// Apply all station bits
// !!! This will activate/deactivate valves !!!
void OpenSprinkler::apply_all_station_bits() {
digitalWrite(PIN_SR_LATCH, LOW);
byte bid, s, sbits;
bool engage_booster = false;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega1284__)
// old station bits
static byte old_station_bits[MAX_EXT_BOARDS+1];
#endif
// Shift out all station bit values
// from the highest bit to the lowest
for(bid=0;bid<=MAX_EXT_BOARDS;bid++) {
if (status.enabled)
sbits = station_bits[MAX_EXT_BOARDS-bid];
else
sbits = 0;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega1284__)
// check if any station is changing from 0 to 1
// take the bit inverse of the old status
// and with the new status
if ((~old_station_bits[MAX_EXT_BOARDS-bid]) & sbits) {
engage_booster = true;
}
old_station_bits[MAX_EXT_BOARDS-bid] = sbits;
#endif
for(s=0;s<8;s++) {
digitalWrite(PIN_SR_CLOCK, LOW);
#if defined(OSPI) // if OSPi, use dynamically assigned pin_sr_data
digitalWrite(pin_sr_data, (sbits & ((byte)1<<(7-s))) ? HIGH : LOW );
#else
digitalWrite(PIN_SR_DATA, (sbits & ((byte)1<<(7-s))) ? HIGH : LOW );
#endif
digitalWrite(PIN_SR_CLOCK, HIGH);
}
}
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega1284__)
if((hw_type==HW_TYPE_DC) && engage_booster) {
DEBUG_PRINTLN(F("engage booster"));
// boost voltage
digitalWrite(PIN_BOOST, HIGH);
delay(250);
digitalWrite(PIN_BOOST, LOW);
// enable boosted voltage for a short period of time
digitalWrite(PIN_BOOST_EN, HIGH);
digitalWrite(PIN_SR_LATCH, HIGH);
delay(500);
digitalWrite(PIN_BOOST_EN, LOW);
} else {
digitalWrite(PIN_SR_LATCH, HIGH);
}
#else
digitalWrite(PIN_SR_LATCH, HIGH);
#endif
}
//<ID>, <TD01>, START ,<int: tag1>,<int: tag2>,<int: tag3>,<int: tag4>
void Theft::TheftDetectionFunction(int id, int command){
DEBUG_PRINT("#In the TheftDetectionFunction with function : '");
DEBUG_PRINT(command);
DEBUG_PRINT("' and with ID: ");
DEBUG_PRINTLN(id);
switch (command) {
case START:
rfid.RFIDFunctionSetup(); // Read and set rfid tag from serial
rfid.RFID_ENABLED = 1;
//button.BUTTON_ENABLED = 1; // Enables button
this->THEFT_ENABLED = 1;
break;
case STOP:
this->THEFT_ENABLED = 0; // Disable Theft Mode
//button.BUTTON_ENABLED = 0; // Disable Button
led.LEDFunctionSet(1,0); // Turn off LED
rfid.RFID_ENABLED = 0;
break;
default:
break;
}
}
void do_setup() {
initialiseEpoch(); // initialize time reference for millis() and micros()
os.begin(); // OpenSprinkler init
os.options_setup(); // Setup options
pd.init(); // ProgramData init
if (os.start_network()) { // initialize network
DEBUG_PRINTLN("network established.");
os.status.network_fails = 0;
} else {
DEBUG_PRINTLN("network failed.");
os.status.network_fails = 1;
}
os.status.req_network = 0;
}
DHT::DHT(void) {
_maxCycles = microsecondsToClockCycles(DHT_MAX_CYCLES);
_lastTemperature = _lastHumidity = 0;
ADD_BIT(_status, STATUS_TEMP_GOOD | STATUS_HUMI_GOOD);
DEBUG_PRINTLN("DHT loaded.");
}
int64_t WallOverlapComputation::overlapEndingDistance(Point& a1, Point& a2, Point& b1, Point& b2, int a1b1_dist)
{
int overlap = lineWidth - a1b1_dist;
Point a = a2-a1;
Point b = b2-b1;
double cos_angle = INT2MM2(dot(a, b)) / vSizeMM(a) / vSizeMM(b);
// result == .5*overlap / tan(.5*angle) == .5*overlap / tan(.5*acos(cos_angle))
// [wolfram alpha] == 0.5*overlap * sqrt(cos_angle+1)/sqrt(1-cos_angle)
// [assuming positive x] == 0.5*overlap / sqrt( 2 / (cos_angle + 1) - 1 )
if (cos_angle <= 0)
{
return 0;
}
else
{
int64_t dist = overlap * double ( 1.0 / (2.0 * sqrt(2.0 / (cos_angle+1.0) - 1.0)) );
if (dist * dist > vSize2(a) || dist * dist > vSize2(b))
{
return 0;
DEBUG_PRINTLN("ERROR! overlap end too long!! ");
}
return dist;
}
}
void UPnPDeviceWiFiSwitch::onSetSwitchState(bool bState)
{
DEBUG_PRINT("Request state is ");
DEBUG_PRINT(String(bState));
DEBUG_PRINTLN("");
mSwitchStatus = bState ? true : false;
}
// Function called in void setup() that instantiates all the variables, attaches pins, ect
// This funciton needs to be called before anything else will work
void Communicator::initialize() {
pinMode(TX_TO_DISCONNECT, INPUT); // Ensure it's in high impedance state
pinMode(RX_TO_DISCONNECT, INPUT); // Ensure it's in high impedance state
#ifdef DEBUG_COMMUNICATOR
SerialUSB.begin(SERIAL_USB_BAUD); // This is to computer
DEBUG_PRINTLN("at start of comm initialize");
#endif
// Set initial values to 0
altitude = 0;
//roll = 0; pitch = 0;
altitudeAtDrop = 0;
// Start without hardware attached
dropBayAttached = 0;
// Initialize serial commuication to Xbee.
XBEE_SERIAL.begin(XBEE_BAUD); //this is to Xbee
//Setup the GPS
setupGPS();
}
void loop() {
if (Serial) {
if (!serialConnected) {
serialConnected = true;
DEBUG_PRINT(F("LongName: "));
DEBUG_PRINTLN(BleLongName);
}
} else {
if (serialConnected)
serialConnected = false;
}
// poll peripheral
blePeripheral.poll();
if (valueCharacteristic.subscribed()) {
int sensorValue = 0;
if (pin_type == ANALOG) {
sensorValue = analogRead(pin);
} else if (pin_type == DIGITAL) {
sensorValue = digitalRead(pin);
} else {
sensorValue = 666;
}
send_data(valueCharacteristic, millis(), sensorValue);
}
#ifdef GOOSCI_DEVELOPER_MODE
heartbeat();
#endif
}
bool NeoClock::process( bool changingModes )
{
_wheel.setPixelColor(sec, 0);
_wheel.setPixelColor(min, 0);
_wheel.setPixelColor(hr, 0);
sec = _currentTime.second() / 5;
min = _currentTime.minute() / 5;
hr = _currentTime.hour() % 12;
_wheel.setPixelColor(sec, _secColor);
_wheel.setPixelColor(min, _minColor);
_wheel.setPixelColor(hr, _hrColor);
if ( sec == min && sec == hr )
_wheel.setPixelColor(sec, _secColor | _minColor | _hrColor );
else if ( sec == min )
_wheel.setPixelColor(sec, _secColor | _minColor);
else if ( sec == hr )
_wheel.setPixelColor(sec, _secColor | _hrColor);
else if ( min == hr )
_wheel.setPixelColor(min, _minColor | _hrColor);
_wheel.checkColorChange();
_wheel.setBrightness(_wheel.brightnessIndexValue);
_wheel.show();
#ifdef DEBUG
DEBUG_PRINTTIME( _currentTime );
DEBUG_PRINTLN("");
#endif
return false;
}
sharedarray<float> monomial_gradient::eval(float x, float y) {
float * grad_val = new float[2]{0.0f, 0.0f};
if (this->x_exp > 0 && this->y_exp > 0)
{ // at least x*y
grad_val[0] = this->x_exp * std::pow(x, this->x_exp - 1) * std::pow(y, this->y_exp); //<=>
grad_val[1] = std::pow(x, this->x_exp) * this->y_exp * std::pow(y, this->y_exp - 1); //<=>
}
else if (this->x_exp == 0 && this->y_exp == 0)
{ //x^0y^0 => nothing to derive here
grad_val[0] = 0.f;
grad_val[1] = 0.f;
}
else if (this->x_exp > 0)
{ //x^n * y^0 => x^n
grad_val[0] = this->x_exp * std::pow(x, this->x_exp - 1); //y^0 => 1
grad_val[1] = 0.f;
}
else if (this->y_exp > 0)
{ //x^0 * y^m => y^m
grad_val[0] = 0.f;
grad_val[1] = this->y_exp * std::pow(y, this->y_exp - 1);
}
else
{
//there is no other case :)
DEBUG_PRINTLN("The impossible has happened in " << __FILE__ << " in " << __LINE__);
}
sharedarray<float> gradient(grad_val);
return gradient;
}
uint8_t Adafruit_MQTT::subscribePacket(uint8_t *packet, const char *topic,
uint8_t qos) {
uint8_t *p = packet;
uint16_t len;
p[0] = MQTT_CTRL_SUBSCRIBE << 4 | MQTT_QOS_1 << 1;
// fill in packet[1] last
p+=2;
// put in a message id,
p[0] = 0xAD;
p[1] = 0xAF;
p+=2;
p = stringprint_P(p, topic);
p[0] = qos;
p++;
len = p - packet;
packet[1] = len-2; // don't include the 2 bytes of fixed header data
DEBUG_PRINTLN(F("MQTT subscription packet:"));
DEBUG_PRINTBUFFER(buffer, len);
return len;
}
uint8_t Adafruit_MQTT::pingPacket(uint8_t *packet) {
packet[0] = MQTT_CTRL_PINGREQ << 4;
packet[1] = 0;
DEBUG_PRINTLN(F("MQTT ping packet:"));
DEBUG_PRINTBUFFER(buffer, 2);
return 2;
}
void setup() {
wait_for_serial();
// set the local name peripheral advertises
blePeripheral.setLocalName("Initial");
// set the UUID for the service this peripheral advertises:
blePeripheral.setAdvertisedServiceUuid(whistlepunkService.uuid());
// add service and characteristics
blePeripheral.addAttribute(whistlepunkService);
blePeripheral.addAttribute(valueCharacteristic);
blePeripheral.addAttribute(configCharacteristic);
blePeripheral.addAttribute(versionCharacteristic);
versionCharacteristic.setValue(version);
// assign event handlers for connected, disconnected to peripheral
blePeripheral.setEventHandler(BLEConnected, blePeripheralConnectHandler);
blePeripheral.setEventHandler(BLEDisconnected, blePeripheralDisconnectHandler);
valueCharacteristic.setEventHandler(BLESubscribed, bleNotificationSubscribeHandler);
valueCharacteristic.setEventHandler(BLEUnsubscribed, bleNotificationUnsubscribeHandler);
configCharacteristic.setEventHandler(BLEWritten, bleConfigChangeHandler);
ble_addr_t _local_bda;
char _device_name[BLE_MAX_DEVICE_NAME+1];
ble_client_get_factory_config(&_local_bda, _device_name);
sprintf(BleLongName, "Sci%02x%02x", _local_bda.addr[0], _local_bda.addr[1]);
DEBUG_PRINT("Address is: ");
DEBUG_PRINTLN(BleLongName);
blePeripheral.setLocalName(BleLongName);
// advertise the service
blePeripheral.begin();
}
/**************************************************************************
*
* Update the long name (20 characters or less!)
*
**************************************************************************/
void GoosciBleGatt::setLongName(const char *newName) {
if (strlen(newName) > BTLE_BUFFER_SIZE - 1) {
DEBUG_PRINTLN(F("Name too long; new name was not set. "));
return;
} else {
strcpy(longName, newName);
}
}
/**************************************************************************
*
* Update the device name (7 characters or less!)
*
**************************************************************************/
void GoosciBleGatt::setDeviceName(const char *newName) {
if (strlen(newName) > BTLE_DEVICE_NAME_SIZE - 1) {
DEBUG_PRINTLN(F("Device name too long; new name was not set. "));
return;
} else {
strcpy(deviceName, newName);
}
}
void Display::showTelemetry(Receiver *receiver) {
if (telemetrySattelites == receiver->lastSeenSatellites()
|| telemetryFix == receiver->haveFix()) {
return;
}
telemetryFix = receiver->haveFix();
telemetrySattelites = receiver->lastSeenSatellites();
if (!receiver->haveFix()) {
DEBUG_PRINTLN("Telemetry waiting for gps fix");
}
DEBUG_PRINT("Telemetry sat:");
DEBUG_PRINTLN(telemetrySattelites);
}
void master_cylinder_close( void )
{
cli();
analogWrite( PIN_MASTER_CYLINDER_SOLENOID, SOLENOID_PWM_ON );
sei();
DEBUG_PRINTLN( "Master Cylinder Close" );
}
void master_cylinder_open( void )
{
cli();
analogWrite( PIN_MASTER_CYLINDER_SOLENOID, SOLENOID_PWM_OFF );
sei();
DEBUG_PRINTLN( "Master Cylinder Open" );
}
void GoosciBleGatt::print_address(void) {
get_address();
#ifdef GIT_COMMIT_HASH
DEBUG_PRINT(F("Firmware version: "));
DEBUG_PRINTLN(F(GIT_COMMIT_HASH));
#endif
#ifdef JENKINS_BUILD_ID
DEBUG_PRINT(F("Jenkins build id: "));
DEBUG_PRINTLN(F(JENKINS_BUILD_ID));
#endif
DEBUG_PRINT(F("DeviceName: "));
DEBUG_PRINTLN(deviceName);
DEBUG_PRINT(F("DeviceDesc: "));
DEBUG_PRINTLN(deviceDesc);
DEBUG_PRINT(F("LongName: "));
DEBUG_PRINTLN(longName);
}
Adafruit_MQTT_Subscribe *Adafruit_MQTT::readSubscription(int16_t timeout) {
uint8_t i, topiclen, datalen;
// Check if data is available to read.
uint16_t len = readPacket(buffer, MAXBUFFERSIZE, timeout, true); // return one full packet
if (!len)
return NULL; // No data available, just quit.
DEBUG_PRINTBUFFER(buffer, len);
// Parse out length of packet.
topiclen = buffer[3];
DEBUG_PRINT(F("Looking for subscription len ")); DEBUG_PRINTLN(topiclen);
// Find subscription associated with this packet.
for (i=0; i<MAXSUBSCRIPTIONS; i++) {
if (subscriptions[i]) {
// Skip this subscription if its name length isn't the same as the
// received topic name.
if (strlen_P(subscriptions[i]->topic) != topiclen)
continue;
// Stop if the subscription topic matches the received topic. Be careful
// to make comparison case insensitive.
if (strncasecmp_P((char*)buffer+4, subscriptions[i]->topic, topiclen) == 0) {
DEBUG_PRINT(F("Found sub #")); DEBUG_PRINTLN(i);
break;
}
}
}
if (i==MAXSUBSCRIPTIONS) return NULL; // matching sub not found ???
// zero out the old data
memset(subscriptions[i]->lastread, 0, SUBSCRIPTIONDATALEN);
datalen = len - topiclen - 4;
if (datalen > SUBSCRIPTIONDATALEN) {
datalen = SUBSCRIPTIONDATALEN-1; // cut it off
}
// extract out just the data, into the subscription object itself
memcpy(subscriptions[i]->lastread, buffer+4+topiclen, datalen);
subscriptions[i]->datalen = datalen;
DEBUG_PRINT(F("Data len: ")); DEBUG_PRINTLN(datalen);
DEBUG_PRINT(F("Data: ")); DEBUG_PRINTLN((char *)subscriptions[i]->lastread);
// return the valid matching subscription
return subscriptions[i];
}
/**
* Die Helligkeit des Displays anpassen.
*
* @param brightnessInPercent Die Helligkeit.
*/
void LedDriverUeberPixel::setBrightness(unsigned int brightnessInPercent) {
if(_brightness != brightnessInPercent) {
_brightness = brightnessInPercent;
DEBUG_PRINT(F("MAX7219: Brightness: "));
DEBUG_PRINTLN(_brightness);
DEBUG_FLUSH();
byte val = map(_brightness, 0, 100, 1, 15);
DEBUG_PRINT(F(" val: "));
DEBUG_PRINTLN(val);
DEBUG_FLUSH();
for(byte i = 0; i < 4; i++) {
_ledControl->setIntensity(i, val);
}
}
}
//========================================================
// servo_get_target gets position of servo to target
// target is 4 times the value of the pulse width in usec
//========================================================
uint16_t servo_get_target(uint8_t servo){
if (servo_debug) DEBUG_PRINT("In servo_get_target, servo: ");
if (servo_debug) DEBUG_PRINT(servo);
if (servo_debug) DEBUG_PRINT(", servo + first_servo: ");
if (servo_debug) DEBUG_PRINT(servo + first_servo);
if (servo_debug) DEBUG_PRINTLN();
return maestro.getPosition(servo + first_servo); // servos before first_servo are inputs
} // end servo_get_target
//========================================================
// servo_set_angles sets all servos to a specified angles
// the angles are specified in radians *2^14
// this routine should take into account offsets and non-linearities
//========================================================
void servo_set_angles(float radian[NUM_LEGS][NUM_JOINTS_LEG]){
if (servo_debug) DEBUG_PRINTLN("In servo_set_angles");
for(uint8_t leg=0; leg<NUM_LEGS; leg++){
for(uint8_t joint=0; joint<NUM_JOINTS_LEG; joint++){
servo_set_angle((leg * NUM_JOINTS_LEG) + joint, radian[leg][joint]);
}
}
} // end servo_set_angles
int HC05::cmd(const char* cmd, unsigned long timeout)
{
int recvd = 0;
DEBUG_PRINTLN(cmd);
setCmdPin(HIGH);
// No spec for how long it takes to enter command mode, but 100ms
// seems to work- assuming the output has been drained.
delay(100);
_btSerial.write(cmd);
_btSerial.write("\r\n");
_btSerial.setTimeout(timeout);
do
{
// ATTENTION: At least through Arduino v1.0.3, it is not possible
// to tell the difference between a timeout and
// receiving only the termination character (NL in this
// case), because the termination character is not
// returned and timeout is not returned as a unique
// indication.
// In this case the result would be an early return
// of a multiline response before the OK is received.
// The return would incorrectly indicate an error (no
// OK response).
recvd = _btSerial.readBytesUntil('\n',_buffer,_bufsize);
if (recvd > 0)
{
DEBUG_WRITE((uint8_t *)_buffer,recvd);
DEBUG_WRITE('\n');
}
else
{
DEBUG_PRINTLN("timeout 1");
}
}
while ((recvd > 0) && (_buffer[0] != 'O' || _buffer[1] != 'K'));
setCmdPin(LOW);
// Empirically determined that it takes some time to reliably exit
// command mode. The appeared to be a baud rate dependency and with
// >100ms required at 9600 baud.
delay(150);
return((_buffer[0] == 'O' && _buffer[1] == 'K'));
}
/**
* Eine Sekunde startet. Muss von einem externen
* Zeitgeber, z. B. einer RTC, aufgerufen werden.
*
* Zurueckgegeben wird ein Wahrheitswert.
* TRUE bedeutet, das Zeittelegramm wurde korrekt ausgewertet, die Zeitdaten
* koennen mit den Gettern abgerufen werden.
* FALSE bedeutet, die Auswertung laeuft oder war falsch, die Getter liefern
* alte Informationen.
*/
boolean MyDCF77::newSecond() {
boolean retVal = false;
if (_highcount != 0) {
// Daten
_meanvalues[_meanpointer] = _highcount;
_meanpointer++;
if (_meanpointer > MYDCF77_MEANCOUNT) {
_meanpointer = 0;
}
unsigned long average = 0;
for (byte i = 0; i < MYDCF77_MEANCOUNT; i++) {
average += _meanvalues[i];
}
average /= MYDCF77_MEANCOUNT;
DEBUG_PRINT(F("average = "));
DEBUG_PRINT(average);
DEBUG_PRINT(F("; highcount = "));
DEBUG_PRINT(_highcount);
if (_highcount > average) {
_bits[_bitsPointer] = 1;
DEBUG_PRINTLN(F("; HIGH"));
} else {
_bits[_bitsPointer] = 0;
DEBUG_PRINTLN(F("; LOW"));
}
_bitsPointer++;
if (_bitsPointer > MYDCF77_TELEGRAMMLAENGE) {
_bitsPointer = 0;
}
} else {
// Pause
DEBUG_PRINTLN(F("PAUSE"));
retVal = decode();
_bitsPointer = 0;
clearBits();
}
_highcount = 0;
return retVal;
}
void f_systemBootSetupAP(WiFiMode_t wifiMode) {
String st;
WiFi.mode(wifiMode);
// WiFi.disconnect();
delay(100);
int n = WiFi.scanNetworks();
DEBUG_PRINTLN("scan done");
if (n == 0)
DEBUG_PRINTLN("no networks found");
else
{
DEBUG_PRINT(n);
DEBUG_PRINTLN(" networks found");
for (int i = 0; i < n; ++i)
{
// Print SSID and RSSI for each network found
DEBUG_PRINT(i + 1);
DEBUG_PRINT(": ");
DEBUG_PRINT(WiFi.SSID(i));
DEBUG_PRINT(" (");
DEBUG_PRINT(WiFi.RSSI(i));
DEBUG_PRINT(")");
DEBUG_PRINTLN((WiFi.encryptionType(i) == ENC_TYPE_NONE)?" ":"*");
delay(10);
}
}
DEBUG_PRINTLN("");
st = "<ul>";
for (int i = 0; i < n; ++i)
{
// Print SSID and RSSI for each network found
st += "<li>";
st +=i + 1;
st += ": ";
st += WiFi.SSID(i);
st += " (";
st += WiFi.RSSI(i);
st += ")";
st += (WiFi.encryptionType(i) == ENC_TYPE_NONE)?" ":"*";
st += "</li>";
}
st += "</ul>";
delay(100);
#ifdef D_SYS_BOOT_WIFI_AP_PASSWD
WiFi.softAP(D_SYS_BOOT_WIFI_AP_SSID_DEFAULT, D_SYS_BOOT_WIFI_AP_PASSWD);
#else
WiFi.softAP(D_SYS_BOOT_WIFI_AP_SSID_DEFAULT);
#endif
DEBUG_PRINTLN("softap");
DEBUG_PRINTLN("");
if (f_SystemBootLaunchApServer_p != NULL)
f_SystemBootLaunchApServer_p(st);
DEBUG_PRINTLN("over");
}
FeedData::FeedData(Stream& stream, uint16_t length, uint32_t timeoutMS) {
// Load the data value from the provided stream. Will read a value up to
// length characters in size. If the data can't be read for some reason,
// like the timeout exceeding, then the FeedData will be left in an invalid
// state.
memset(_value, 0, sizeof(_value));
if (length > FEEDDATA_LENGTH-1) {
// Not enough space to store the value.
DEBUG_PRINTLN(F("Not enough space to store feed data!"));
return;
}
stream.setTimeout(timeoutMS);
if (stream.readBytes(_value, length) != length) {
// Didn't find enough data, set the value as invalid.
DEBUG_PRINTLN(F("Failed to find expected data!"));
memset(_value, 0, sizeof(_value));
}
}
void DHT::begin(void) {
// set up the pins!
pinMode(_pin, INPUT_PULLUP);
// Using this value makes sure that millis() - lastreadtime will be
// >= MIN_INTERVAL right away. Note that this assignment wraps around,
// but so will the subtraction.
_lastreadtime = -MIN_INTERVAL;
DEBUG_PRINT("Max clock cycles: "); DEBUG_PRINTLN(_maxcycles, DEC);
}
void OLED::print(char *s, uint8_t r, uint8_t c) {
DEBUG_PRINT("print ");
DEBUG_PRINT(r);
DEBUG_PRINT(",");
DEBUG_PRINT(c);
DEBUG_PRINT(" ");
DEBUG_PRINTLN(s);
sendStrXY(s, r, c);
}
/**************************************************************************
*
* Set the device description (20 characters or less!).
* This is the place to store the long name.
*
**************************************************************************/
void GoosciBleGatt::setDeviceDescription(const char *desc) {
// Set the value of the description characteristic.
if (strlen(desc) > BTLE_BUFFER_SIZE - 1) {
DEBUG_PRINTLN(F("Description too long; new description was not set."));
return;
} else {
strcpy(deviceDesc, desc);
}
}
