Revision 2:bd4ef614ebb6, committed 2018-07-25

Comitter:

basvuyk

Date:

Wed Jul 25 09:14:25 2018 +0000

Parent:

1:f28c98c04cbd

Commit message:

Master_Node

Changed in this revision

--- a/XBeeLib.lib	Tue Mar 27 14:12:26 2018 +0000
+++ b/XBeeLib.lib	Wed Jul 25 09:14:25 2018 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/Digi-International-Inc/code/XBeeLib/#055802660f2e
+https://os.mbed.com/users/basvuyk/code/XBeeLib_Master/#055802660f2e

--- a/buzzer.lib	Tue Mar 27 14:12:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://os.mbed.com/users/Reniboy/code/buzzer/#9133a863f1dd

--- a/config.h	Tue Mar 27 14:12:26 2018 +0000
+++ b/config.h	Wed Jul 25 09:14:25 2018 +0000
@@ -5,4 +5,4 @@
 #define SYNC_OPS_TIMEOUT_MS     1000
 #define RADIO_TX                PA_9
 #define RADIO_RX                PA_10
-#define RADIO_RESET             PF_1
\ No newline at end of file
+#define RADIO_RESET             PA_8
\ No newline at end of file

--- a/functions/bootChime.cpp	Tue Mar 27 14:12:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-#include "buzzer.h"
-#include "mbed.h"
-
-namespace mbed {
-
-    Beep piezo(PB_4);
-
-    int bootChime()    /* Function definition */
-    {
-        int freq = 300;
-        for (int i = 0; i < 1; i++){
-            freq = freq*1.5;
-            piezo.beep(freq, 0.2);
-            wait(0.2);    
-        }
-
-        return 0;
-    }
-}
\ No newline at end of file

--- a/functions/bootChime.h	Tue Mar 27 14:12:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,10 +0,0 @@
-#ifndef BO0TCHIME_H_  
-#define BO0TCHIME_H_
-
-#include "mbed.h"
-
-namespace mbed{
-
-void bootChime();  
-}
-#endif // BO0TCHIME_H_
\ No newline at end of file

--- a/functions/breathLed.cpp	Tue Mar 27 14:12:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,32 +0,0 @@
-#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

--- a/functions/breathLed.h	Tue Mar 27 14:12:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,10 +0,0 @@
-#ifndef BREATHLED_H_  
-#define BREATHLED_H_
-
-#include "mbed.h"
-
-namespace mbed{
-
-void breathLed(int systemError);  
-}
-#endif // BREATHLED_H_
\ No newline at end of file

--- a/main.cpp	Tue Mar 27 14:12:26 2018 +0000
+++ b/main.cpp	Wed Jul 25 09:14:25 2018 +0000
@@ -1,8 +1,5 @@
 #include "mbed.h"
 #include "XBeeLib.h"
-#include "buzzer.h"
-#include "bootChime.h"
-#include "breathLed.h"
 
 using namespace XBeeLib;
     
@@ -12,44 +9,39 @@
     NORMAL_OPERATION,
     EMERGENCY,
     WAIT_FOR_RESET,
-    HEARTBEAT_ERROR,
 } state_t;
 
 state_t currentState = BOOTING;
 
-
-/*
-STATE_MESSAGES:
-HEARTBEAT   =   49
-EMERGENCY   =   50  
-RESET       =   51
-*/
+char *HEARTBEAT_MSG = "49";
+char *EMERGENCY_MSG = "50"; 
+char *RESET_MSG = "101";
 
 int receivedData; 
 
 //------------Define Digimesh Variables------------//
-#define channel 0x18
-#define networkId 0xD163
+#define channel 0x15
+#define networkId 0xD160
 #define powerLevel 4
 #define nodeId "masterNode"
+#define baudRate 230400
 //------------Define Digimesh Variables------------//
 
 //------------Define Pinouts-----------------------//
-PwmOut statusLED(PA_11);
-DigitalOut powerLED(PA_8);
+DigitalOut statusLED(PB_5);
+PwmOut powerLED(PB_4);
 
-DigitalIn localEstop(PB_7);
-DigitalIn resetButton(PB_0);
+DigitalIn localEstop(PA_11);
+DigitalIn resetButton(PA_12);
 //------------Define Pinouts-----------------------//
 
-// Initialize Buzzer
-Beep piezo(PB_4);
+//-----------TIMER CONFIG----------//
+Timer runHeartbeatTimer, runSystemChecksTimer;
+#define systemCheckTimeout 5    // ms   // Check system state every 5ms
+#define heartbeatTimeout 200    // ms   // Check heartbeat every 100ms
+//-----------TIMER CONFIG----------//
 
-Serial pc(USBTX, USBRX);
-
-Ticker checkResetButton, stateHandlerTimer, checkLocalEstopTimer, handleMessagesTimer, timerLED;
-Timer runSystemChecksTimer, sendHeartbeatTimer;
-
+// Initiate XBEE Module
 void radioConfig(XBeeDM &DMLocalNode){    
     RadioStatus temp = DMLocalNode.init();
     temp = DMLocalNode.set_channel(channel);
@@ -61,19 +53,11 @@
 
 void boot(XBeeDM &DMLocalNode){
     radioConfig(DMLocalNode);
-    bootChime();
-}
-
-void statusLedFunction(){
-    breathLed(currentState);
-}
-
-void errorHandle(){
-    statusLED = !statusLED;
+    powerLED.write(255);
 }
 
 static void receive_cb(const RemoteXBeeDM& remote, bool broadcast, const uint8_t *const data, uint16_t len){
-    receivedData = (data[0]-3);
+    receivedData = (data[0]-3); // -3 for offset
 }
 
 static void sendMessage(XBeeDM &DMLocalNode, char *sendData){
@@ -81,13 +65,11 @@
     const uint16_t data_len = strlen(data);
 
     const TxStatus txStatus = DMLocalNode.send_data_broadcast((const uint8_t *)data, data_len);
-    
-    powerLED = !powerLED;
 }
 
 void sendHeartbeat(XBeeDM &DMLocalNode){
     if (currentState == NORMAL_OPERATION){
-        sendMessage(DMLocalNode, "49");
+        sendMessage(DMLocalNode, HEARTBEAT_MSG);
     }
 }
 
@@ -100,36 +82,53 @@
     }
 }
 
+void checkReset(XBeeDM &DMLocalNode){
+    if (resetButton == 1 && localEstop == 1 && currentState == NORMAL_OPERATION){
+        sendMessage(DMLocalNode, RESET_MSG);
+    }
+}
+
+/* Function that avoids the misuse of the reset button,
+If the button is continuously pressed, this function 
+disables the reset button to prevent excessive network load */
 void checkLocalReset(XBeeDM &DMLocalNode){
-    if (resetButton == 1 && localEstop == 1 && currentState == WAIT_FOR_RESET){
-        sendMessage(DMLocalNode, "101");
-        wait(0.1f);
+    static int resetCounter = 0, sendReset = 1;
+    
+    if (resetButton == 1 && resetCounter < 5){
+        resetCounter++;
+        sendReset = 1;
+    }
+    
+    if (resetCounter == 5 && resetButton == 1){
+        resetCounter = 50;
+        sendReset = 0; 
+    }
+    
+    if (resetButton == 0 && resetCounter > 0){
+        resetCounter--;
+    }
+    
+    if (sendReset == 1 && resetButton == 1 && localEstop == 1 && currentState == WAIT_FOR_RESET){
+        sendMessage(DMLocalNode, RESET_MSG);
         currentState = NORMAL_OPERATION;
     }
-    else if (resetButton == 1 && localEstop == 0){
-        piezo.beep(2400, 1.0f);
-    }
 }
 
 void stateHandler(XBeeDM &DMLocalNode){
     static int currentMessageCounter;
     
     if (currentState == NORMAL_OPERATION){
-        checkLocalEstop();
-        
-        timerLED.detach();
-        timerLED.attach(&statusLedFunction, 0.03f);
+        checkLocalEstop(); 
+        statusLED.write(1);
     }
     if (currentState == EMERGENCY && currentMessageCounter != 5){
-        sendMessage(DMLocalNode, "50");
+        sendMessage(DMLocalNode, EMERGENCY_MSG);
         currentMessageCounter++;
-        
-        timerLED.detach();
-        statusLED = 1;
-        piezo.beep(4800, 0.1f);
+        statusLED = 0;
     }
     else if (currentState == WAIT_FOR_RESET){
         currentMessageCounter = 0;
+        statusLED = 0;
     }
 }
 
@@ -147,41 +146,37 @@
 }
 
 int main() {
-    XBeeDM DMLocalNode = XBeeDM(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 115200);
+    XBeeDM DMLocalNode = XBeeDM(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, baudRate);
 
     boot(DMLocalNode);
 
     DMLocalNode.register_receive_cb(&receive_cb);
 
     runSystemChecksTimer.start();
-    sendHeartbeatTimer.start();
-
-    timerLED.attach(&statusLedFunction, 0.03f); 
-  
+    runHeartbeatTimer.start();
+    
     currentState = NORMAL_OPERATION;
     
-    static int heartbeatCounter;
-    static int systemTaskCounter;
-    
-    pc.baud(115200);
+    static int systemTaskCounter, heartbeatCounter;
 
     while(1){
         systemTaskCounter = runSystemChecksTimer.read_ms();
-        heartbeatCounter = sendHeartbeatTimer.read_ms();
-    
-        if ( systemTaskCounter > 200){
+        heartbeatCounter = runHeartbeatTimer.read_ms();
+        
+        if (systemTaskCounter > systemCheckTimeout){
             DMLocalNode.process_rx_frames(); 
-            runSystemChecks(DMLocalNode);
             systemTaskCounter = 0; 
             runSystemChecksTimer.reset();
-            pc.printf("%d", receivedData);
+            runSystemChecks(DMLocalNode);
             receivedData = 0; 
-        }    
+        }  
         
-        if (heartbeatCounter > 257){
-            sendHeartbeat(DMLocalNode);   
+        if (heartbeatCounter > heartbeatTimeout){
+            sendHeartbeat(DMLocalNode);
+            checkReset(DMLocalNode);
+
             heartbeatCounter = 0; 
-            sendHeartbeatTimer.reset();
-        }
+            runHeartbeatTimer.reset();
+        }   
     }
 }
\ No newline at end of file