// Control the LED's.
MbedResponse *NetCentricApp::ledCommand(MbedRequest *request) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
return r;
}
MbedResponse *NetCentricApp::rotateR(MbedRequest *request) {
printf("---------------IK BEN HIER___________");
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
callServo(request->args[0]);
return r;
}
void leds_state(int leds)
{
led1( ( leds & (1<<0) ) && (1<<0) );
led2( ( leds & (1<<1) ) && (1<<1) );
led3( ( leds & (1<<2) ) && (1<<2) );
led4( ( leds & (1<<3) ) && (1<<3) );
led5( ( leds & (1<<4) ) && (1<<4) );
led6( ( leds & (1<<5) ) && (1<<5) );
}
int main(void)
{
//Hier wird alles initialisiert, dh Grundeinstellungen festgelegt
init_Motor(); //Motor einstellen
init_system_tick(); //System Tick einstellen
init_drehzahlsensor(); //Drehzahlsensor einstellen
init_leds(); //LEDs einstellen
init_hupe(); //Hupe einstellen
sei(); //Alle Interrupts einschalten
while(1) //Alles innerhalb der while Schleife wird immer wieder wiederholt
{
if (~PINB & 0x01) //Wenn der invertierte Wert des ersten Bits in PINB 1 ist, dann (also wenn der Button gedrückt wird)
{
led1(AN); //Mach die LEDs 1 und 3 an
led3(AN);
m_r(255,0); //Und die Motoren mit Vollgas (255) in 2 Richtungen
m_l(255,1);
_delay_ms(500); //Warte 500 ms
led1(AUS); //LEDs 1 und 3 aus, LEDs 2 und 4 an
led3(AUS);
led2(AN);
led4(AN);
m_r(255,1); //Richtungen ändern
m_l(255,0);
_delay_ms(500); //und wieder 500ms in die andere Richtung
m_r(0,0); //Motoren aus
m_l(0,0);
led2(AUS); //Leds aus
led4(AUS);
hupe(AN); //Hupe an
_delay_ms(1000); //1 s warten
hupe(AUS); //Hupe aus
_delay_ms(300); //300ms warten
hupe(AN); //Hupe an
_delay_ms(500); //warte 500 ms
hupe(AUS); //Hupe aus
} //wieder nach oben
}
}
void FaultInjector::generateFaults() {
// WeatherStation::getInstance()->getLogger()->log("Inserting faults");
DigitalOut led4(LED4);
led4 = 1;
logger.log(" memorySize %hu\t", memorySize);
injectFaults(DEFAULT_CHANGED_BYTES, DEFAULT_CHANGED_BITS);
wait(0.5);
led4 = 0;
}
void animation(void)
{
volatile int i;
for(i = 50;i<ANIMATION_MAX;i+=15)
{
led1(ON);
delay_ms(i);
led2(ON);
delay_ms(i);
led3(ON);
delay_ms(i);
led4(ON);
delay_ms(i);
led1(OFF);
delay_ms(i);
led2(OFF);
delay_ms(i);
led3(OFF);
delay_ms(i);
led4(OFF);
delay_ms(i);
}
}
static void appTaskLeds(void *pdata) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
/* Task main loop */
while (true) {
if (led1Flashing) {
led1 = !led1;
}
if (led2Flashing) {
led2 = !led2;
}
if (led3Flashing) {
led3 = !led3;
}
if (led4Flashing) {
led4 = !led4;
}
OSTimeDlyHMSM(0,0,0,500);
}
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
init_octopus();
initial_animation();
pwm_ini(SERVO_0);
pwm_update(SERVO_0,0);
delay_ms(1000);
pwm_update(SERVO_0,500);
delay_ms(1000);
pwm_update(SERVO_0,1000);
char aux;
char aux2;
int dimmer=0;
for(;;)
{
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
dimmer=dimmer*10;
pwm_update(SERVO_0,dimmer);
}
}
/**
* Inject faults in the system.
*
* @param startAddr - start address
* @param endAddr - end address
* @param changedBytes - number of bytes changed in within the address range
* @param changedBits - number of bits changed (0 (auto)... 8)
*/
void FaultInjector::injectFaults(unsigned long startAddr, unsigned long endAddr,
unsigned long changedBytes, uint8_t changedBits) {
int count, temp, position;
unsigned char *addr;
// char buffer[32];
bool drawn[8]; // bits sorteados (para não alterar o mesmo bit mais de uma vez).
if (changedBytes < 1 || changedBytes > (endAddr - startAddr))
changedBytes = DEFAULT_CHANGED_BYTES;
if (changedBits > 8) // 0 para automático, 8 para alterar todos os bits
changedBits = DEFAULT_CHANGED_BITS;
temp = changedBits;
// Logger l = Logger("/local/log.txt", true);
// LocalFileSystem local("local");
// FILE *fp = fopen("/local/falhas.txt", "a");
// if (fp != NULL) {
// time_t seconds = time(NULL);
// strftime(buffer, 32, "%d/%m/%Y %H:%M:%S", localtime(&seconds));
// fprintf(fp, "start address: %d\n", startAddr);
// fprintf(fp, "end address: %d\n", endAddr);
// fprintf(fp, "changed bytes: %d\n", changedBytes);
// fprintf(fp, "changed bits: %d\n\n", changedBits);
for (unsigned long i = 0; i < changedBytes; i++) {
DigitalOut led4(LED4);
led4 = 1;
wait(0.5);
led4 = 0;
char value[9];
//addr = (unsigned char *) getByteMemory(startAddr, endAddr);
addr = (unsigned char *) getRandomUInt(startAddr, endAddr);
itoa(value, *addr, 2);
logger.log("%lu\n\tAddress: %p\n\tCorrect value: %s\t", i + 1, addr,
value);
// l.log("%lu\n\tAddress: %p\n\tCorrect value: %s", i + 1, addr, value);
if (changedBits == 0)
temp = getRandomUInt(1, 8); // Valor 0 altera n bits automaticamente.
for (count = 0; count < 8; count++)
drawn[count] = false;
count = 0;
while (count < temp) {
position = getRandomUInt(0, 7);
if (drawn[position] != true) {
drawn[position] = true;
count++;
(*addr) ^= (1 << position); // Altera um bit de um endereço (byte) de memória.
}
}
itoa(value, *addr, 2);
// fprintf(fp, "Valor alterado: %s\n\n", value);
logger.log("\tChanged value: %s\r", value);
// l.log("\tChanged value: %s\n", value);
}
// fclose(fp);
// }
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_5,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_6,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_7,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_8,IOPORT_DIR_INPUT);
init_octopus();
animation();
//Activate button interrupt
pmic_init();
pmic_set_scheduling(PMIC_SCH_ROUND_ROBIN);
PORTC.INTCTRL = 0x03;
PORTC.INT0MASK = (1<<3);
PORTC.PIN3CTRL |= (1<<1);
cpu_irq_enable();
//Activate ZCD signal interruption
cpu_irq_disable();
PORTD.INTCTRL = 0x03;
PORTD.INT0MASK = (1<<5);
PORTD.PIN5CTRL |= 0x01;
cpu_irq_enable();
//Activate RTC
rtc_init();
// pwm_ini(SERVO_0);
// pwm_update(SERVO_0,0);
// delay_ms(1000);
// pwm_update(SERVO_0,500);
// delay_ms(1000);
// pwm_update(SERVO_0,1000);
char aux;
char aux2;
for(;;)
{
printf("hello");
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
RTC.COMP=dimmer;
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
}
}