Bas Vuyk / Mbed 2 deprecated Handheld_Node

Handheld_Node

Dependencies:   XBeeLib buzzer mbed

main.cpp@0:2ab14db2fd40, 2018-07-25 (annotated)

Committer:
basvuyk
Date:
Wed Jul 25 09:11:48 2018 +0000
Revision:
0:2ab14db2fd40
Handheld_Node

Who changed what in which revision?

UserRevisionLine numberNew contents of line
basvuyk 0:2ab14db2fd40 1 #include "mbed.h"
basvuyk 0:2ab14db2fd40 2 #include "XBeeLib.h"
basvuyk 0:2ab14db2fd40 3 #include "buzzer.h"
basvuyk 0:2ab14db2fd40 4
basvuyk 0:2ab14db2fd40 5 using namespace XBeeLib;
basvuyk 0:2ab14db2fd40 6
basvuyk 0:2ab14db2fd40 7 typedef enum
basvuyk 0:2ab14db2fd40 8 {
basvuyk 0:2ab14db2fd40 9 BOOTING,
basvuyk 0:2ab14db2fd40 10 NORMAL_OPERATION,
basvuyk 0:2ab14db2fd40 11 EMERGENCY,
basvuyk 0:2ab14db2fd40 12 WAIT_FOR_RESET,
basvuyk 0:2ab14db2fd40 13 HEARTBEAT_ERROR,
basvuyk 0:2ab14db2fd40 14 GRACE_PERIOD,
basvuyk 0:2ab14db2fd40 15 } state_t;
basvuyk 0:2ab14db2fd40 16
basvuyk 0:2ab14db2fd40 17 state_t currentState = BOOTING;
basvuyk 0:2ab14db2fd40 18
basvuyk 0:2ab14db2fd40 19 int receivedData, currentMessageCounter, graceCounter, currentTimerValue;
basvuyk 0:2ab14db2fd40 20
basvuyk 0:2ab14db2fd40 21 /*
basvuyk 0:2ab14db2fd40 22 STATE_MESSAGES:
basvuyk 0:2ab14db2fd40 23 HEARTBEAT = 49
basvuyk 0:2ab14db2fd40 24 EMERGENCY = 50
basvuyk 0:2ab14db2fd40 25 RESET = 46
basvuyk 0:2ab14db2fd40 26 */
basvuyk 0:2ab14db2fd40 27
basvuyk 0:2ab14db2fd40 28 //------------Define Digimesh Variables------------//
basvuyk 0:2ab14db2fd40 29 #define channel 0x18
basvuyk 0:2ab14db2fd40 30 #define networkId 0xD164
basvuyk 0:2ab14db2fd40 31 #define powerLevel 4
basvuyk 0:2ab14db2fd40 32 #define nodeId "handheld"
basvuyk 0:2ab14db2fd40 33 //------------Define Digimesh Variables------------//
basvuyk 0:2ab14db2fd40 34
basvuyk 0:2ab14db2fd40 35 //------------Define Pinouts------------//
basvuyk 0:2ab14db2fd40 36 DigitalOut statusLED(PB_4);
basvuyk 0:2ab14db2fd40 37 DigitalOut powerLED(PB_5);
basvuyk 0:2ab14db2fd40 38
basvuyk 0:2ab14db2fd40 39 DigitalIn localEstop(PA_12);
basvuyk 0:2ab14db2fd40 40
basvuyk 0:2ab14db2fd40 41 DigitalOut BATT_100(PB_1);
basvuyk 0:2ab14db2fd40 42 DigitalOut BATT_50(PB_7);
basvuyk 0:2ab14db2fd40 43 DigitalOut BATT_0(PB_6);
basvuyk 0:2ab14db2fd40 44 AnalogIn BATT_MON(PA_3);
basvuyk 0:2ab14db2fd40 45
basvuyk 0:2ab14db2fd40 46 DigitalOut buzzerPin(PF_1);
basvuyk 0:2ab14db2fd40 47 //------------Define Pinouts------------//
basvuyk 0:2ab14db2fd40 48
basvuyk 0:2ab14db2fd40 49 // Initialize Buzzer
basvuyk 0:2ab14db2fd40 50 //Beep buzzer(PF_1);
basvuyk 0:2ab14db2fd40 51
basvuyk 0:2ab14db2fd40 52 Timer runHeartbeatTimer, runSystemChecksTimer, runBatteryTimer;
basvuyk 0:2ab14db2fd40 53
basvuyk 0:2ab14db2fd40 54 void radioConfig(XBeeDM &DMLocalNode){
basvuyk 0:2ab14db2fd40 55 RadioStatus temp = DMLocalNode.init();
basvuyk 0:2ab14db2fd40 56 temp = DMLocalNode.set_channel(channel);
basvuyk 0:2ab14db2fd40 57 temp = DMLocalNode.set_network_id(networkId);
basvuyk 0:2ab14db2fd40 58 temp = DMLocalNode.set_power_level(powerLevel);
basvuyk 0:2ab14db2fd40 59 temp = DMLocalNode.set_node_identifier(nodeId);
basvuyk 0:2ab14db2fd40 60 temp = DMLocalNode.write_config();
basvuyk 0:2ab14db2fd40 61 }
basvuyk 0:2ab14db2fd40 62
basvuyk 0:2ab14db2fd40 63 void buzzer(int times){
basvuyk 0:2ab14db2fd40 64 for (int x = 0; x < times; x++){
basvuyk 0:2ab14db2fd40 65 buzzerPin.write(1);
basvuyk 0:2ab14db2fd40 66 wait (0.000125);
basvuyk 0:2ab14db2fd40 67 buzzerPin.write(0);
basvuyk 0:2ab14db2fd40 68 wait (0.000125);
basvuyk 0:2ab14db2fd40 69 }
basvuyk 0:2ab14db2fd40 70 }
basvuyk 0:2ab14db2fd40 71
basvuyk 0:2ab14db2fd40 72 void boot(XBeeDM &DMLocalNode){
basvuyk 0:2ab14db2fd40 73 radioConfig(DMLocalNode);
basvuyk 0:2ab14db2fd40 74 buzzer(300);
basvuyk 0:2ab14db2fd40 75 }
basvuyk 0:2ab14db2fd40 76
basvuyk 0:2ab14db2fd40 77 static void receive_cb(const RemoteXBeeDM& remote, bool broadcast, const uint8_t *const data, uint16_t len){
basvuyk 0:2ab14db2fd40 78 receivedData = (data[0]-3);
basvuyk 0:2ab14db2fd40 79 }
basvuyk 0:2ab14db2fd40 80
basvuyk 0:2ab14db2fd40 81 static void sendMessage(XBeeDM &DMLocalNode, char *sendData){
basvuyk 0:2ab14db2fd40 82 const char data[] = {*sendData};
basvuyk 0:2ab14db2fd40 83 const uint16_t data_len = strlen(data);
basvuyk 0:2ab14db2fd40 84
basvuyk 0:2ab14db2fd40 85 const TxStatus txStatus = DMLocalNode.send_data_broadcast((const uint8_t *)data, data_len);
basvuyk 0:2ab14db2fd40 86
basvuyk 0:2ab14db2fd40 87 powerLED = !powerLED;
basvuyk 0:2ab14db2fd40 88 }
basvuyk 0:2ab14db2fd40 89
basvuyk 0:2ab14db2fd40 90 void checkLocalEstop(){
basvuyk 0:2ab14db2fd40 91 if (localEstop == 0){
basvuyk 0:2ab14db2fd40 92 currentState = EMERGENCY;
basvuyk 0:2ab14db2fd40 93 }
basvuyk 0:2ab14db2fd40 94 if (localEstop == 1 && currentState == EMERGENCY){
basvuyk 0:2ab14db2fd40 95 currentState = WAIT_FOR_RESET;
basvuyk 0:2ab14db2fd40 96 }
basvuyk 0:2ab14db2fd40 97 }
basvuyk 0:2ab14db2fd40 98
basvuyk 0:2ab14db2fd40 99 void stateHandler(XBeeDM &DMLocalNode){
basvuyk 0:2ab14db2fd40 100 if (currentState == NORMAL_OPERATION){
basvuyk 0:2ab14db2fd40 101 checkLocalEstop();
basvuyk 0:2ab14db2fd40 102
basvuyk 0:2ab14db2fd40 103 statusLED.write(1);
basvuyk 0:2ab14db2fd40 104 powerLED.write(1);
basvuyk 0:2ab14db2fd40 105 }
basvuyk 0:2ab14db2fd40 106
basvuyk 0:2ab14db2fd40 107 if (currentState == EMERGENCY && currentMessageCounter != 5){
basvuyk 0:2ab14db2fd40 108 sendMessage(DMLocalNode, "50");
basvuyk 0:2ab14db2fd40 109 checkLocalEstop();
basvuyk 0:2ab14db2fd40 110 currentMessageCounter++;
basvuyk 0:2ab14db2fd40 111
basvuyk 0:2ab14db2fd40 112 statusLED.write(0);
basvuyk 0:2ab14db2fd40 113 powerLED.write(1);
basvuyk 0:2ab14db2fd40 114 }
basvuyk 0:2ab14db2fd40 115
basvuyk 0:2ab14db2fd40 116 if (currentState == WAIT_FOR_RESET){
basvuyk 0:2ab14db2fd40 117 currentMessageCounter = 0;
basvuyk 0:2ab14db2fd40 118
basvuyk 0:2ab14db2fd40 119 statusLED.write(1);
basvuyk 0:2ab14db2fd40 120 powerLED.write(0);
basvuyk 0:2ab14db2fd40 121 }
basvuyk 0:2ab14db2fd40 122
basvuyk 0:2ab14db2fd40 123 if (currentState == HEARTBEAT_ERROR){
basvuyk 0:2ab14db2fd40 124 statusLED.write(0);
basvuyk 0:2ab14db2fd40 125 powerLED.write(0);
basvuyk 0:2ab14db2fd40 126 }
basvuyk 0:2ab14db2fd40 127
basvuyk 0:2ab14db2fd40 128 if (currentState == GRACE_PERIOD){
basvuyk 0:2ab14db2fd40 129 graceCounter++;
basvuyk 0:2ab14db2fd40 130 if (graceCounter == 100){
basvuyk 0:2ab14db2fd40 131 currentState = NORMAL_OPERATION;
basvuyk 0:2ab14db2fd40 132 graceCounter = 0;
basvuyk 0:2ab14db2fd40 133 }
basvuyk 0:2ab14db2fd40 134 }
basvuyk 0:2ab14db2fd40 135 }
basvuyk 0:2ab14db2fd40 136
basvuyk 0:2ab14db2fd40 137 void heartbeatTimerReset(){
basvuyk 0:2ab14db2fd40 138 currentTimerValue = 0;
basvuyk 0:2ab14db2fd40 139 }
basvuyk 0:2ab14db2fd40 140
basvuyk 0:2ab14db2fd40 141 void checkHeartbeat(){
basvuyk 0:2ab14db2fd40 142 if (currentState == NORMAL_OPERATION){
basvuyk 0:2ab14db2fd40 143 currentTimerValue++;
basvuyk 0:2ab14db2fd40 144 if (currentTimerValue > 7){
basvuyk 0:2ab14db2fd40 145 currentState = HEARTBEAT_ERROR;
basvuyk 0:2ab14db2fd40 146 }
basvuyk 0:2ab14db2fd40 147 }
basvuyk 0:2ab14db2fd40 148 }
basvuyk 0:2ab14db2fd40 149
basvuyk 0:2ab14db2fd40 150 void handleMessages(XBeeDM &DMLocalNode){
basvuyk 0:2ab14db2fd40 151 if (receivedData == 50){
basvuyk 0:2ab14db2fd40 152 currentState = EMERGENCY;
basvuyk 0:2ab14db2fd40 153 graceCounter = 0;
basvuyk 0:2ab14db2fd40 154 }
basvuyk 0:2ab14db2fd40 155
basvuyk 0:2ab14db2fd40 156 if (localEstop == 1 && currentState == EMERGENCY){
basvuyk 0:2ab14db2fd40 157 currentState = WAIT_FOR_RESET;
basvuyk 0:2ab14db2fd40 158 }
basvuyk 0:2ab14db2fd40 159
basvuyk 0:2ab14db2fd40 160 if (currentState == WAIT_FOR_RESET && localEstop == 1 && receivedData == 46){
basvuyk 0:2ab14db2fd40 161 currentState = GRACE_PERIOD;
basvuyk 0:2ab14db2fd40 162 }
basvuyk 0:2ab14db2fd40 163
basvuyk 0:2ab14db2fd40 164 if (receivedData == 49){
basvuyk 0:2ab14db2fd40 165 heartbeatTimerReset();
basvuyk 0:2ab14db2fd40 166 }
basvuyk 0:2ab14db2fd40 167
basvuyk 0:2ab14db2fd40 168 if (receivedData == 49 && currentState == HEARTBEAT_ERROR){
basvuyk 0:2ab14db2fd40 169 currentState = WAIT_FOR_RESET;
basvuyk 0:2ab14db2fd40 170 heartbeatTimerReset();
basvuyk 0:2ab14db2fd40 171 }
basvuyk 0:2ab14db2fd40 172
basvuyk 0:2ab14db2fd40 173 if (currentState == EMERGENCY && currentMessageCounter == 5 && receivedData == 46){
basvuyk 0:2ab14db2fd40 174 currentMessageCounter = 0;
basvuyk 0:2ab14db2fd40 175 }
basvuyk 0:2ab14db2fd40 176 }
basvuyk 0:2ab14db2fd40 177
basvuyk 0:2ab14db2fd40 178 void runSystemChecks(XBeeDM &DMLocalNode){
basvuyk 0:2ab14db2fd40 179 stateHandler(DMLocalNode);
basvuyk 0:2ab14db2fd40 180 handleMessages(DMLocalNode);
basvuyk 0:2ab14db2fd40 181 }
basvuyk 0:2ab14db2fd40 182
basvuyk 0:2ab14db2fd40 183 void batteryMonitor(){
basvuyk 0:2ab14db2fd40 184 float batVal = BATT_MON*6.6f;
basvuyk 0:2ab14db2fd40 185
basvuyk 0:2ab14db2fd40 186 if (batVal > 3.9f){
basvuyk 0:2ab14db2fd40 187 BATT_100.write(1);
basvuyk 0:2ab14db2fd40 188 BATT_50.write(1);
basvuyk 0:2ab14db2fd40 189 BATT_0.write(1);
basvuyk 0:2ab14db2fd40 190 }
basvuyk 0:2ab14db2fd40 191 else if (batVal < 3.89f && batVal > 3.65f){
basvuyk 0:2ab14db2fd40 192 BATT_100.write(0);
basvuyk 0:2ab14db2fd40 193 BATT_50.write(1);
basvuyk 0:2ab14db2fd40 194 BATT_0.write(1);
basvuyk 0:2ab14db2fd40 195 }
basvuyk 0:2ab14db2fd40 196 else if (batVal < 3.64f && batVal > 3.4f){
basvuyk 0:2ab14db2fd40 197 BATT_100.write(0);
basvuyk 0:2ab14db2fd40 198 BATT_50.write(0);
basvuyk 0:2ab14db2fd40 199 BATT_0.write(1);
basvuyk 0:2ab14db2fd40 200 }
basvuyk 0:2ab14db2fd40 201 else if (batVal < 3.39f){
basvuyk 0:2ab14db2fd40 202 BATT_100.write(0);
basvuyk 0:2ab14db2fd40 203 BATT_50.write(0);
basvuyk 0:2ab14db2fd40 204 BATT_0.write(0);
basvuyk 0:2ab14db2fd40 205 buzzer(600);
basvuyk 0:2ab14db2fd40 206 }
basvuyk 0:2ab14db2fd40 207 }
basvuyk 0:2ab14db2fd40 208
basvuyk 0:2ab14db2fd40 209
basvuyk 0:2ab14db2fd40 210 int main() {
basvuyk 0:2ab14db2fd40 211 XBeeDM DMLocalNode = XBeeDM(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 230400);
basvuyk 0:2ab14db2fd40 212
basvuyk 0:2ab14db2fd40 213 boot(DMLocalNode);
basvuyk 0:2ab14db2fd40 214 batteryMonitor();
basvuyk 0:2ab14db2fd40 215 DMLocalNode.register_receive_cb(&receive_cb);
basvuyk 0:2ab14db2fd40 216
basvuyk 0:2ab14db2fd40 217 currentState = WAIT_FOR_RESET;
basvuyk 0:2ab14db2fd40 218
basvuyk 0:2ab14db2fd40 219 runSystemChecksTimer.start();
basvuyk 0:2ab14db2fd40 220 runHeartbeatTimer.start();
basvuyk 0:2ab14db2fd40 221 runBatteryTimer.start();
basvuyk 0:2ab14db2fd40 222
basvuyk 0:2ab14db2fd40 223 static int systemTaskCounter, heartbeatCounter, batteryCounter;
basvuyk 0:2ab14db2fd40 224
basvuyk 0:2ab14db2fd40 225 while(1){
basvuyk 0:2ab14db2fd40 226
basvuyk 0:2ab14db2fd40 227 systemTaskCounter = runSystemChecksTimer.read_ms();
basvuyk 0:2ab14db2fd40 228 heartbeatCounter = runHeartbeatTimer.read_ms();
basvuyk 0:2ab14db2fd40 229 batteryCounter = runBatteryTimer.read_ms();
basvuyk 0:2ab14db2fd40 230
basvuyk 0:2ab14db2fd40 231 checkLocalEstop();
basvuyk 0:2ab14db2fd40 232 if ( systemTaskCounter > 3){
basvuyk 0:2ab14db2fd40 233 DMLocalNode.process_rx_frames();
basvuyk 0:2ab14db2fd40 234 runSystemChecks(DMLocalNode);
basvuyk 0:2ab14db2fd40 235
basvuyk 0:2ab14db2fd40 236 systemTaskCounter = 0;
basvuyk 0:2ab14db2fd40 237 runSystemChecksTimer.reset();
basvuyk 0:2ab14db2fd40 238 receivedData = 0;
basvuyk 0:2ab14db2fd40 239 }
basvuyk 0:2ab14db2fd40 240
basvuyk 0:2ab14db2fd40 241 if ( heartbeatCounter > 100){
basvuyk 0:2ab14db2fd40 242 DMLocalNode.process_rx_frames();
basvuyk 0:2ab14db2fd40 243
basvuyk 0:2ab14db2fd40 244 checkHeartbeat();
basvuyk 0:2ab14db2fd40 245 heartbeatCounter = 0;
basvuyk 0:2ab14db2fd40 246 runHeartbeatTimer.reset();
basvuyk 0:2ab14db2fd40 247 receivedData = 0;
basvuyk 0:2ab14db2fd40 248 }
basvuyk 0:2ab14db2fd40 249
basvuyk 0:2ab14db2fd40 250 if (batteryCounter > 5000){
basvuyk 0:2ab14db2fd40 251 batteryMonitor();
basvuyk 0:2ab14db2fd40 252 batteryCounter = 0;
basvuyk 0:2ab14db2fd40 253 runBatteryTimer.reset();
basvuyk 0:2ab14db2fd40 254 }
basvuyk 0:2ab14db2fd40 255 }
basvuyk 0:2ab14db2fd40 256 }