1 = 1;
- }
-}
-void LED1off() {
- led1 = 1;
-}
-
-bool GSMon() {
- //power on GSM
- vreg_en = 1;
- ThisThread::sleep_for(500);
- gsm_pwkey = 0;
- ThisThread::sleep_for(1500);
- gsm_pwkey = 1;
- LED1on(1000);
+
+ //button.fall(&buttonPress);
+ //button.rise(&buttonRelease);
+
+ ThisThread::sleep_for(sleep_milliseconds);
}
-void setup_CS_LIS3DH()
-{
- //Without this setup CS lines of AT45 & LIS3DH are in conflict, causing huge current consumption
- lis3dh_cs = 1; //not selected
- flash_cs = 1; //not selected
- //AT_RS = 0; //asserted == reset state
- //wait_ms(100);
- //AT_RS = 1;
-}
-
-void lis3dh_configureForSleep() {
- //init
- LIS3DH lis3dh(PN_SPI_MOSI, PN_SPI_MISO, PN_SPI_CS0, PN_SPI_CLK);
- requireSoftReset = true; //WE HAVE STARTED SPI SO NEED THIS
- //Mode
- lis3dh.InitLIS3DH(LIS3DH_NORMAL, LIS3DH_ODR_25Hz, LIS3DH_FULLSCALE_8);
- lis3dh.LIS3DH_SetIntMode(LIS3DH_INT_MODE_6D_MOVEMENT);
- //Int1
- lis3dh.LIS3DH_SetInt1Pin(LIS3DH_CLICK_ON_PIN_INT1_DISABLE | LIS3DH_I1_INT1_ON_PIN_INT1_ENABLE |
- LIS3DH_I1_INT2_ON_PIN_INT1_DISABLE | LIS3DH_I1_DRDY1_ON_INT1_DISABLE | LIS3DH_I1_DRDY2_ON_INT1_DISABLE |
- LIS3DH_WTM_ON_INT1_DISABLE | LIS3DH_INT1_OVERRUN_DISABLE );
- lis3dh.LIS3DH_SetInt1Threshold(10);
- lis3dh.LIS3DH_SetIntConfiguration(LIS3DH_INT1_ZHIE_ENABLE | LIS3DH_INT1_ZLIE_ENABLE |
- LIS3DH_INT1_YHIE_ENABLE | LIS3DH_INT1_YLIE_ENABLE |
- LIS3DH_INT1_XHIE_ENABLE | LIS3DH_INT1_XLIE_ENABLE );
- lis3dh.LIS3DH_SetInt1Duration(0);
- lis3dh.LIS3DH_Int1LatchEnable(MEMS_ENABLE);
- //HP filter
- lis3dh.LIS3DH_SetHPFMode(LIS3DH_HPM_AUTORESET_INT);
- lis3dh.LIS3DH_SetFilterDataSel(MEMS_ENABLE);
- lis3dh.LIS3DH_HPFAOI1Enable(MEMS_ENABLE);
- lis3dh.LIS3DH_HPFAOI2Enable(MEMS_ENABLE);
-}
-
-void resetState() {
+void factoryReset() {
firstBoot = true;
//RESET VARS
RET_mode = 0;
RET_unixtime_backup = 0;
+ RET_buttonReleaseCount = 0;
+ RET_eventTime_location = 0;
+ RET_eventTime_environmental = 0;
+ RET_eventTime_activity = 0;
+ RET_motionPendingOffState = 0;
+ RET_motionPendingOnState = 0;
+ RET_motionState = 0;
+ RET_motionStartTime = 0;
+ RET_motionStopTime = 0;
+ RET_motionStartThreshold_seconds = 60;
+ RET_motionStopThreshold_seconds = 60;
set_time(RET_unixtime_backup);
//SET IDENTIFIER
- uint32_t nv_value = 12345678;
- int rc = nvstore.set(NV_IDENTIFIER, sizeof(nv_value), &nv_value);
+ //uint32_t nv_value = 12345678;
+ //int rc = nvstore.set(NV_IDENTIFIER, sizeof(nv_value), &nv_value);
+}
+
+void turnOffEverything() {
+ //vreg_en = 0;
+ led1 = 1;
}
+//------------------------------------------------------------------------------
+// USER BUTTON
+//------------------------------------------------------------------------------
+void buttonPress() {
+ led1 = 0;
+
+ //while(RET_buttonReleaseCount < 1){
+ //wait
+ //}
+
+ //led1 = 1;
+ /*
+ //RET_buttonPressTime = time(NULL);
+ RET_buttonReleaseCount ++;
+ led1 = 0;
+ for (int i = 0; i < RET_buttonReleaseCount; i++) {
+ led1 = 0;
+ wait_ms(100);
+ led1 = 1;
+ wait_ms(100);
+ */
+}
+void buttonRelease() {
+ led1 = 1;
+ //RET_buttonReleaseCount ++;
+ /*RET_buttonReleaseCount ++;
+ led1 = 0;
+ for (int i = 0; i < RET_buttonReleaseCount; i++) {
+ led1 = 0;
+ wait_ms(100);
+ led1 = 1;
+ wait_ms(100);
+ }*/
+}
+
+//------------------------------------------------------------------------------
+// STATE ENGINE
+//------------------------------------------------------------------------------
+
void mainStateEngine() {
RET_mode = MODE_NORMAL;
-
switch(RET_mode) {
case MODE_SETUP :
- resetState();
+ factoryReset();
//selftest();
break;
case MODE_NORMAL :
-
- if (RET_requireMotionFlag) {
- bool MotionFlagTriggered = false;
-
- //check interrupt
- if (lis3dh_int2) {
- MotionFlagTriggered = true;
- }
+ //check and log motion
+ if (lis3dh_int1) {
+ LED1blink(2,100);
+ RET_motionTriggered = true;
+ if (!RET_motionPendingOnState) {
+ RET_motionPendingOnState = true;
+ RET_motionPendingOffState = false;
+ // Log start motion time
+ RET_motionStartTime = time(NULL);
+ RET_motionStopTime = 0;
+ }
+ } else {
+ LED1blink(2,500);
+ RET_motionTriggered = false;
+ RET_motionPendingOnState = false;
+ if (!RET_motionPendingOffState) {
+ RET_motionPendingOffState = true;
+ //log stop motion time
+ RET_motionStopTime = time(NULL);
+ RET_motionStartTime = 0;
+ }
+ }
+ //calculate motion state
+ if (RET_motionPendingOnState) {
+ //check if above threshold
+ time_t inMotionForSeconds = (time(NULL) - RET_motionStartTime);
+ if (inMotionForSeconds >= RET_motionStartThreshold_seconds) {
+ RET_motionState = true;
+ LED1blink(10,100);
+ }
+ }
+ if (RET_motionPendingOffState) {
+ time_t noMotionForSeconds = (time(NULL) - RET_motionStopTime);
+ if (noMotionForSeconds >= RET_motionStartThreshold_seconds) {
+ RET_motionState = false;
+ LED1blink(5,500);
+ }
}
break;
case MODE_DORMANT :
-
+ //LIS3DH lis3dh(PN_SPI_MOSI, PN_SPI_MISO, PN_SPI_CS0, PN_SPI_CLK);
break;
case MODE_OFF_48HRS :
@@ -212,8 +214,11 @@
}
+//------------------------------------------------------------------------------
+// MAIN
+//------------------------------------------------------------------------------
+
int main() {
- led1 = 1;
//CHECK IF THIS IS RESET
//0x00000004 == soft reset //0x00000002 == watchdog //0x00000001 == button/hardreset
@@ -221,7 +226,7 @@
switch(NRF_POWER->RESETREAS) {
case 0x00000001 :
DEBUG("reset_reason: 0x%08x. - Hard Reset\n",NRF_POWER->RESETREAS);
- resetState();
+ factoryReset();
break;
case 0x00000002 :
DEBUG("reset_reason: 0x%08x. - Watchdog\n",NRF_POWER->RESETREAS);
@@ -234,238 +239,21 @@
}
NRF_POWER->RESETREAS = 0xffffffff;
}
-
+
while(true) {
- //GOTO TO SLEEP
- if (!firstBoot) gotoSleep(60000);
- LED1on(20);
+ turnOffEverything();
watchdog.kick();
+ firstBoot = false; //temp
+ if (!firstBoot) gotoSleep(10000);
+
+ //INIT
+ Modem modem(PN_UART_TX, PN_UART_RX, PN_UART_CTS, PN_UART_RTS, PN_GSM_PWR_KEY, PN_VREG_EN);
//MAIN STATE ENGINE
+ //LED1blink(1,100);
mainStateEngine();
- }
-}
-
-
-
-/*
-void initMotion() {
- //CHECK FOR ANY MOTION
- if (!accelerometer.selfTest()) {
- if (exceptions.find("A.") < 0) {
- exceptions += "A.";
- }
- DEBUG("Couldnt start accelerometer");
- } else {
- accel_healthy = true;
+
+ //Configure for sleep
+ lis3dh_configureForSleep(10);
}
-}
-*/
-
-/*
-void mode_mtu() {
- bool accel_awake = accelerometer.getINT2();
-
- //CHECK FOR MOTION
- if (accel_awake == true) {
- LED1on(50);
- RET_motionconsecutive ++;
- RET_no_motionconsecutive = 0;
-
- //this is needed to ensure accel_awake_triggercount is 1 or higher for mode 2
- if (RET_accel_awake_triggercount == 0) {
- RET_accel_awake_triggercount = 1;
- }
-
- if (RET_motionconsecutive == RET_accel_awake_triggercount && RET_wethinkinmotion == false) {
- RET_wethinkinmotion = true;
- RET_motionstarttime = (time(NULL) - ((RET_accel_awake_triggercount+1) * RET_motioncheck_interval_seconds));
- long eventEpoch = RET_motionstarttime;
- long epochoffsetminutes = ((eventEpoch - RET_unixtime_framestart) / 60);
-
- char buf[20];
- sprintf(buf,"1.%i!", epochoffsetminutes);
- strcat(RET_operationTimeString, buf);
- RET_operationCount ++;
-
- DEBUG("%s", RET_operationTimeString);
-
- LEDon(100);
- LEDon(100);
- LEDon(100);
- LEDon(100);
- }
- } else if (accel_awake == false) {
- RET_no_motionconsecutive ++;
- RET_motionconsecutive = 0;
- if (RET_no_motionconsecutive == RET_accel_awake_triggercount && RET_wethinkinmotion == true) {
- RET_wethinkinmotion = false;
- // log engine stop
- RET_motionstoptime = (time(NULL) - ((RET_accel_awake_triggercount+1) * RET_motioncheck_interval_seconds));
- long eventEpoch = RET_motionstoptime;
- long epochoffsetminutes = ((eventEpoch - RET_unixtime_framestart) / 60);
-
- char buf[20];
- sprintf(buf,"0.%i!", epochoffsetminutes);
- strcat(RET_operationTimeString, buf);
-
- RET_operationFrameTimeHours = (float(RET_motionstoptime - RET_motionstarttime) / 3600.0);
- RET_operationTimeHours += RET_operationFrameTimeHours;
-
- //test by posting on every stop event
- //doOperationTimePost = true;
-
- DEBUG("%i", RET_operationTimeHours);
- LEDon(500);
- }
- }
-
-
- // Check time interval for location run
- if (time(NULL) > RET_unixtime_nextpost_failsafe) {
- //setfailsafetime(); //these must be before gpsPost, incase gpsPost fails, then stuck in broadcast loop
- //gpsPost();
- }
-
- //Check for operatingTime post time or if data buffer is full for force post
- if (RET_operationFrameTimeHours > 0.0) {
- if (time(NULL) > RET_unixtime_nextpost || strlen(RET_operationTimeString) > 60) {
- //only bother if we actual have data to post
- //setwaketime(); //these must be before gpsPost, incase gpsPost fails, then stuck in broadcast loop
- //uploadOperationTimeData();
- }
- }
-
-}
-*/
-
-
-
-
-
-/*
-
-int selftest() {
- int result = 0;
- int tests = 0;
- int testscore = 0;
- led1 = 0;
- string failures;
-
- //Accelerometer
- tests ++;
- if (accelerometer.read_id() == 51){
- testscore ++;
- } else {
- //Accelerometer Fail
- failures += 'Ac,';
- };
-
- return result;
-}
-*/
-
-
-/*
-void readRegs(uint8_t addr, uint8_t * data, int len) {
- lis3dh_cs = 0;
- for (int i = 0 ; i < len ; i++ ) {
- spi.write((addr+i)|0x80) ; // specify address to read
- data[i] = spi.write((addr+i)|0x80) ;
- }
- spi.write(0x00) ; // to terminate read mode
- lis3dh_cs = 1;
-}
-
-uint8_t read_reg(uint8_t addr)
-{
- uint8_t data[1] ;
- readRegs(addr, data, 1) ;
- return( data[0] ) ;
-}
-*/
-
-
-
-
-
-
-
-
-
-
-
-
-/*
-//OPTION 1
- // Switch on both RAM banks when in System OFF mode.
- NRF_POWER->RAMON |= (POWER_RAMON_OFFRAM0_RAM0On << POWER_RAMON_OFFRAM0_Pos) |
- (POWER_RAMON_OFFRAM1_RAM1On << POWER_RAMON_OFFRAM1_Pos);
-
- // Enter System OFF and wait for wake up from GPIO detect signal.
- NRF_POWER->SYSTEMOFF = 0x1;
-
-
- //spi.close();
-
- //delete spi;
- //spi_disable();
-
- //spi_free(spi);
-
- //nrf_drv_spi_uninit(spi);
- //nordic_nrf5_spi_initialized[instance] = false;
- //HFCLKSTOP = 0x1;
-
- NRF_SPI0->ENABLE = 0;
- NRF_SPI1->ENABLE = 0;
- NRF_SPI2->ENABLE = 0;
- NRF_TWI0->ENABLE = 0;
- NRF_TWI1->ENABLE = 0;
-
- sd_clock_hfclk_release();
- NRF_POWER->SYSTEMOFF=1;
- //NRF_SPI0->POWER = 0;
-
- //OPTION 3
-
- *(volatile uint32_t *)0x40003FFC = 0;
- *(volatile uint32_t *)0x40003FFC;
- *(volatile uint32_t *)0x40003FFC = 1;
-
- NRF_SPI0->ENABLE = (SPI_ENABLE_ENABLE_Disabled << SPI_ENABLE_ENABLE_Pos);
- NRF_SPI1->ENABLE = (SPI_ENABLE_ENABLE_Disabled << SPI_ENABLE_ENABLE_Pos);
-
-
- if (sleep_manager_can_deep_sleep()) {
- ThisThread::sleep_for(10000);
- } else {
- led1 = 0;
- wait(50.0);
- }
-
- //system_reset();
-*/
-
-
- //time_t unixtime = time(NULL);
- //DEBUG("got: %i, %d, %d \n", RET_mode, RET_unixtime, unixtime);
-
-/*
-uint8_t acc_id;
- lis3dh.LIS3DH_GetWHO_AM_I(&acc_id);
- uart.printf("%i \n\r", acc_id);
- */
-
-/*
- AxesRaw_t accel_raw;
- lis3dh.LIS3DH_GetAccAxesRaw(&accel_raw);
-
- uart.printf("x=");
- uart.printf("%i", accel_raw.AXIS_X);
- uart.printf(" y=");
- uart.printf("%i", accel_raw.AXIS_Y);
- uart.printf(" z=");
- uart.printf("%i", accel_raw.AXIS_Z);
- uart.printf("\n\r");
-*/
\ No newline at end of file
+}
\ No newline at end of file