Bas Vuyk
Handheld_Node
Dependencies: XBeeLib buzzer mbed
Revision 0:2ab14db2fd40, committed 2018-07-25
- Comitter:
- basvuyk
- Date:
- Wed Jul 25 09:11:48 2018 +0000
- Commit message:
- Handheld_Node
Changed in this revision
diff -r 000000000000 -r 2ab14db2fd40 XBeeLib.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/XBeeLib.lib Wed Jul 25 09:11:48 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/basvuyk/code/XBeeLib/#273032d9299a
diff -r 000000000000 -r 2ab14db2fd40 buzzer.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/buzzer.lib Wed Jul 25 09:11:48 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/basvuyk/code/buzzer/#9133a863f1dd
diff -r 000000000000 -r 2ab14db2fd40 config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config.h Wed Jul 25 09:11:48 2018 +0000 @@ -0,0 +1,8 @@ +#include "mbed.h" + +#define MAX_FRAME_PAYLOAD_LEN 128 +#define FRAME_BUFFER_SIZE 4 +#define SYNC_OPS_TIMEOUT_MS 1000 +#define RADIO_TX PA_9 +#define RADIO_RX PA_10 +#define RADIO_RESET PA_8 \ No newline at end of file
diff -r 000000000000 -r 2ab14db2fd40 functions/breathLed.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/functions/breathLed.cpp Wed Jul 25 09:11:48 2018 +0000
@@ -0,0 +1,32 @@
+#include "mbed.h"
+
+namespace mbed {
+ void breathLed(int systemState){
+ static double ledVal = 0;
+ static int direction = 1;
+ PwmOut statusLED(PA_11);
+ statusLED.period(0.001f); // Set pwm frequency 1000Hz
+
+ if (systemState == 1){
+ if (ledVal > 0.6){
+ direction = 0;
+ }
+ if (ledVal < 0.03){
+ direction = 1;
+ }
+
+ if (direction == 1){
+ ledVal = ledVal + 0.01;
+ statusLED = ledVal;
+ }
+ else{
+ ledVal = ledVal - 0.01;
+ statusLED = ledVal;
+ }
+ }
+ else{
+ statusLED = 0;
+ ledVal = 0;
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 2ab14db2fd40 functions/breathLed.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/functions/breathLed.h Wed Jul 25 09:11:48 2018 +0000
@@ -0,0 +1,10 @@
+#ifndef BREATHLED_H_
+#define BREATHLED_H_
+
+#include "mbed.h"
+
+namespace mbed{
+
+void breathLed(int systemError);
+}
+#endif // BREATHLED_H_
\ No newline at end of file
diff -r 000000000000 -r 2ab14db2fd40 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jul 25 09:11:48 2018 +0000
@@ -0,0 +1,256 @@
+#include "mbed.h"
+#include "XBeeLib.h"
+#include "buzzer.h"
+
+using namespace XBeeLib;
+
+typedef enum
+{
+ BOOTING,
+ NORMAL_OPERATION,
+ EMERGENCY,
+ WAIT_FOR_RESET,
+ HEARTBEAT_ERROR,
+ GRACE_PERIOD,
+} state_t;
+
+state_t currentState = BOOTING;
+
+int receivedData, currentMessageCounter, graceCounter, currentTimerValue;
+
+/*
+STATE_MESSAGES:
+HEARTBEAT = 49
+EMERGENCY = 50
+RESET = 46
+*/
+
+//------------Define Digimesh Variables------------//
+#define channel 0x18
+#define networkId 0xD164
+#define powerLevel 4
+#define nodeId "handheld"
+//------------Define Digimesh Variables------------//
+
+//------------Define Pinouts------------//
+DigitalOut statusLED(PB_4);
+DigitalOut powerLED(PB_5);
+
+DigitalIn localEstop(PA_12);
+
+DigitalOut BATT_100(PB_1);
+DigitalOut BATT_50(PB_7);
+DigitalOut BATT_0(PB_6);
+AnalogIn BATT_MON(PA_3);
+
+DigitalOut buzzerPin(PF_1);
+//------------Define Pinouts------------//
+
+// Initialize Buzzer
+//Beep buzzer(PF_1);
+
+Timer runHeartbeatTimer, runSystemChecksTimer, runBatteryTimer;
+
+void radioConfig(XBeeDM &DMLocalNode){
+ RadioStatus temp = DMLocalNode.init();
+ temp = DMLocalNode.set_channel(channel);
+ temp = DMLocalNode.set_network_id(networkId);
+ temp = DMLocalNode.set_power_level(powerLevel);
+ temp = DMLocalNode.set_node_identifier(nodeId);
+ temp = DMLocalNode.write_config();
+}
+
+void buzzer(int times){
+ for (int x = 0; x < times; x++){
+ buzzerPin.write(1);
+ wait (0.000125);
+ buzzerPin.write(0);
+ wait (0.000125);
+ }
+}
+
+void boot(XBeeDM &DMLocalNode){
+ radioConfig(DMLocalNode);
+ buzzer(300);
+}
+
+static void receive_cb(const RemoteXBeeDM& remote, bool broadcast, const uint8_t *const data, uint16_t len){
+ receivedData = (data[0]-3);
+}
+
+static void sendMessage(XBeeDM &DMLocalNode, char *sendData){
+ const char data[] = {*sendData};
+ const uint16_t data_len = strlen(data);
+
+ const TxStatus txStatus = DMLocalNode.send_data_broadcast((const uint8_t *)data, data_len);
+
+ powerLED = !powerLED;
+}
+
+void checkLocalEstop(){
+ if (localEstop == 0){
+ currentState = EMERGENCY;
+ }
+ if (localEstop == 1 && currentState == EMERGENCY){
+ currentState = WAIT_FOR_RESET;
+ }
+}
+
+void stateHandler(XBeeDM &DMLocalNode){
+ if (currentState == NORMAL_OPERATION){
+ checkLocalEstop();
+
+ statusLED.write(1);
+ powerLED.write(1);
+ }
+
+ if (currentState == EMERGENCY && currentMessageCounter != 5){
+ sendMessage(DMLocalNode, "50");
+ checkLocalEstop();
+ currentMessageCounter++;
+
+ statusLED.write(0);
+ powerLED.write(1);
+ }
+
+ if (currentState == WAIT_FOR_RESET){
+ currentMessageCounter = 0;
+
+ statusLED.write(1);
+ powerLED.write(0);
+ }
+
+ if (currentState == HEARTBEAT_ERROR){
+ statusLED.write(0);
+ powerLED.write(0);
+ }
+
+ if (currentState == GRACE_PERIOD){
+ graceCounter++;
+ if (graceCounter == 100){
+ currentState = NORMAL_OPERATION;
+ graceCounter = 0;
+ }
+ }
+}
+
+void heartbeatTimerReset(){
+ currentTimerValue = 0;
+}
+
+void checkHeartbeat(){
+ if (currentState == NORMAL_OPERATION){
+ currentTimerValue++;
+ if (currentTimerValue > 7){
+ currentState = HEARTBEAT_ERROR;
+ }
+ }
+}
+
+void handleMessages(XBeeDM &DMLocalNode){
+ if (receivedData == 50){
+ currentState = EMERGENCY;
+ graceCounter = 0;
+ }
+
+ if (localEstop == 1 && currentState == EMERGENCY){
+ currentState = WAIT_FOR_RESET;
+ }
+
+ if (currentState == WAIT_FOR_RESET && localEstop == 1 && receivedData == 46){
+ currentState = GRACE_PERIOD;
+ }
+
+ if (receivedData == 49){
+ heartbeatTimerReset();
+ }
+
+ if (receivedData == 49 && currentState == HEARTBEAT_ERROR){
+ currentState = WAIT_FOR_RESET;
+ heartbeatTimerReset();
+ }
+
+ if (currentState == EMERGENCY && currentMessageCounter == 5 && receivedData == 46){
+ currentMessageCounter = 0;
+ }
+}
+
+void runSystemChecks(XBeeDM &DMLocalNode){
+ stateHandler(DMLocalNode);
+ handleMessages(DMLocalNode);
+}
+
+void batteryMonitor(){
+ float batVal = BATT_MON*6.6f;
+
+ if (batVal > 3.9f){
+ BATT_100.write(1);
+ BATT_50.write(1);
+ BATT_0.write(1);
+ }
+ else if (batVal < 3.89f && batVal > 3.65f){
+ BATT_100.write(0);
+ BATT_50.write(1);
+ BATT_0.write(1);
+ }
+ else if (batVal < 3.64f && batVal > 3.4f){
+ BATT_100.write(0);
+ BATT_50.write(0);
+ BATT_0.write(1);
+ }
+ else if (batVal < 3.39f){
+ BATT_100.write(0);
+ BATT_50.write(0);
+ BATT_0.write(0);
+ buzzer(600);
+ }
+}
+
+
+int main() {
+ XBeeDM DMLocalNode = XBeeDM(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 230400);
+
+ boot(DMLocalNode);
+ batteryMonitor();
+ DMLocalNode.register_receive_cb(&receive_cb);
+
+ currentState = WAIT_FOR_RESET;
+
+ runSystemChecksTimer.start();
+ runHeartbeatTimer.start();
+ runBatteryTimer.start();
+
+ static int systemTaskCounter, heartbeatCounter, batteryCounter;
+
+ while(1){
+
+ systemTaskCounter = runSystemChecksTimer.read_ms();
+ heartbeatCounter = runHeartbeatTimer.read_ms();
+ batteryCounter = runBatteryTimer.read_ms();
+
+ checkLocalEstop();
+ if ( systemTaskCounter > 3){
+ DMLocalNode.process_rx_frames();
+ runSystemChecks(DMLocalNode);
+
+ systemTaskCounter = 0;
+ runSystemChecksTimer.reset();
+ receivedData = 0;
+ }
+
+ if ( heartbeatCounter > 100){
+ DMLocalNode.process_rx_frames();
+
+ checkHeartbeat();
+ heartbeatCounter = 0;
+ runHeartbeatTimer.reset();
+ receivedData = 0;
+ }
+
+ if (batteryCounter > 5000){
+ batteryMonitor();
+ batteryCounter = 0;
+ runBatteryTimer.reset();
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 2ab14db2fd40 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jul 25 09:11:48 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file