Andriy Makukha
/
football_project_wo_output
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football_project
by 
MZJ
TA.cpp@18:affef3a7db2a, 2015-11-29 (annotated)
- Committer:
- elmbed
- Date:
- Sun Nov 29 13:52:53 2015 +0000
- Revision:
- 18:affef3a7db2a
- Parent:
- 17:d8b901d791fd
- Child:
- 23:26f27c462976
Device to phone comms working
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| elmbed | 17:d8b901d791fd | 1 | #include "TA.h" |
| elmbed | 18:affef3a7db2a | 2 | |
| elmbed | 17:d8b901d791fd | 3 | #include <nrf51.h> |
| elmbed | 17:d8b901d791fd | 4 | #include <mbed.h> |
| elmbed | 17:d8b901d791fd | 5 | #include <device.h> |
| elmbed | 17:d8b901d791fd | 6 | #include <vector> |
| elmbed | 17:d8b901d791fd | 7 | |
| elmbed | 17:d8b901d791fd | 8 | /* !SR |
| elmbed | 17:d8b901d791fd | 9 | * Can't find any boards which use the nrf51822 and have analog output enabled. Currently |
| elmbed | 17:d8b901d791fd | 10 | * all analog stuff has been commented out. |
| elmbed | 17:d8b901d791fd | 11 | */ |
| elmbed | 17:d8b901d791fd | 12 | |
| elmbed | 17:d8b901d791fd | 13 | #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console; |
| elmbed | 17:d8b901d791fd | 14 | * it will have an impact on code-size and power consumption. */ |
| elmbed | 17:d8b901d791fd | 15 | |
| elmbed | 17:d8b901d791fd | 16 | #define LOOPBACK_MODE 0 // Loopback mode |
| elmbed | 17:d8b901d791fd | 17 | |
| elmbed | 17:d8b901d791fd | 18 | #if NEED_CONSOLE_OUTPUT |
| elmbed | 17:d8b901d791fd | 19 | #define DEBUG(...) { printf(__VA_ARGS__); } |
| elmbed | 17:d8b901d791fd | 20 | #else |
| elmbed | 17:d8b901d791fd | 21 | #define DEBUG(...) /* nothing */ |
| elmbed | 17:d8b901d791fd | 22 | #endif /* #if NEED_CONSOLE_OUTPUT */ |
| elmbed | 17:d8b901d791fd | 23 | |
| elmbed | 17:d8b901d791fd | 24 | |
| elmbed | 17:d8b901d791fd | 25 | extern unsigned long millis(); |
| elmbed | 17:d8b901d791fd | 26 | extern unsigned long micros(); |
| elmbed | 17:d8b901d791fd | 27 | extern int random(int numberone, int numbertwo); |
| elmbed | 17:d8b901d791fd | 28 | |
| elmbed | 17:d8b901d791fd | 29 | ByteBuffer TA::send_buffer; |
| elmbed | 17:d8b901d791fd | 30 | ByteBuffer TA::receive_buffer; |
| elmbed | 17:d8b901d791fd | 31 | |
| elmbed | 17:d8b901d791fd | 32 | uint8_t TA::node_id;// 1 //network ID used for this unit |
| elmbed | 17:d8b901d791fd | 33 | uint8_t TA::network_id;// 99 //network ID used for this network |
| elmbed | 17:d8b901d791fd | 34 | uint8_t TA::gateway_id;// 1 //the ID of the network controller |
| elmbed | 17:d8b901d791fd | 35 | uint8_t TA::ack_time;// 50 // # of ms to wait for an ack |
| elmbed | 17:d8b901d791fd | 36 | |
| elmbed | 17:d8b901d791fd | 37 | //encryption is OPTIONAL |
| elmbed | 17:d8b901d791fd | 38 | //to enable encryption you will need to: |
| elmbed | 17:d8b901d791fd | 39 | // - provide a 16-byte encryption KEY (same on all nodes that talk encrypted) |
| elmbed | 17:d8b901d791fd | 40 | // - to call .Encrypt(KEY) to start encrypting |
| elmbed | 17:d8b901d791fd | 41 | // - to stop encrypting call .Encrypt(NULL) |
| elmbed | 17:d8b901d791fd | 42 | uint8_t TA::KEY[] = "ABCDABCDABCDABCD"; |
| elmbed | 17:d8b901d791fd | 43 | uint16_t TA::interPacketDelay;// = 1000; //wait this many ms between sending packets |
| elmbed | 17:d8b901d791fd | 44 | |
| elmbed | 17:d8b901d791fd | 45 | // Need an instance of the Radio Module |
| elmbed | 17:d8b901d791fd | 46 | //byte TA::sendSize;//=0; |
| elmbed | 17:d8b901d791fd | 47 | //char TA::payload[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"; |
| elmbed | 17:d8b901d791fd | 48 | //bool TA::requestACK;//=true; |
| elmbed | 17:d8b901d791fd | 49 | |
| elmbed | 17:d8b901d791fd | 50 | //neopixels_spi TA::neopixels; |
| elmbed | 17:d8b901d791fd | 51 | |
| elmbed | 17:d8b901d791fd | 52 | |
| elmbed | 17:d8b901d791fd | 53 | unsigned long millis(); |
| elmbed | 17:d8b901d791fd | 54 | |
| elmbed | 17:d8b901d791fd | 55 | unsigned long micros(); |
| elmbed | 17:d8b901d791fd | 56 | |
| elmbed | 17:d8b901d791fd | 57 | |
| elmbed | 17:d8b901d791fd | 58 | /** Macro for min() |
| elmbed | 17:d8b901d791fd | 59 | * |
| elmbed | 17:d8b901d791fd | 60 | * @param any |
| elmbed | 17:d8b901d791fd | 61 | */ |
| elmbed | 17:d8b901d791fd | 62 | #define min(a,b) ((a)<(b)?(a):(b)) |
| elmbed | 17:d8b901d791fd | 63 | /** Macro for max() |
| elmbed | 17:d8b901d791fd | 64 | * |
| elmbed | 17:d8b901d791fd | 65 | * @param any |
| elmbed | 17:d8b901d791fd | 66 | */ |
| elmbed | 17:d8b901d791fd | 67 | #define max(a,b) ((a)>(b)?(a):(b)) |
| elmbed | 17:d8b901d791fd | 68 | |
| elmbed | 17:d8b901d791fd | 69 | /** generates a random number between two numbers |
| elmbed | 17:d8b901d791fd | 70 | * |
| elmbed | 17:d8b901d791fd | 71 | * @param numberone minimum value for random number |
| elmbed | 17:d8b901d791fd | 72 | * @param numbertwo maximum value for random number |
| elmbed | 17:d8b901d791fd | 73 | */ |
| elmbed | 17:d8b901d791fd | 74 | int random(int numberone, int numbertwo) { |
| elmbed | 17:d8b901d791fd | 75 | int random = 0; |
| elmbed | 17:d8b901d791fd | 76 | if ((numberone < 0) && (numbertwo < 0)) { |
| elmbed | 17:d8b901d791fd | 77 | numberone = numberone * -1; |
| elmbed | 17:d8b901d791fd | 78 | numbertwo = numbertwo * -1; |
| elmbed | 17:d8b901d791fd | 79 | random = -1 * (rand()%(numberone + numbertwo)); |
| elmbed | 17:d8b901d791fd | 80 | } |
| elmbed | 17:d8b901d791fd | 81 | if ((numbertwo < 0) && (numberone >= 0)) { |
| elmbed | 17:d8b901d791fd | 82 | numbertwo = numbertwo * -1; |
| elmbed | 17:d8b901d791fd | 83 | random = (rand()%(numberone + numbertwo)) - numbertwo; |
| elmbed | 17:d8b901d791fd | 84 | } |
| elmbed | 17:d8b901d791fd | 85 | if ((numberone < 0) && (numbertwo >= 0)) { |
| elmbed | 17:d8b901d791fd | 86 | numberone = numberone * -1; |
| elmbed | 17:d8b901d791fd | 87 | random = (rand()%(numberone + numbertwo)) - numberone; |
| elmbed | 17:d8b901d791fd | 88 | } else { |
| elmbed | 17:d8b901d791fd | 89 | random = (rand()%(numberone + numbertwo)) - min(numberone, numbertwo); |
| elmbed | 17:d8b901d791fd | 90 | } |
| elmbed | 17:d8b901d791fd | 91 | return random; |
| elmbed | 17:d8b901d791fd | 92 | } |
| elmbed | 17:d8b901d791fd | 93 | |
| elmbed | 17:d8b901d791fd | 94 | // ########## End code taken from audrino library ########## |
| elmbed | 17:d8b901d791fd | 95 | |
| elmbed | 17:d8b901d791fd | 96 | uint8_t TA::mask; |
| elmbed | 17:d8b901d791fd | 97 | |
| elmbed | 17:d8b901d791fd | 98 | // outputs |
| elmbed | 17:d8b901d791fd | 99 | //uint8_t TA::buzzPin; |
| elmbed | 17:d8b901d791fd | 100 | uint8_t TA::red; |
| elmbed | 17:d8b901d791fd | 101 | uint8_t TA::green; |
| elmbed | 17:d8b901d791fd | 102 | uint8_t TA::blue; |
| elmbed | 17:d8b901d791fd | 103 | |
| elmbed | 17:d8b901d791fd | 104 | neopixel_strip_t m_strip; |
| elmbed | 17:d8b901d791fd | 105 | |
| elmbed | 17:d8b901d791fd | 106 | uint8_t dig_pin_num = 16; |
| elmbed | 17:d8b901d791fd | 107 | uint8_t leds_per_strip = 18; |
| elmbed | 17:d8b901d791fd | 108 | uint8_t led_to_enable = 1; |
| elmbed | 17:d8b901d791fd | 109 | |
| elmbed | 17:d8b901d791fd | 110 | #if 0 |
| elmbed | 17:d8b901d791fd | 111 | DigitalOut TA::enable_1(p4); |
| elmbed | 17:d8b901d791fd | 112 | DigitalOut TA::enable_2(p7); |
| elmbed | 17:d8b901d791fd | 113 | DigitalOut TA::enable_3(p8); |
| elmbed | 17:d8b901d791fd | 114 | |
| elmbed | 17:d8b901d791fd | 115 | |
| elmbed | 17:d8b901d791fd | 116 | DigitalOut TA::cap_enable(A3); |
| elmbed | 17:d8b901d791fd | 117 | #endif |
| elmbed | 17:d8b901d791fd | 118 | DigitalOut TA::buzzPin(p20); |
| elmbed | 17:d8b901d791fd | 119 | |
| elmbed | 17:d8b901d791fd | 120 | #if 0 |
| elmbed | 17:d8b901d791fd | 121 | // inputs |
| elmbed | 17:d8b901d791fd | 122 | DigitalIn TA::touch_1(A0); |
| elmbed | 17:d8b901d791fd | 123 | DigitalIn TA::touch_2(A1); |
| elmbed | 17:d8b901d791fd | 124 | DigitalIn TA::touch_3(A2); |
| elmbed | 17:d8b901d791fd | 125 | #endif |
| elmbed | 17:d8b901d791fd | 126 | |
| elmbed | 17:d8b901d791fd | 127 | std::vector<Message*> *messages; |
| elmbed | 17:d8b901d791fd | 128 | |
| elmbed | 18:affef3a7db2a | 129 | //NeoStrip *neo; |
| elmbed | 18:affef3a7db2a | 130 | |
| elmbed | 17:d8b901d791fd | 131 | TA::TA() |
| elmbed | 17:d8b901d791fd | 132 | { |
| elmbed | 18:affef3a7db2a | 133 | buzzPin = 1; |
| elmbed | 17:d8b901d791fd | 134 | neopixel_init(&m_strip, dig_pin_num, leds_per_strip); |
| elmbed | 17:d8b901d791fd | 135 | neopixel_clear(&m_strip); |
| elmbed | 17:d8b901d791fd | 136 | messages = new std::vector<Message*>(); |
| elmbed | 18:affef3a7db2a | 137 | |
| elmbed | 17:d8b901d791fd | 138 | } |
| elmbed | 17:d8b901d791fd | 139 | |
| elmbed | 17:d8b901d791fd | 140 | void TA::post_color(uint32_t rgb) |
| elmbed | 17:d8b901d791fd | 141 | { |
| elmbed | 18:affef3a7db2a | 142 | if (rgb == 0) |
| elmbed | 18:affef3a7db2a | 143 | { |
| elmbed | 18:affef3a7db2a | 144 | neopixel_clear(&m_strip); |
| elmbed | 18:affef3a7db2a | 145 | return; |
| elmbed | 18:affef3a7db2a | 146 | } |
| elmbed | 17:d8b901d791fd | 147 | |
| elmbed | 17:d8b901d791fd | 148 | for (int i = 0; i <= leds_per_strip; ++i) |
| elmbed | 17:d8b901d791fd | 149 | { |
| elmbed | 17:d8b901d791fd | 150 | neopixel_set_color_and_show(&m_strip, i, (rgb >> 16) & 0xFF, (rgb >> 8) & 0xFF, rgb & 0xFF); |
| elmbed | 18:affef3a7db2a | 151 | //neo->setPixel(i, rgb); |
| elmbed | 17:d8b901d791fd | 152 | } |
| elmbed | 18:affef3a7db2a | 153 | |
| elmbed | 18:affef3a7db2a | 154 | buzzPin = 1; |
| elmbed | 17:d8b901d791fd | 155 | } |
| elmbed | 17:d8b901d791fd | 156 | |
| elmbed | 17:d8b901d791fd | 157 | void TA::mask_color(uint32_t rgb) |
| elmbed | 17:d8b901d791fd | 158 | { |
| elmbed | 17:d8b901d791fd | 159 | // enable_1 = 0; |
| elmbed | 17:d8b901d791fd | 160 | // enable_2 = 0; |
| elmbed | 17:d8b901d791fd | 161 | // enable_3 = 0; |
| elmbed | 17:d8b901d791fd | 162 | //neopixels.setRGBStrip1((rgb >> 16) & 0xFF, (rgb >> 8) & 0xFF, rgb & 0xFF); |
| elmbed | 17:d8b901d791fd | 163 | |
| elmbed | 17:d8b901d791fd | 164 | //enable_1 = (mask & 0x01)?1:0; |
| elmbed | 17:d8b901d791fd | 165 | //enable_2 = (mask & 0x02)?1:0; |
| elmbed | 17:d8b901d791fd | 166 | //enable_3 = (mask & 0x04)?1:0; |
| elmbed | 17:d8b901d791fd | 167 | |
| elmbed | 17:d8b901d791fd | 168 | for (int i = 0; i <= leds_per_strip; ++i) |
| elmbed | 17:d8b901d791fd | 169 | { |
| elmbed | 18:affef3a7db2a | 170 | // neopixel_set_color_and_show(&m_strip, i, (rgb >> 16) & 0xFF, (rgb >> 8) & 0xFF, rgb & 0xFF); |
| elmbed | 17:d8b901d791fd | 171 | } |
| elmbed | 17:d8b901d791fd | 172 | } |
| elmbed | 17:d8b901d791fd | 173 | |
| elmbed | 17:d8b901d791fd | 174 | void TA::beep(uint16_t ms) |
| elmbed | 17:d8b901d791fd | 175 | { |
| elmbed | 17:d8b901d791fd | 176 | beeping = true; |
| elmbed | 17:d8b901d791fd | 177 | beep_start = millis(); |
| elmbed | 17:d8b901d791fd | 178 | beep_duration = ms; |
| elmbed | 17:d8b901d791fd | 179 | } |
| elmbed | 17:d8b901d791fd | 180 | |
| elmbed | 17:d8b901d791fd | 181 | void TA::beep_off(void) |
| elmbed | 17:d8b901d791fd | 182 | { |
| elmbed | 17:d8b901d791fd | 183 | beeping = false; |
| elmbed | 17:d8b901d791fd | 184 | } |
| elmbed | 17:d8b901d791fd | 185 | |
| elmbed | 17:d8b901d791fd | 186 | void TA::powerup(uint8_t sound) |
| elmbed | 17:d8b901d791fd | 187 | { |
| elmbed | 17:d8b901d791fd | 188 | powerup_start = millis(); |
| elmbed | 17:d8b901d791fd | 189 | beeping = false; |
| elmbed | 17:d8b901d791fd | 190 | pulsing = false; |
| elmbed | 17:d8b901d791fd | 191 | powering_up1 = false; |
| elmbed | 17:d8b901d791fd | 192 | powering_up2 = false; |
| elmbed | 17:d8b901d791fd | 193 | |
| elmbed | 17:d8b901d791fd | 194 | if(sound == 1) |
| elmbed | 17:d8b901d791fd | 195 | { |
| elmbed | 17:d8b901d791fd | 196 | powering_up1 = true; |
| elmbed | 17:d8b901d791fd | 197 | powerup_toggle = 300; |
| elmbed | 17:d8b901d791fd | 198 | } |
| elmbed | 17:d8b901d791fd | 199 | |
| elmbed | 17:d8b901d791fd | 200 | if(sound == 2) |
| elmbed | 17:d8b901d791fd | 201 | { |
| elmbed | 17:d8b901d791fd | 202 | powering_up2 = true; |
| elmbed | 17:d8b901d791fd | 203 | powerup_toggle = 20; |
| elmbed | 17:d8b901d791fd | 204 | } |
| elmbed | 17:d8b901d791fd | 205 | } |
| elmbed | 17:d8b901d791fd | 206 | |
| elmbed | 17:d8b901d791fd | 207 | void TA::pulse(uint16_t on_time, uint16_t period, uint16_t ms, uint32_t rgb) |
| elmbed | 17:d8b901d791fd | 208 | { |
| elmbed | 17:d8b901d791fd | 209 | current_color = rgb; |
| elmbed | 17:d8b901d791fd | 210 | pulsing = true; |
| elmbed | 17:d8b901d791fd | 211 | pulse_start = millis(); |
| elmbed | 17:d8b901d791fd | 212 | pulse_period = period; |
| elmbed | 17:d8b901d791fd | 213 | pulse_on = on_time; |
| elmbed | 17:d8b901d791fd | 214 | pulse_duration = ms; |
| elmbed | 17:d8b901d791fd | 215 | } |
| elmbed | 17:d8b901d791fd | 216 | |
| elmbed | 17:d8b901d791fd | 217 | void TA::pulse_off(void) |
| elmbed | 17:d8b901d791fd | 218 | { |
| elmbed | 17:d8b901d791fd | 219 | pulsing = false; |
| elmbed | 17:d8b901d791fd | 220 | } |
| elmbed | 17:d8b901d791fd | 221 | |
| elmbed | 17:d8b901d791fd | 222 | int TA::get_buffer_size(void) |
| elmbed | 17:d8b901d791fd | 223 | { |
| elmbed | 17:d8b901d791fd | 224 | return send_buffer.getSize(); |
| elmbed | 17:d8b901d791fd | 225 | } |
| elmbed | 17:d8b901d791fd | 226 | |
| elmbed | 17:d8b901d791fd | 227 | bool TA::send(Message *m) |
| elmbed | 17:d8b901d791fd | 228 | { |
| elmbed | 17:d8b901d791fd | 229 | send_immediate(m); |
| elmbed | 17:d8b901d791fd | 230 | return true; |
| elmbed | 17:d8b901d791fd | 231 | } |
| elmbed | 17:d8b901d791fd | 232 | |
| elmbed | 17:d8b901d791fd | 233 | void TA::send_immediate(Message *m) |
| elmbed | 17:d8b901d791fd | 234 | { |
| elmbed | 17:d8b901d791fd | 235 | Message *tmp = new Message; |
| elmbed | 17:d8b901d791fd | 236 | DEBUG("in send_imediate: %d '%c'\n", m->cone, m->command); |
| elmbed | 17:d8b901d791fd | 237 | |
| elmbed | 17:d8b901d791fd | 238 | tmp->command = m->command; |
| elmbed | 17:d8b901d791fd | 239 | tmp->cone = m->cone; |
| elmbed | 17:d8b901d791fd | 240 | |
| elmbed | 17:d8b901d791fd | 241 | // Fake version of the function, push this onto the reply queue |
| elmbed | 17:d8b901d791fd | 242 | if (messages->size() < 50) |
| elmbed | 17:d8b901d791fd | 243 | { |
| elmbed | 17:d8b901d791fd | 244 | messages->push_back(tmp); |
| elmbed | 17:d8b901d791fd | 245 | } |
| elmbed | 17:d8b901d791fd | 246 | else |
| elmbed | 17:d8b901d791fd | 247 | { |
| elmbed | 17:d8b901d791fd | 248 | DEBUG("TA message queue too full!\n"); |
| elmbed | 17:d8b901d791fd | 249 | } |
| elmbed | 17:d8b901d791fd | 250 | } |
| elmbed | 17:d8b901d791fd | 251 | |
| elmbed | 17:d8b901d791fd | 252 | bool TA::sendRaw(uint8_t *message, uint8_t len, uint8_t cone) |
| elmbed | 17:d8b901d791fd | 253 | { |
| elmbed | 17:d8b901d791fd | 254 | |
| elmbed | 17:d8b901d791fd | 255 | return true; |
| elmbed | 17:d8b901d791fd | 256 | } |
| elmbed | 17:d8b901d791fd | 257 | |
| elmbed | 17:d8b901d791fd | 258 | bool TA::recieve(Message *m) |
| elmbed | 17:d8b901d791fd | 259 | { |
| elmbed | 17:d8b901d791fd | 260 | bool processed = true; |
| elmbed | 17:d8b901d791fd | 261 | top: |
| elmbed | 17:d8b901d791fd | 262 | processed = true; |
| elmbed | 17:d8b901d791fd | 263 | |
| elmbed | 17:d8b901d791fd | 264 | //DEBUG("receiving\n"); |
| elmbed | 17:d8b901d791fd | 265 | if (messages->size() > 0) |
| elmbed | 17:d8b901d791fd | 266 | { |
| elmbed | 17:d8b901d791fd | 267 | Message *lm = messages->front(); |
| elmbed | 17:d8b901d791fd | 268 | |
| elmbed | 17:d8b901d791fd | 269 | DEBUG("got messaage with command: '%c'\n", lm->command); |
| elmbed | 17:d8b901d791fd | 270 | |
| elmbed | 17:d8b901d791fd | 271 | // Now populate the outgoing message based on the incoming |
| elmbed | 17:d8b901d791fd | 272 | if (lm->command == 'z') |
| elmbed | 17:d8b901d791fd | 273 | { |
| elmbed | 17:d8b901d791fd | 274 | m->cone = lm->cone; |
| elmbed | 17:d8b901d791fd | 275 | } |
| elmbed | 17:d8b901d791fd | 276 | else |
| elmbed | 17:d8b901d791fd | 277 | { |
| elmbed | 17:d8b901d791fd | 278 | DEBUG("Unknown command: '%c'\r\n", lm->command); |
| elmbed | 17:d8b901d791fd | 279 | processed = false; |
| elmbed | 17:d8b901d791fd | 280 | } |
| elmbed | 17:d8b901d791fd | 281 | |
| elmbed | 17:d8b901d791fd | 282 | messages->erase(messages->begin()); |
| elmbed | 17:d8b901d791fd | 283 | |
| elmbed | 17:d8b901d791fd | 284 | if (lm) |
| elmbed | 17:d8b901d791fd | 285 | { |
| elmbed | 17:d8b901d791fd | 286 | delete lm; |
| elmbed | 17:d8b901d791fd | 287 | } |
| elmbed | 17:d8b901d791fd | 288 | |
| elmbed | 17:d8b901d791fd | 289 | if (!processed) |
| elmbed | 17:d8b901d791fd | 290 | { |
| elmbed | 17:d8b901d791fd | 291 | // Clear out the queue if we don't know what |
| elmbed | 17:d8b901d791fd | 292 | // to do with the message |
| elmbed | 17:d8b901d791fd | 293 | goto top; |
| elmbed | 17:d8b901d791fd | 294 | } |
| elmbed | 17:d8b901d791fd | 295 | } |
| elmbed | 17:d8b901d791fd | 296 | else |
| elmbed | 17:d8b901d791fd | 297 | { |
| elmbed | 17:d8b901d791fd | 298 | processed = false; |
| elmbed | 17:d8b901d791fd | 299 | } |
| elmbed | 17:d8b901d791fd | 300 | |
| elmbed | 17:d8b901d791fd | 301 | return processed; |
| elmbed | 17:d8b901d791fd | 302 | } |
| elmbed | 17:d8b901d791fd | 303 | |
| elmbed | 17:d8b901d791fd | 304 | bool TA::waitForAck(int cone) |
| elmbed | 17:d8b901d791fd | 305 | { |
| elmbed | 17:d8b901d791fd | 306 | |
| elmbed | 17:d8b901d791fd | 307 | return true; |
| elmbed | 17:d8b901d791fd | 308 | } |
| elmbed | 17:d8b901d791fd | 309 | |
| elmbed | 17:d8b901d791fd | 310 | void TA::spin(void) |
| elmbed | 17:d8b901d791fd | 311 | { |
| elmbed | 18:affef3a7db2a | 312 | #if 0 |
| elmbed | 18:affef3a7db2a | 313 | static byte payload [6]; |
| elmbed | 18:affef3a7db2a | 314 | static bool message_in_queue = false; |
| elmbed | 18:affef3a7db2a | 315 | static bool waiting_for_ack = false; |
| elmbed | 18:affef3a7db2a | 316 | static byte dest_cone = 0; |
| elmbed | 18:affef3a7db2a | 317 | static uint16_t index = 0; |
| elmbed | 18:affef3a7db2a | 318 | static uint16_t ack_tries = 0; |
| elmbed | 18:affef3a7db2a | 319 | static uint8_t send_tries = 0; |
| elmbed | 18:affef3a7db2a | 320 | static unsigned long ack_start = 0; |
| elmbed | 18:affef3a7db2a | 321 | static unsigned long random_wait = 0; |
| elmbed | 18:affef3a7db2a | 322 | static unsigned long random_wait_start = 0; |
| elmbed | 18:affef3a7db2a | 323 | static unsigned long mem_monitor_start = 0; |
| elmbed | 18:affef3a7db2a | 324 | |
| elmbed | 18:affef3a7db2a | 325 | // if(millis() - mem_monitor_start > 2000){ |
| elmbed | 18:affef3a7db2a | 326 | // mem_monitor_start = millis(); |
| elmbed | 18:affef3a7db2a | 327 | // Ram_TableDisplay(); |
| elmbed | 18:affef3a7db2a | 328 | // } |
| elmbed | 18:affef3a7db2a | 329 | |
| elmbed | 18:affef3a7db2a | 330 | #if 0 |
| elmbed | 18:affef3a7db2a | 331 | if(tripped()) |
| elmbed | 18:affef3a7db2a | 332 | {//buttons() && millis() - activated_start > 1000){ |
| elmbed | 18:affef3a7db2a | 333 | cap_enable = 1; |
| elmbed | 18:affef3a7db2a | 334 | wait_ms(100); |
| elmbed | 18:affef3a7db2a | 335 | cap_enable = 0; |
| elmbed | 18:affef3a7db2a | 336 | //activated_start = millis(); |
| elmbed | 18:affef3a7db2a | 337 | //Serial.println(F("toggled cap sense power")); |
| elmbed | 18:affef3a7db2a | 338 | } |
| elmbed | 18:affef3a7db2a | 339 | #endif |
| elmbed | 18:affef3a7db2a | 340 | if(powering_up2) |
| elmbed | 18:affef3a7db2a | 341 | { |
| elmbed | 18:affef3a7db2a | 342 | unsigned long t = millis() - powerup_start; |
| elmbed | 18:affef3a7db2a | 343 | |
| elmbed | 18:affef3a7db2a | 344 | if(t > powerup_toggle) |
| elmbed | 18:affef3a7db2a | 345 | { |
| elmbed | 18:affef3a7db2a | 346 | buzzPin = !buzzPin; |
| elmbed | 18:affef3a7db2a | 347 | powerup_toggle *= 1.2; |
| elmbed | 18:affef3a7db2a | 348 | } |
| elmbed | 18:affef3a7db2a | 349 | |
| elmbed | 18:affef3a7db2a | 350 | if(t > 1250) |
| elmbed | 18:affef3a7db2a | 351 | { |
| elmbed | 18:affef3a7db2a | 352 | buzzPin = 0; |
| elmbed | 18:affef3a7db2a | 353 | powering_up2 = false; |
| elmbed | 18:affef3a7db2a | 354 | } |
| elmbed | 18:affef3a7db2a | 355 | } |
| elmbed | 18:affef3a7db2a | 356 | else if(powering_up1) |
| elmbed | 18:affef3a7db2a | 357 | { |
| elmbed | 18:affef3a7db2a | 358 | unsigned long t = millis() - powerup_start; |
| elmbed | 18:affef3a7db2a | 359 | |
| elmbed | 18:affef3a7db2a | 360 | if(t > powerup_toggle) |
| elmbed | 18:affef3a7db2a | 361 | { |
| elmbed | 18:affef3a7db2a | 362 | buzzPin = !buzzPin; |
| elmbed | 18:affef3a7db2a | 363 | powerup_toggle *= 0.95; |
| elmbed | 18:affef3a7db2a | 364 | powerup_start = millis(); |
| elmbed | 18:affef3a7db2a | 365 | } |
| elmbed | 17:d8b901d791fd | 366 | |
| elmbed | 18:affef3a7db2a | 367 | if(powerup_toggle < 10) |
| elmbed | 18:affef3a7db2a | 368 | { |
| elmbed | 18:affef3a7db2a | 369 | buzzPin = 0; |
| elmbed | 18:affef3a7db2a | 370 | powering_up1 = false; |
| elmbed | 18:affef3a7db2a | 371 | } |
| elmbed | 18:affef3a7db2a | 372 | } |
| elmbed | 18:affef3a7db2a | 373 | else |
| elmbed | 18:affef3a7db2a | 374 | { |
| elmbed | 18:affef3a7db2a | 375 | if(beeping && (millis()-beep_start > beep_duration)) |
| elmbed | 18:affef3a7db2a | 376 | beeping = false; |
| elmbed | 18:affef3a7db2a | 377 | if(pulsing && (millis()-pulse_start > pulse_duration)) |
| elmbed | 18:affef3a7db2a | 378 | pulsing = false; |
| elmbed | 18:affef3a7db2a | 379 | if(beeping) |
| elmbed | 18:affef3a7db2a | 380 | buzzPin = 1; |
| elmbed | 18:affef3a7db2a | 381 | else if( pulsing && (((millis()-pulse_start) % pulse_period) < pulse_on)) |
| elmbed | 18:affef3a7db2a | 382 | { |
| elmbed | 18:affef3a7db2a | 383 | if(!(mask & SILENT)) |
| elmbed | 18:affef3a7db2a | 384 | buzzPin = 1; |
| elmbed | 18:affef3a7db2a | 385 | mask_color(0); |
| elmbed | 18:affef3a7db2a | 386 | } |
| elmbed | 18:affef3a7db2a | 387 | else |
| elmbed | 18:affef3a7db2a | 388 | { |
| elmbed | 18:affef3a7db2a | 389 | if(pulsing) |
| elmbed | 18:affef3a7db2a | 390 | mask_color(current_color); |
| elmbed | 18:affef3a7db2a | 391 | buzzPin = 0; |
| elmbed | 18:affef3a7db2a | 392 | } |
| elmbed | 18:affef3a7db2a | 393 | } |
| elmbed | 18:affef3a7db2a | 394 | /* |
| elmbed | 18:affef3a7db2a | 395 | if(!waiting_for_ack && radio.ReceiveComplete()) |
| elmbed | 18:affef3a7db2a | 396 | { |
| elmbed | 18:affef3a7db2a | 397 | if(radio.CRCPass()) |
| elmbed | 18:affef3a7db2a | 398 | { |
| elmbed | 18:affef3a7db2a | 399 | receive_buffer.put(radio.GetSender()); |
| elmbed | 18:affef3a7db2a | 400 | for(byte i = 0; i < *radio.DataLen; i++) |
| elmbed | 18:affef3a7db2a | 401 | receive_buffer.put(radio.Data[i]); |
| elmbed | 18:affef3a7db2a | 402 | } |
| elmbed | 18:affef3a7db2a | 403 | |
| elmbed | 18:affef3a7db2a | 404 | if(radio.ACKRequested()) |
| elmbed | 18:affef3a7db2a | 405 | { |
| elmbed | 18:affef3a7db2a | 406 | wait_us(1300); |
| elmbed | 18:affef3a7db2a | 407 | radio.SendACK(); |
| elmbed | 18:affef3a7db2a | 408 | //Serial.println(F("Sent ACK")); |
| elmbed | 18:affef3a7db2a | 409 | } |
| elmbed | 18:affef3a7db2a | 410 | } |
| elmbed | 18:affef3a7db2a | 411 | */ |
| elmbed | 18:affef3a7db2a | 412 | |
| elmbed | 18:affef3a7db2a | 413 | //if(index > 4999 || waiting_for_ack){ |
| elmbed | 18:affef3a7db2a | 414 | if(waiting_for_ack) |
| elmbed | 18:affef3a7db2a | 415 | { |
| elmbed | 18:affef3a7db2a | 416 | //Serial.println(F("Waiting for ack")); |
| elmbed | 18:affef3a7db2a | 417 | bool success = radio.ACKReceived(dest_cone); |
| elmbed | 18:affef3a7db2a | 418 | |
| elmbed | 18:affef3a7db2a | 419 | if(success || send_tries > 15) |
| elmbed | 18:affef3a7db2a | 420 | { |
| elmbed | 18:affef3a7db2a | 421 | //Serial.print(F("dequeued: ")); |
| elmbed | 18:affef3a7db2a | 422 | //Serial.println((uint16_t)payload[1]<<8 + payload[2]); |
| elmbed | 18:affef3a7db2a | 423 | message_in_queue = false; |
| elmbed | 18:affef3a7db2a | 424 | waiting_for_ack = false; |
| elmbed | 18:affef3a7db2a | 425 | unsigned long t = micros() - ack_start; |
| elmbed | 18:affef3a7db2a | 426 | //Serial.print(F("Received ACK, microseconds: ")); |
| elmbed | 18:affef3a7db2a | 427 | //Serial.println(t); |
| elmbed | 18:affef3a7db2a | 428 | //ack_tries = 0; |
| elmbed | 18:affef3a7db2a | 429 | |
| elmbed | 18:affef3a7db2a | 430 | message_in_queue = false; |
| elmbed | 18:affef3a7db2a | 431 | send_tries = 0; |
| elmbed | 18:affef3a7db2a | 432 | |
| elmbed | 18:affef3a7db2a | 433 | /*Serial.print(F("Sent ")); |
| elmbed | 18:affef3a7db2a | 434 | Serial.print((char)payload[0]); |
| elmbed | 18:affef3a7db2a | 435 | Serial.print(F(", to cone ")); |
| elmbed | 18:affef3a7db2a | 436 | Serial.println(dest_cone);*/ |
| elmbed | 18:affef3a7db2a | 437 | } |
| elmbed | 18:affef3a7db2a | 438 | else |
| elmbed | 18:affef3a7db2a | 439 | { |
| elmbed | 18:affef3a7db2a | 440 | if(micros() - ack_start > 10000) |
| elmbed | 18:affef3a7db2a | 441 | { |
| elmbed | 18:affef3a7db2a | 442 | //Serial.println(F("no ACK")); |
| elmbed | 18:affef3a7db2a | 443 | waiting_for_ack = false; |
| elmbed | 18:affef3a7db2a | 444 | random_wait_start = micros(); |
| elmbed | 18:affef3a7db2a | 445 | random_wait = random(1500,3000); |
| elmbed | 18:affef3a7db2a | 446 | /*if(send_tries > 15){ |
| elmbed | 18:affef3a7db2a | 447 | Serial.print(F("Failed to deliver message to cone ")); |
| elmbed | 18:affef3a7db2a | 448 | Serial.println(dest_cone); |
| elmbed | 18:affef3a7db2a | 449 | message_in_queue = false; |
| elmbed | 18:affef3a7db2a | 450 | send_tries = 0; |
| elmbed | 18:affef3a7db2a | 451 | }*/ |
| elmbed | 18:affef3a7db2a | 452 | if(send_tries > 4) |
| elmbed | 18:affef3a7db2a | 453 | random_wait = random(3000,9000); |
| elmbed | 18:affef3a7db2a | 454 | //Serial.print(F("Failed to deliver message, waiting ")); |
| elmbed | 18:affef3a7db2a | 455 | //Serial.println(random_wait); |
| elmbed | 18:affef3a7db2a | 456 | //ack_tries = 0; |
| elmbed | 18:affef3a7db2a | 457 | |
| elmbed | 18:affef3a7db2a | 458 | /*if(send_tries%50 == 0){ |
| elmbed | 18:affef3a7db2a | 459 | Serial.print(send_tries); |
| elmbed | 18:affef3a7db2a | 460 | Serial.println(F(" tries")); |
| elmbed | 18:affef3a7db2a | 461 | }*/ |
| elmbed | 18:affef3a7db2a | 462 | } |
| elmbed | 18:affef3a7db2a | 463 | } |
| elmbed | 18:affef3a7db2a | 464 | // ack_tries++; |
| elmbed | 18:affef3a7db2a | 465 | } |
| elmbed | 18:affef3a7db2a | 466 | else if(message_in_queue && micros() - random_wait > random_wait_start) |
| elmbed | 18:affef3a7db2a | 467 | {// && index%64 == 0){ |
| elmbed | 18:affef3a7db2a | 468 | requestACK = true; |
| elmbed | 18:affef3a7db2a | 469 | //Serial.println(F("sending")); |
| elmbed | 18:affef3a7db2a | 470 | radio.Send(dest_cone, payload, 6, requestACK); |
| elmbed | 18:affef3a7db2a | 471 | //Serial.println(F("sent")); |
| elmbed | 18:affef3a7db2a | 472 | //Serial.print(F("Trying to send: ")); |
| elmbed | 18:affef3a7db2a | 473 | //uint16_t temp = (uint16_t)payload[1]<<8; |
| elmbed | 18:affef3a7db2a | 474 | //temp += (uint8_t)payload[2]; |
| elmbed | 18:affef3a7db2a | 475 | //Serial.println((uint8_t)payload[0]); |
| elmbed | 18:affef3a7db2a | 476 | send_tries++; |
| elmbed | 18:affef3a7db2a | 477 | ack_start = micros(); |
| elmbed | 18:affef3a7db2a | 478 | |
| elmbed | 18:affef3a7db2a | 479 | if(!radio.ACKReceived(dest_cone)) |
| elmbed | 18:affef3a7db2a | 480 | waiting_for_ack = true; // the 'if' is here to prevent the radio from going to sleep and missing the ACK |
| elmbed | 18:affef3a7db2a | 481 | else |
| elmbed | 18:affef3a7db2a | 482 | message_in_queue = false; |
| elmbed | 18:affef3a7db2a | 483 | } |
| elmbed | 18:affef3a7db2a | 484 | else |
| elmbed | 18:affef3a7db2a | 485 | { |
| elmbed | 18:affef3a7db2a | 486 | /*if(send_buffer.getSize() > 0 && message_in_queue == false){ |
| elmbed | 18:affef3a7db2a | 487 | payload[0] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 488 | //Serial.print(F("Got from queue: ")); |
| elmbed | 18:affef3a7db2a | 489 | //Serial.println((char)payload[0]); |
| elmbed | 18:affef3a7db2a | 490 | message_in_queue = true; |
| elmbed | 18:affef3a7db2a | 491 | }*/ |
| elmbed | 18:affef3a7db2a | 492 | while(send_buffer.getSize() > 4 && message_in_queue == false) |
| elmbed | 18:affef3a7db2a | 493 | { |
| elmbed | 18:affef3a7db2a | 494 | payload[0] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 495 | payload[1] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 496 | payload[2] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 497 | payload[3] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 498 | payload[4] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 499 | dest_cone = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 500 | payload[5] = send_buffer.get(); |
| elmbed | 18:affef3a7db2a | 501 | /*Serial.println(F("")); |
| elmbed | 18:affef3a7db2a | 502 | Serial.println(F("sending...")); |
| elmbed | 18:affef3a7db2a | 503 | Serial.println(payload[0], BIN); |
| elmbed | 18:affef3a7db2a | 504 | Serial.println(payload[1], BIN); |
| elmbed | 18:affef3a7db2a | 505 | Serial.println(payload[2], BIN); |
| elmbed | 18:affef3a7db2a | 506 | Serial.println(payload[3], BIN); |
| elmbed | 18:affef3a7db2a | 507 | Serial.println(payload[4], BIN); |
| elmbed | 18:affef3a7db2a | 508 | Serial.println(dest_cone, BIN); |
| elmbed | 18:affef3a7db2a | 509 | Serial.println(payload[5], BIN); |
| elmbed | 18:affef3a7db2a | 510 | Serial.println(F(""));*/ |
| elmbed | 18:affef3a7db2a | 511 | if((char)payload[5] == '%') |
| elmbed | 18:affef3a7db2a | 512 | message_in_queue = true; |
| elmbed | 18:affef3a7db2a | 513 | else |
| elmbed | 18:affef3a7db2a | 514 | { |
| elmbed | 18:affef3a7db2a | 515 | while(send_buffer.getSize() > 0 && send_buffer.get() != '%'); // if we didn't land on the end of a message, peel stuff off until we are |
| elmbed | 18:affef3a7db2a | 516 | } |
| elmbed | 18:affef3a7db2a | 517 | } |
| elmbed | 18:affef3a7db2a | 518 | } |
| elmbed | 18:affef3a7db2a | 519 | |
| elmbed | 18:affef3a7db2a | 520 | #endif |
| elmbed | 17:d8b901d791fd | 521 | } |
| elmbed | 17:d8b901d791fd | 522 | |
| elmbed | 17:d8b901d791fd | 523 | bool TA::activated(void) |
| elmbed | 17:d8b901d791fd | 524 | { |
| elmbed | 17:d8b901d791fd | 525 | return true; |
| elmbed | 17:d8b901d791fd | 526 | } |
| elmbed | 17:d8b901d791fd | 527 | |
| elmbed | 17:d8b901d791fd | 528 | bool TA::tripped(void) |
| elmbed | 17:d8b901d791fd | 529 | { |
| elmbed | 17:d8b901d791fd | 530 | return false; |
| elmbed | 17:d8b901d791fd | 531 | } |
| elmbed | 17:d8b901d791fd | 532 | |
| elmbed | 17:d8b901d791fd | 533 | uint8_t TA::buttons(void) |
| elmbed | 17:d8b901d791fd | 534 | { |
| elmbed | 17:d8b901d791fd | 535 | uint8_t buttons = 0; |
| elmbed | 17:d8b901d791fd | 536 | |
| elmbed | 17:d8b901d791fd | 537 | return buttons; |
| elmbed | 17:d8b901d791fd | 538 | } |
| elmbed | 17:d8b901d791fd | 539 | |
| elmbed | 17:d8b901d791fd | 540 | void TA::setMask(uint8_t the_mask) |
| elmbed | 17:d8b901d791fd | 541 | { |
| elmbed | 17:d8b901d791fd | 542 | mask = the_mask; |
| elmbed | 17:d8b901d791fd | 543 | } |
| elmbed | 17:d8b901d791fd | 544 | |
| elmbed | 17:d8b901d791fd | 545 | void TA::initialize(uint8_t address) |
| elmbed | 17:d8b901d791fd | 546 | { |
| elmbed | 17:d8b901d791fd | 547 | } |
| elmbed | 17:d8b901d791fd | 548 | |
| elmbed | 17:d8b901d791fd | 549 | /* Can't find a way of implementing this function. |
| elmbed | 17:d8b901d791fd | 550 | * |
| elmbed | 17:d8b901d791fd | 551 | * !SR |
| elmbed | 17:d8b901d791fd | 552 | */ |
| elmbed | 17:d8b901d791fd | 553 | void TA::Ram_TableDisplay(void) |
| elmbed | 17:d8b901d791fd | 554 | { |
| elmbed | 17:d8b901d791fd | 555 | |
| elmbed | 17:d8b901d791fd | 556 | } |
| elmbed | 17:d8b901d791fd | 557 | |
| elmbed | 17:d8b901d791fd | 558 | /* Not sure if this work. Taken from: https://developer.mbed.org/questions/6994/How-to-print-Free-RAM-available-RAM-or-u/ |
| elmbed | 17:d8b901d791fd | 559 | * |
| elmbed | 17:d8b901d791fd | 560 | * !SR |
| elmbed | 17:d8b901d791fd | 561 | */ |
| elmbed | 17:d8b901d791fd | 562 | void TA::get_free_memory(void) |
| elmbed | 17:d8b901d791fd | 563 | { |
| elmbed | 17:d8b901d791fd | 564 | char stackVariable; |
| elmbed | 17:d8b901d791fd | 565 | char *heap; |
| elmbed | 17:d8b901d791fd | 566 | unsigned long result; |
| elmbed | 17:d8b901d791fd | 567 | heap = (char*)malloc(4); |
| elmbed | 17:d8b901d791fd | 568 | result = &stackVariable - heap; |
| elmbed | 17:d8b901d791fd | 569 | free(heap); |
| elmbed | 17:d8b901d791fd | 570 | |
| elmbed | 17:d8b901d791fd | 571 | //serial->printf("Free memory: %ul\n\n",result); |
| elmbed | 17:d8b901d791fd | 572 | } |
| elmbed | 17:d8b901d791fd | 573 | |
| elmbed | 17:d8b901d791fd | 574 | void TA::check_mem(void) |
| elmbed | 17:d8b901d791fd | 575 | { |
| elmbed | 17:d8b901d791fd | 576 | uint8_t * heapptr, * stackptr; |
| elmbed | 17:d8b901d791fd | 577 | unsigned int stack, heap = 0; |
| elmbed | 17:d8b901d791fd | 578 | |
| elmbed | 17:d8b901d791fd | 579 | stackptr = (uint8_t *)malloc(4); // use stackptr temporarily |
| elmbed | 17:d8b901d791fd | 580 | heapptr = stackptr; // save value of heap pointer |
| elmbed | 17:d8b901d791fd | 581 | free(stackptr); // free up the memory again (sets stackptr to 0) |
| elmbed | 17:d8b901d791fd | 582 | |
| elmbed | 17:d8b901d791fd | 583 | stack = __current_sp() ; |
| elmbed | 17:d8b901d791fd | 584 | heap = (uint16_t)heapptr; |
| elmbed | 17:d8b901d791fd | 585 | uint16_t last_call = *(stackptr++); |
| elmbed | 17:d8b901d791fd | 586 | |
| elmbed | 17:d8b901d791fd | 587 | //serial->printf("Stack: 0x"); |
| elmbed | 17:d8b901d791fd | 588 | //serial->printf("%x ",stack); |
| elmbed | 17:d8b901d791fd | 589 | //serial->printf("Heap: 0x"); |
| elmbed | 17:d8b901d791fd | 590 | //serial->printf("%x\n",heap); |
| elmbed | 17:d8b901d791fd | 591 | //serial->printf("Last call: 0x"); |
| elmbed | 17:d8b901d791fd | 592 | // serial->printf("%x\n",last_call); |
| elmbed | 17:d8b901d791fd | 593 | get_free_memory(); |
| elmbed | 17:d8b901d791fd | 594 | } |
| elmbed | 17:d8b901d791fd | 595 |