int main(void) {
const int N = 7;
int min, max, fall, tmin=0, tmax=0, tfall=0;
int i;
for(i=1; i<=N; i++) {
printf("Tag %d:\n", i);
printf("\nTagestiefsttemperatur (in Grad Celsius): ");
min = readTemp();
printf("\nTageshoechstemperatur (in Grad Celsius): ");
max = readTemp();
printf("\nNiederschlagsmenge (in mm): ");
scanf("%d", &fall);
printf("\n");
if(max>tmax) tmax = max;
if(tmin==0) tmin = max;
if(min<tmin) tmin = min;
tfall+=fall;
}
printf("Ergebnisse:\n");
printf("Tiefsttemperatur der Woche: %d Grad Celsuis\n", tmin);
printf("Hoechsttemperatur der Woche: %d Grad Celsuis\n", tmax);
printf("Gesamtniederschlagsmenge der Woche: %d mm\n", tfall);
return EXIT_SUCCESS;
}
int main(void)
{
usartInit();
printf("*--------------------------------------------------- *\r\n");
printf("*-------------------DS18B20 experiment-------------- *\r\n");
printf("*--------------------------------------------------- *\r\n");
while(1)
{
printf("Temperture:%d.%d¡æ\n\r ",readTemp()/100,readTemp()%100);
_delay_ms(1000);
}
}
/*! **********************************************************************
* Function: configureRange(void)
*
* Include: Range.h
*
* Description: Configures the Range module
*
* Arguments: None
*
* Returns: None
*************************************************************************/
void configureRange(void)
{
unsigned char config;
INIT_PIN = 0;
//Enable global interrupts and interrupt priority
INT_SETUP()
readTemp();
//Make sure the AD is configured
configureAD();
CCP1_INPT = 1;
INIT_TRIS = 0; //Make the INIT
//Open Timer
config = T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_PS_1_1 & T1_SYNC_EXT_OFF &TIMER_INT_ON;
OpenTimer1(config);
config = CAPTURE_INT_ON & CAP_EVERY_RISE_EDGE;
//CloseCapture1, which will clear any interrupt flags etc
CloseCapture1();
//Open the input capture on compare1
OpenCapture1(config);
}
/*
* ======== main ========
*/
void loop()
{
unsigned char SlaveAddress; //Contains device address
unsigned char command; //Contains the access command
unsigned int data; //Contains data value
// Activate Grace-generated configuration
headPhoneGpio_init();
SlaveAddress = SA << 1; //Set device address
command = RAM_Access | RAM_To; //Form RAM access command + RAM address
//P1DIR &= ~0x01;
mdelay(300);
//interrupt_init();
iic_gpio_init();
WakeUpSensor();
timer_init();
// >>>>> Fill-in user code here <<<<<
//_BIS_SR(LPM0_bits + GIE);
for (;;) {
data=readTemp();//MemRead((MLX90615_ADDR>>1),0x27);
if(data!=-1)
{
data=data * 2 - 27315;
buffer[0]=TOKEN_CMD_OBJ_TMP;
buffer[1]=(data>>8)&0xff;
buffer[2]=(data)&0xff;
buffer[3]=~(buffer[0]+buffer[1]+buffer[2])-1;
sendBytes(buffer,4);
}
// readTemp();
}
/**
* Adjust the frequency according to the current temperature.
* Returns the number of seconds to wait until the next adjustment.
*/
void Throttle::adjust()
{
int temp = readTemp();
std::vector<int>::iterator new_freq = freqs.end();
DEBUG_PRINT("[Throttle] Temperature: " << (float)temp/1000 << "°C");
// slowly reset stabilize counter
if (stabilize > 0) --stabilize;
if (stabilize < 0) ++stabilize;
// If the temperature exceeds a threshold, find the next best frequency.
if (temp > temp_max && stabilize >= 0) {
new_freq = std::lower_bound(freqs.begin(), freqs.end(), freq);
if (new_freq == freqs.begin())
return; // There is nothing we can do.
else
--new_freq;
stabilize = -wait_after_adjust;
}
if (temp < temp_min && stabilize <= 0) {
new_freq = std::upper_bound(freqs.begin(), freqs.end(), freq);
stabilize = wait_after_adjust;
}
// Have we found one? Then adjust.
if (new_freq != freqs.end()) {
freq = *new_freq;
writeFreq();
}
}
/******************************************************************************
* @fn sendReport
*
* @brief Send sensor report
*
* @param none
*
* @return none
*/
static void sendReport(void)
{
uint8 pData[SENSOR_REPORT_LENGTH];
static uint8 reportNr=0;
uint8 txOptions;
// Read and report temperature value
pData[SENSOR_TEMP_OFFSET] = readTemp();
// Read and report voltage value
pData[SENSOR_VOLTAGE_OFFSET] = readVoltage();
pData[SENSOR_PARENT_OFFSET] = HI_UINT16(parentShortAddr);
pData[SENSOR_PARENT_OFFSET + 1] = LO_UINT16(parentShortAddr);
// Set ACK request on each ACK_INTERVAL report
// If a report failed, set ACK request on next report
if ( ++reportNr<ACK_REQ_INTERVAL && reportFailureNr==0 )
{
txOptions = AF_TX_OPTIONS_NONE;
}
else
{
txOptions = AF_MSG_ACK_REQUEST;
reportNr = 0;
}
// Destination address 0xFFFE: Destination address is sent to previously
// established binding for the commandId.
zb_SendDataRequest( 0xFFFE, SENSOR_REPORT_CMD_ID, SENSOR_REPORT_LENGTH, pData, 0, txOptions, 0 );
}
void Timer1ISR (void)
{
volatile static uint32_t cont_sens_ir=0;
cont_sens_ir++;
//faccio girare il motore del sensore di temperatura
if(cont_sens_ir >= 7)
{
cont_sens_ir = 0;
//controllo il pwm e di conseguenza l'angolo pwm=10->90°
if(servo->delta_2 == 10)
{
servo->delta_2 = 5;
pwmPowerA7(servo, -90 );
}
else
{
servo->delta_2 = 10;
pwmPowerA7(servo, 90 );
}
}
//adesso occorre leggere il sensore, passandogli l'opportuno puntatore
readTemp(TEMPptr);
/// occorre confrontare la temperatura con il valore di default letto all'inizio.
if ((int)(TEMPptr->Temp) > 3 * TEMPptr->T_tar )
{
/// c'e' un ferito
// TODO:
/// mettere il codice
}
}
/*!
* Display the Show Temperature serial message
*/
static void dispTempSerialMessage(void)
{
int temp = readTemp();
sendROM("\t");
sendROM(showTemp1);
transmit(intToAscii(temp));
sendROM(showTemp2);
}
/***************************************************************************
PUBLIC FUNCTIONS
***************************************************************************/
void Adafruit_LSM9DS0::read()
{
/* Read all the sensors. */
readAccel();
readMag();
readGyro();
readTemp();
}
void HomeScreen::displayTemp() {
#if DBG
Serial.print("HomeScreen::displayTemp: ");
Serial.println(tNow);
#endif
float temp = readTemp(TEMP_F);
displayTemp(TEMP_F, temp);
}
void OnGetTEMP(u_char param_len, const char * parametres, u_char * rep_len, char * reponse)
{
*rep_len = sprintf(reponse,"%f",readTemp());
if (*rep_len < 0)
{
*rep_len = sprintf(reponse,"%c",205);
}
}
int main(void){
SystemInit();
InitSystick();
initTempSensor();
while(1)
{
readTemp();
}
return 0;
}
void protocole_temp(int socket_s)
{
float temperature;
char message[256];
int dim;
temperature = readTemp();
dim = sprintf(message,"T = %f degrees\n",temperature);
printf("%s",message);
message[dim] = 0;
send(socket_s , message, dim, 0);
}
int main(void){
DDRD &= ~(1 << PD0); //button
PORTD |= (1 << PD0); //pullup
DDRC |= 0b00111111; //anodes + segments a, b and c
DDRD |= 0b11111000; //segments d, e, f, g and led
anodesOff;
displayOn = 1; //display is on
/* setup 16 bits timer1 for reading temperature
with 1024 prescaler running at 1MHz with overflow interrupt
1MHz / 1024 = 976.5625Hz
976.56 / 0.1 Hz = 9765.6
*/
OCR1A = 30000; //about once very 30 seconds w00t w00t 16 bits!
TCCR1B |= (1<<WGM12); //CTC OCR1A
TCCR1B |= (1<<CS12) | (1<<CS10); //1024 prescale
TIMSK = (1 << OCIE1A); //trigger interrupt on overflow
/* setup timer2 for multiplexing
Timer 2 is an 8 bit timer, we'll set it with 1024 prescale with CTC mode
on OCR2 = 5;
*/
OCR2 = 5;
TCCR2 |= (1<<WGM21); //CTC mode
TCCR2 |= (1<<CS20) | (1<<CS21) | (1<<CS22); //1024
TIMSK |= (1 << OCIE2); //trigger interrupt on overflow
//uart_init((UART_BAUD_SELECT((BAUD),F_CPU)));
sei(); //turn on interrupts
/*
for (uint8_t i=0; i<10; i++){
display[0] = display[1] = display[2] = i;
_delay_ms(300);
}
*/
search_sensors(); //populate gSensorIDs
readTemp();
while(1){
set_sleep_mode(SLEEP_MODE_IDLE);
sleep_enable();
sleep_mode();
}
return 1; //never reached, but compiler longs for it.
}
/******************************************************************************
* @fn sendReport
*
* @brief Send sensor report
*
* @param none
*
* @return none
*/
static void sendReport(void)
{
uint8 pData[SENSOR_REPORT_LENGTH];
static uint8 reportNr = 0;
uint8 txOptions;
// Read and report temperature value
pData[SENSOR_TEMP_OFFSET] = readTemp();
// Read and report voltage value
pData[SENSOR_VOLTAGE_OFFSET] = readVoltage();
pData[SENSOR_PARENT_OFFSET] = HI_UINT16(parentShortAddr);
pData[SENSOR_PARENT_OFFSET + 1] = LO_UINT16(parentShortAddr);
pData[BUTTON_PARENT_OFFSET+1] = MCU_IO_GET(0,1);
// HalUARTWrite(HAL_UART_PORT_0,pData,SENSOR_REPORT_LENGTH);
// HalUARTWrite(HAL_UART_PORT_1,pData,SENSOR_REPORT_LENGTH);
int test = MCU_IO_GET(0,1);
if( MCU_IO_GET(0,1) > 0){
MCU_IO_SET_LOW(0, 0);
} else {
MCU_IO_SET_HIGH(0, 0);
}
MCU_IO_SET_LOW(0, 1);
// Set ACK request on each ACK_INTERVAL report
// If a report failed, set ACK request on next report
if ( ++reportNr<ACK_REQ_INTERVAL && reportFailureNr == 0 )
{
txOptions = AF_TX_OPTIONS_NONE;
}
else
{
txOptions = AF_MSG_ACK_REQUEST;
reportNr = 0;
}
// Destination address 0xFFFE: Destination address is sent to previously
// established binding for the commandId.
//printf("%i %i",pData[SENSOR_TEMP_OFFSET],oldValue);
if(timeDone >= 60000){
timeDone += 1;
}
if(pData[SENSOR_TEMP_OFFSET] != oldValue && timeDone >= 60000){
oldValue = pData[SENSOR_TEMP_OFFSET];
zb_SendDataRequest( 0xFFFE, SENSOR_REPORT_CMD_ID, SENSOR_REPORT_LENGTH, pData, 0, txOptions, 0 );
timeDone = 0;
} else {
timeDone += myReportPeriod;
}
}
// run once in main loop, handles reading pin vals
// setting heater on/off
void SlowCooker::loop(){
m_lastLidState = m_lidState;
m_lidState = digitalRead(m_lidSwitchPin);
m_currentTemp = readTemp(); // float in C
if(m_state == STATE_NOT_COOKING)
return;
if(calcHeaterState()){
if(!m_heaterActive){
Serial.println(F("Turning Heater On"));
m_heaterOnTime = millis();
}
setHeaterState(true);
}else{
if(m_heaterActive){
Serial.println(F("Turning Heater Off"));
m_heaterOnTime = millis();
}
setHeaterState(false);
}
// check if cook is finished based on start time.
// if cook time is zero then it will run forever!!!
if(m_cookTime != 0){
long sLeft = (m_cookTime * 60) - ((millis() - m_timeCookStarted)/1000);
if(sLeft <= 0){
stopCook();
m_eventCallback(EVENT_COOK_END);
}
}
// send event if lid has been opened or closed.
if(m_lastLidState && !m_lidState){
m_eventCallback(EVENT_LID_CLOSED);
}else if(!m_lastLidState && m_lidState){
m_eventCallback(EVENT_LID_OPENED);
}
}
void loop() {
counter++;
// 120 * 2000 - this should be about 2 min, but not sure how long ArduinoOTA.handle() takes...
readTemp();
display.clear();
display.setFont(Just_Another_Hand_Plain_48);
display.setTextAlignment(TEXT_ALIGN_CENTER);
int fInt = round(f);
String outS = String(fInt);
outS += "°F";
display.drawString(64,16, outS);
display.display();
if (counter > 120) {
Serial.println("posting value...");
postValues();
counter = 0;
}
ArduinoOTA.handle();
delay(2000);
}
void main()
{
byte i;
long l;
initBus();
initADC();
initI2C();
#ifdef HAS_UART
initInterruptUarts();
#endif
for(i=0; i<16; i++)
cfgRegs[i] = 65;
byte i2cErrCount = 0;
while(1)
{
byte rx = readTemp(0x9E);
/* Read error */
if(rx == 255)
{
if(i2cErrCount < 10)
i2cErrCount++;
else
myTemperature = 255;
initI2C();
} else
{
i2cErrCount = 0;
myTemperature = rx;
}
}
}
void setup() {
Serial.begin(115200);
Serial.println("Booting");
setupWifi();
ArduinoOTA.onStart([]() {
Serial.println("Start");
});
ArduinoOTA.onEnd([]() {
Serial.println("\nEnd");
});
ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
});
ArduinoOTA.onError([](ota_error_t error) {
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
else if (error == OTA_END_ERROR) Serial.println("End Failed");
});
ArduinoOTA.begin();
Serial.println("Ready OTA");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
setupTempSensor();
setupOled();
delay(2000);
ThingSpeak.begin(client);
delay(100);
readTemp();
postValues();
}
static int handle_get_temp(coap_rw_buffer_t *scratch, const coap_packet_t *inpkt, coap_packet_t *outpkt, uint8_t id_hi, uint8_t id_lo)
{
char tmp[30];
sprintf(tmp,"%d",readTemp());
return coap_make_response(scratch, outpkt, (const uint8_t *)&tmp, strlen(tmp), id_hi, id_lo, COAP_RSPCODE_CONTENT, COAP_CONTENTTYPE_TEXT_PLAIN);
}
void main()
{
byte writeIndex = 0;
byte i;
long l;
TRISB = 0xFFFF; /* All inputs */
LAT_BATT1_CTL = BATT_ENABLE;
LAT_BATT2_CTL = BATT_ENABLE;
LAT_BATT3_CTL = BATT_ENABLE;
LAT_BATT4_CTL = BATT_ENABLE;
#ifdef BBR2
LAT_BATT5_CTL = ~BATT_ENABLE;
#else
LAT_BATT5_CTL = BATT_ENABLE;
#endif
LAT_BATT6_CTL = BATT_ENABLE;
TRIS_BATT1_CTL = TRIS_OUT;
TRIS_BATT2_CTL = TRIS_OUT;
TRIS_BATT3_CTL = TRIS_OUT;
TRIS_BATT4_CTL = TRIS_OUT;
#ifdef BBR2
TRIS_BATT5_CTL = TRIS_IN;
#else
TRIS_BATT5_CTL = TRIS_OUT;
#endif
TRIS_BATT6_CTL = TRIS_OUT;
TRIS_BATT1 = TRIS_IN;
TRIS_BATT2 = TRIS_IN;
TRIS_BATT3 = TRIS_IN;
TRIS_BATT4 = TRIS_IN;
TRIS_BATT5 = TRIS_IN;
TRIS_BATT6 = TRIS_IN;
TRIS_WTRSEN = TRIS_IN;
LAT_PWRKILL = ~PWRKILL_ON;
TRIS_PWRKILL = TRIS_OUT;
TRIS_LED_STA = TRIS_OUT;
TRIS_LED_BATTLOW = TRIS_OUT;
LAT_LED_STA = LED_ON;
LAT_LED_BATTLOW = LED_ON;
initBus();
LAT_LED_STA = LED_ON;
LAT_LED_BATTLOW = ~LED_ON;
// while(1);
initADC();
initI2C();
initBattlowLight();
#ifdef HAS_UART
initInterruptUarts();
#endif
for(l=0; l<50000; l++);
LAT_LED_STA = LED_ON;
LAT_LED_BATTLOW = ~LED_ON;
for(l=0; l<50000; l++);
// LAT_PWRKILL = PWRKILL_ON;
LAT_LED_STA = ~LED_ON;
for(i=0; i<16; i++)
cfgRegs[i] = 65;
byte i2cErrCount = 0;
while(1)
{
// checkBus();
/* Give it a second */
// for(l=0; l<10000; l++);
byte rx = readTemp(0x9E);
/* Read error */
if(rx == 255)
{
if(i2cErrCount < 10)
i2cErrCount++;
else
myTemperature = 255;
initI2C();
} else
{
i2cErrCount = 0;
myTemperature = rx;
}
static const byte vADCs[]={ADC_B1V, ADC_B2V, ADC_B3V, ADC_B4V, ADC_B5V, ADC_B6V, ADC_26V};
/* Measure battery voltages */
for(i=0; i < 7; i++) {
#ifdef BBR2
/* There is no fifth battery in BBR2, so skip it */
if(i == 4) { vBatt[4]= 0; continue; }
#endif
setADC(vADCs[i]);
vBatt[i] = applyCalibration(readADC(), CAL_V_A, CAL_V_B);
}
/* Maintain running averages of the I sensors */
for(i=0; i < BATT_COUNT; i++) {
#ifdef BBR2
/* There is no fifth battery in BBR2, so skip it */
if(i == 4) { iADCVal[4][writeIndex] = 0; continue; }
#endif
setADC(iADCs[i]);
iADCVal[i][writeIndex] = readADC();
}
writeIndex++;
if(writeIndex >= IHISTORY_SIZE)
writeIndex = 0;
/* Calculate running averages of the battery currents */
for(i=0; i < BATT_COUNT; i++) {
#ifdef BBR2
/* There is no fifth battery in BBR2, so skip it. */
if(i == 4) { iBatt[4] = 0; continue; }
#endif
iBatt[i] = applyCalibration(avgRow(i), CAL_I12V_A, CAL_I12V_B);
}
}
}
int main(int argc, char ** argv)
{
if(argc < 2 || ((argc == 2) && (strcmp(argv[1], "-h") == 0) ))
{
printf("LCD-related Commands:\n");
printf("\t-c (clear screen)\n");
printf("\t-t line1 line2\n");
printf("\t-bloff (backlight on)\n");
printf("\t-blon (backlight off)\n");
printf("\t-blfl (backlight flash)\n");
printf("\nSafety commands:\n");
printf("\t-safe (disable thrusters)\n");
printf("\t-unsafe (enable thrusters)\n");
printf("\t-safe [n] (safe thruster n)\n");
printf("\t-unsafe [n] (unsafe thruster n)\n");
printf("\t-diagon (runtime diagnostics on)\n");
printf("\t-diagoff (runtime diagnostics off)\n");
printf("\t-tstop (send zero speed command)\n");
printf("\nPower commands:\n");
printf("\t-hardkill (kill power)\n");
printf("\t-extpower (switch to external power source)\n");
printf("\t-intpower (switch to batteries)\n");
printf("\t-batton n (enable battery n)\n");
printf("\t-battoff n (disable battery n)\n");
printf("\t-setovr a b (configure overcurrent parameters)\n");
printf("\t-readovr (read overcurrent parameters)\n");
printf("\t-setspeed a b c d e f (set speeds)\n");
printf("\nSonar commands:\n");
printf("\t-bfstart (starts the Blackfin processor)\n");
printf("\t-bfstop (stops the Blackfin processor)\n");
printf("\t-bfreset (reboots the Blackfin processor)\n");
printf("\t-sonar (retrieve latest sonar telemetry)\n");
printf("\nOther commands:\n");
printf("\t-check (crude system check)\n");
printf("\t-status (show sensor readings)\n");
printf("\t-baron (enable bar outputs)\n");
printf("\t-baroff (disable bar outputs)\n");
printf("\t-baron [n] (enable bar output n)\n");
printf("\t-baroff [n] (disable bar output n)\n");
printf("\t-marker {1|2} (drop marker 1 or 2)\n");
printf("\t-s (begin start sequence)\n");
printf("\t-setbars n (set bar outputs)\n");
printf("\t-noblink (stop animation)\n");
printf("\t-redgreen (start red/green animation)\n");
printf("\t-redblue (start red/blue animation)\n");
printf("\nDVL commands:\n");
printf("\t-dvlon (enable dvl)\n");
printf("\t-dvloff (disable dvl)\n");
printf("\nPneumatics Commands:\n");
printf("\t-firetorp # (fire torpedo number #)\n");
printf("\t-armtorp # (arm torpedo number #)\n");
printf("\t-voidtorp # (void torpedo number #)\n");
printf("\t-extgrabber (close the grabber)\n");
printf("\t-retgrabber (open the grabber)\n");
printf("\t-voidgrabber (void the grabber)\n");
printf("\t-voidall (void all pneumatics)\n");
printf("\t-pneuoff (turn off pneumatics)\n");
printf("\nDerpy Commands:\n");
printf("\t-derpypwr {on|off} (turn on or off derpy power)\n");
printf("\t-setderpy # (set derpy speed)\n");
printf("\t-stopderpy (set derpy speed to not move)\n");
return -1;
}
int fd = openSensorBoard("/dev/ttyUSB0");
if(fd == -1)
{
printf("\nCould not find device!\n");
printf("Is the right device set?\n");
printf("Has the serial number of this FTDI chip been added to udev?\n");
printf("Because that needs to be done for every board we make.\n");
close(fd);
return -1;
}
if(syncBoard(fd) != 0)
{
printf("\nCould not sync with board!\n");
close(fd);
}
if(strcmp(argv[1], "-readovr") == 0)
{
int a, b;
if(readOvrParams(fd, &a, &b) != SB_OK)
printf("Error reading parameters\n");
else
printf("a=%d, b=%d\n", a, b);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-setovr") == 0)
{
if(argc != 4)
{
printf("Bad number of arguments\n");
close(fd);
exit(1);
}
printf("reply was 0x%02x\n", setOvrParams(fd, atoi(argv[2]), atoi(argv[3])));
}
else if(strcmp(argv[1], "-bfreset") == 0)
{
printf("reply was 0x%02x\n", resetBlackfin(fd));
}
else if(strcmp(argv[1], "-bfstart") == 0)
{
printf("reply was 0x%02x\n", startBlackfin(fd));
}
else if(strcmp(argv[1], "-bfstop") == 0)
{
printf("reply was 0x%02x\n", stopBlackfin(fd));
}
else if(strcmp(argv[1], "-sonar") == 0)
{
struct sonarData sd;
getSonarData(fd, &sd);
printf("Vector: \t<%5.4f %5.4f %5.4f>\n", sd.vectorX, sd.vectorY, sd.vectorZ);
printf("Status: \t0x%02x\n", sd.status);
printf("Range: \t%u\n", sd.range);
printf("Timestamp:\t%u\n", sd.timeStampSec);
printf("Sample No:\t%u\n", sd.timeStampUSec);
// printf("reply was 0x%02x\n", resetBlackfin(fd));
}
else if(strcmp(argv[1], "-magpwron") == 0)
{
int ret;
if((ret = setMagPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwroff") == 0)
{
int ret;
if((ret = setMagPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-setspeed") == 0)
{
if(argc != 8)
{
printf("Bad number of arguments\n");
close(fd);
exit(1);
}
printf("Ctrl-C to quit.\n");
while(1)
{
setSpeeds(fd, atoi(argv[2]), atoi(argv[3]), atoi(argv[4]), atoi(argv[5]), atoi(argv[6]), atoi(argv[7]));
usleep(50000);
}
}
else if(strcmp(argv[1], "-status") == 0)
{
int ret;
int bStat = -1;
int bEnable = -1;
unsigned char temp[NUM_TEMP_SENSORS];
ret = readDepth(fd);
if(ret == SB_ERROR)
printf("Error reading depth!\n");
else
printf("Depth : %d (%s)\n", ret, (ret > 50) ? "Seems OK" : "Check Sensor");
ret = readTemp(fd, temp);
if(ret == SB_ERROR)
printf("Error reading temperature!\n");
else
{
int i;
printf("Temperature (C): ");
for(i=0; i<NUM_TEMP_SENSORS; i++)
if(temp[i] == 255)
printf("%c%c ", '?','?');
else
printf("%d ", temp[i]);
printf("\n");
}
ret = readThrusterState(fd);
if(ret == SB_ERROR)
printf("Error reading thruster state!\n");
else
{
printf("\nThruster state: 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & THRUSTER1_ENABLED) ? '1' : '-',
(ret & THRUSTER2_ENABLED) ? '2' : '-',
(ret & THRUSTER3_ENABLED) ? '3' : '-',
(ret & THRUSTER4_ENABLED) ? '4' : '-',
(ret & THRUSTER5_ENABLED) ? '5' : '-',
(ret & THRUSTER6_ENABLED) ? '6' : '-');
if(ret == 0x00)
printf(" (All safe)");
if(ret == 0x3F)
printf(" (All unsafe)");
}
ret = readOvrState(fd);
if(ret == SB_ERROR)
printf("\nError reading overcurrent register!\n");
else
{
printf("\nOver-current: \t0x%02X", ret);
printf("\t[%c%c%c%c%c%c]",
(ret & THRUSTER1_OVR) ? '1' : '-',
(ret & THRUSTER2_OVR) ? '2' : '-',
(ret & THRUSTER3_OVR) ? '3' : '-',
(ret & THRUSTER4_OVR) ? '4' : '-',
(ret & THRUSTER5_OVR) ? '5' : '-',
(ret & THRUSTER6_OVR) ? '6' : '-');
if(ret == 0x00)
printf(" (All ok)");
if(ret == 0xFF)
printf(" (All busted)");
}
ret = readBarState(fd);
if(ret == SB_ERROR)
printf("Error reading bar state!\n");
else
{
printf("\nBar state :\t0x%02X", ret);
printf("\t[%c%c%c%c%c%c%c%c]",
(ret & BAR1_ENABLED) ? '1' : '-',
(ret & BAR2_ENABLED) ? '2' : '-',
(ret & BAR3_ENABLED) ? '3' : '-',
(ret & BAR4_ENABLED) ? '4' : '-',
(ret & BAR5_ENABLED) ? '5' : '-',
(ret & BAR6_ENABLED) ? '6' : '-',
(ret & BAR7_ENABLED) ? '7' : '-',
(ret & BAR8_ENABLED) ? '8' : '-');
if(ret == 0x00)
printf(" (All off)");
if(ret == 0xFF)
printf(" (All on)");
}
ret = readBatteryEnables(fd);
if(ret == SB_ERROR)
printf("Error reading battery enables state!\n");
else
{
printf("\nBatt enables: 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & BATT1_ENABLED) ? '1' : '-',
(ret & BATT2_ENABLED) ? '2' : '-',
(ret & BATT3_ENABLED) ? '3' : '-',
(ret & BATT4_ENABLED) ? '4' : '-',
(ret & BATT5_ENABLED) ? '5' : '-',
(ret & BATT6_ENABLED) ? '6' : '-');
if(ret == 0x00)
printf(" (All off ? ? ? ? ?)");
if(ret == 0x1F)
printf(" (All on)");
bEnable = ret;
}
ret = readStatus(fd);
if(ret == SB_ERROR)
printf("Error reading board status!\n");
else
{
printf("\nBatt in use : 0x%02X\t", ret);
printf("[%c%c%c%c%c%c]",
(ret & BATT1_INUSE) ? '1' : '-',
(ret & BATT2_INUSE) ? '2' : '-',
(ret & BATT3_INUSE) ? '3' : '-',
(ret & BATT4_INUSE) ? '4' : '-',
(ret & BATT5_INUSE) ? '5' : '-',
(ret & BATT6_INUSE) ? '6' : '-');
bStat = ret;
printf("\n\nStatus: 0x%02X\n", ret);
printf("\t%s\n\t%s\n\t%s\n",
(ret & STATUS_WATER) ? "Water present" : "No water detected.",
(ret & STATUS_STARTSW) ? "Start switch on" : "Start switch off",
(ret & STATUS_KILLSW) ? "Kill magnet present" : "No kill magnet");
}
struct powerInfo info;
ret = readMotorCurrents(fd, &info);
if(ret == SB_OK)
{
int i;
printf("\nOutput currents:\n\t[1-4]: ");
for(i=0; i<4; i++)
printf("\t%2.3fA", info.motorCurrents[i]);
printf("\n\t[5-8]: ");
for(i=0; i<4; i++)
printf("\t%2.3fA", info.motorCurrents[i+4]);
} else
printf("\nError reading motor currents\n");
printf("\n");
if(readBoardVoltages(fd, &info) == SB_OK &&
readBatteryVoltages(fd, &info) == SB_OK &&
readBatteryCurrents(fd, &info) == SB_OK)
{
printf("\nPower information:\n");
printf("\t5V Bus :\t% 2.3fV\t % 2.3fA\n", info.v5VBus, info.i5VBus);
printf("\t12V Bus:\t%-2.3fV\t % 2.3fA\n", info.v12VBus, info.i12VBus);
printf("\t26V Bus:\t% 2.3fV (Not implemented)\n", info.v26VBus);
printf("\tAux Current:\t %2.3fA\n", info.iAux);
if(bStat == -1 || bEnable == -1)
printf("Could not get enough information about batteries\n");
else
{
printf("\nBattery information:\n");
unsigned char enableFlags[]=
{
BATT1_ENABLED, BATT2_ENABLED, BATT3_ENABLED, BATT4_ENABLED, BATT5_ENABLED, BATT6_ENABLED
};
unsigned char useFlags[]=
{
BATT1_INUSE, BATT2_INUSE, BATT3_INUSE, BATT4_INUSE, BATT5_INUSE, BATT6_INUSE
};
int i;
printf("\tBAT\t Voltage\t Current EN?\tUsed?\n");
for(i=0; i<6; i++)
{
printf("\t");
if(i != 4)
printf("B%d ", i+1);
else
printf("EXT ");
printf("\t% 2.3fV\t% 2.3fA\t ", info.battVoltages[i], info.battCurrents[i]);
printf(" %c\t %c", bEnable & enableFlags[i] ? 'Y' : 'N',
bStat & useFlags[i] ? 'Y' : 'N');
printf("\n");
}
}
} else
printf("\nError reading power information\n");
}
else if(strcmp(argv[1], "-check") == 0)
{
int ret = pingBoard(fd);
if(ret == SB_OK)
printf("Ping: OK\n");
else
printf("Ping: Error (Code %d)\n", ret);
ret = checkBoard(fd);
if(ret == SB_OK)
printf("Self-test: OK\n");
else
printf("Self-test: Error (Code %d)\n", ret);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-marker") == 0)
{
if(argc == 3)
{
int t = atoi(argv[2]);
if(t != 1 && t != 2)
{
printf("Bad marker number: %d\n", t);
close(fd);
return -1;
}
dropMarker(fd, t-1);
} else
{
printf("Which marker? Specify 1 or 2.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-safe") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_THRUSTER1_OFF, CMD_THRUSTER2_OFF, CMD_THRUSTER3_OFF,
CMD_THRUSTER4_OFF, CMD_THRUSTER5_OFF, CMD_THRUSTER6_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 6)
{
printf("Bad thruster number: %d\n", t);
close(fd);
return -1;
}
thrusterCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<6; i++)
thrusterCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-battoff") == 0)
{
unsigned int cmdList[]=
{
CMD_BATT1_OFF, CMD_BATT2_OFF, CMD_BATT3_OFF, CMD_BATT4_OFF, CMD_BATT5_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 5)
{
printf("Bad battery number: %d\n", t);
close(fd);
return -1;
}
setBatteryState(fd, cmdList[t-1]);
} else
{
printf("Battery number not specified.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-batton") == 0)
{
unsigned int cmdList[]=
{
CMD_BATT1_ON, CMD_BATT2_ON, CMD_BATT3_ON, CMD_BATT4_ON, CMD_BATT5_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 5)
{
printf("Bad battery number: %d\n", t);
close(fd);
return -1;
}
setBatteryState(fd, cmdList[t-1]);
} else
{
printf("Battery number not specified.\n");
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-unsafe") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_THRUSTER1_ON, CMD_THRUSTER2_ON, CMD_THRUSTER3_ON,
CMD_THRUSTER4_ON, CMD_THRUSTER5_ON, CMD_THRUSTER6_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 6)
{
printf("Bad thruster number: %d\n", t);
close(fd);
return -1;
}
thrusterCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<6; i++)
thrusterCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-baroff") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_BAR1_OFF, CMD_BAR2_OFF, CMD_BAR3_OFF, CMD_BAR4_OFF,
CMD_BAR5_OFF, CMD_BAR6_OFF, CMD_BAR7_OFF, CMD_BAR8_OFF
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 8)
{
printf("Bad bar number: %d\n", t);
close(fd);
return -1;
}
barCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<8; i++)
barCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-baron") == 0)
{
int i;
unsigned int cmdList[]=
{
CMD_BAR1_ON, CMD_BAR2_ON, CMD_BAR3_ON, CMD_BAR4_ON,
CMD_BAR5_ON, CMD_BAR6_ON, CMD_BAR7_ON, CMD_BAR8_ON
};
if(argc == 3)
{
int t = atoi(argv[2]);
if(t < 1 || t > 8)
{
printf("Bad bar number: %d\n", t);
close(fd);
return -1;
}
barCmd(fd, cmdList[t-1]);
} else
{
for(i=0; i<8; i++)
barCmd(fd, cmdList[i]);
}
close(fd);
return 0;
}
else if(strcmp(argv[1], "-setbars") == 0)
{
if(argc == 1)
{
printf("Segmentation fault\n");
close(fd);
return -1;
}
int t = atoi(argv[2]);
setBarOutputs(fd, t);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-noblink") == 0)
{
setAnimation(fd, ANIMATION_NONE);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-redblue") == 0)
{
setAnimation(fd, ANIMATION_REDBLUE);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-redgreen") == 0)
{
setAnimation(fd, ANIMATION_REDGREEN);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-tstop") == 0)
{
setSpeeds(fd, 0, 0, 0, 0, 0, 0);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-hardkill") == 0)
{
hardKill(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-diagon") == 0)
{
setDiagnostics(fd, 1);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-diagoff") == 0)
{
setDiagnostics(fd, 0);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-bloff") == 0)
{
lcdBacklight(fd, LCD_BL_OFF);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-blon") == 0)
{
lcdBacklight(fd, LCD_BL_ON);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-blfl") == 0)
{
lcdBacklight(fd, LCD_BL_FLASH);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-intpower") == 0)
{
switchToInternalPower(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-extpower") == 0)
{
switchToExternalPower(fd);
close(fd);
return 0;
}
else if(strcmp(argv[1], "-c") == 0)
{
displayText(fd, 0, "");
displayText(fd, 1, "");
close(fd);
return 0;
}
else if(strcmp(argv[1], "-s") == 0)
{
displayText(fd, 0, "Please attach ");
displayText(fd, 1, "Start magnet ");
while((readStatus(fd) & STATUS_STARTSW) == 0)
{
usleep(100*1000);
}
displayText(fd, 0, "Ready to start ");
displayText(fd, 1, "");
while((readStatus(fd) & STATUS_STARTSW))
{
usleep(100*1000);
}
displayText(fd, 0, "Running...");
close(fd);
return 0;
}
else if(strcmp(argv[1], "-t") == 0)
{
displayText(fd, 0, argv[2]);
if(argc == 4)
displayText(fd, 1, argv[3]);
}
else if(strcmp(argv[1], "-dvlon") == 0)
{
int ret;
if((ret = DVLOn(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-dvloff") == 0)
{
int ret;
if((ret = DVLOn(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwron") == 0)
{
int ret;
if((ret = setMagPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-magpwroff") == 0)
{
int ret;
if((ret = setMagPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-firetorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
} else if((ret = fireTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-armtorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
}
else if((ret = armTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidtorp") == 0)
{
int ret;
if(argc != 3) {
printf("I need a torpedo number!\n");
}
else if((ret = voidTorpedo(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-extgrabber") == 0)
{
int ret;
if((ret = extendGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-retgrabber") == 0)
{
int ret;
if((ret = retractGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidgrabber") == 0)
{
int ret;
if((ret = voidGrabber(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-voidall") == 0)
{
int ret;
if((ret = voidSystem(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-pneuoff") == 0)
{
int ret;
if((ret = pneumaticsOff(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else if(strcmp(argv[1], "-derpypwr") == 0)
{
int ret;
if(argc != 3) {
printf("No parameter for -derpypwr!\n");
} else if(strcmp(argv[2], "on") == 0) {
if((ret = setDerpyPower(fd, 1)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
} else if(strcmp(argv[2], "off") == 0) {
if((ret = setDerpyPower(fd, 0)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
} else {
printf("Invalid parameter for -derpypwr!\n");
}
}
else if(strcmp(argv[1], "-setderpy") == 0)
{
int ret;
if(argc != 3) {
printf("No parameter for -setderpy!\n");
} else {
if((ret = setDerpySpeed(fd, atoi(argv[2]))) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
}
else if(strcmp(argv[1], "-stopderpy") == 0)
{
int ret;
if((ret = stopDerpy(fd)) != SB_OK)
printf("Error: %s\n", sbErrorToText(ret));
}
else {
printf("error: too much bullshit: %s\n", argv[1]);
return -1;
}
close(fd);
return 0;
}
bool AFramework::MTempMaster::run(){
AString currentCmd;
AString str;
AString sensAdd;
uint8 temp = 0;
if(!m_flag){
return false;
}
if(joinNetwork()){
/* joinNetwork da direttamente l'output */
if(!loadAll()){
msg("Errore\nCaricamento", 0);
while(1);
}
//cerco per due volte i sensori vicini
readTemp(str);
for(uint8 i = 0; i < _MTEMP_ROOM_VEC_SIZE; i++){
str.clear();
str = m_rooms[i].sensorAddress();
sensAdd = "Ricerco\nSensore ";
sensAdd += m_rooms[i].sensorAddress();
msg(sensAdd);
temp = 0;
temp = readTemp(str);
m_rooms[i].setTemperature(temp);
if(temp != 0){
sensAdd.clear();
sensAdd += "Sensore ";
sensAdd += m_rooms[i].sensorAddress();
sensAdd += "\nTrovato";
msg(sensAdd);
}else{
sensAdd.clear();
sensAdd += "Sensore ";
sensAdd += m_rooms[i].sensorAddress();
sensAdd += "\nNon trovato";
msg(sensAdd);
}
}
msg("In ascolto...", 0);
m_wifi->prepareForReceive();
PortA.write(bit7, Hi);
System::delay(1000);
PortA.write(bit7, Lo);
ATime time = System::aliveTime();
time.addMinutes(1);
while(1){
if(m_wifi->waitForData(currentCmd, 0)){
PortA.write(bit7, Hi);
commandExec(currentCmd);
PortA.write(bit7, Lo);
currentCmd.clear();
}else{
if(System::aliveTime() <= time){
programsManager(false);
}else{
programsManager(true);
time.addMinutes(1);
}
}
}
}else{
/* joinNetwork da direttamente l'output */
while(1);
}
}
bool AFramework::MTempMaster::programsManager(const bool read){ //da fare
ADateTime currentClk;
Program prg;
AString str;
if(!m_flag){
return false;
}
if(read){
for(uint8 i = 0; i < _MTEMP_ROOM_VEC_SIZE; i++){
if(m_rooms[i].currentTemperature() != 0){ //se il sensore è vivo
str.clear();
str = m_rooms[i].sensorAddress();
m_rooms[i].setTemperature(readTemp(str, 1000)); //aggiorno la temperatura
}
}
}
if(m_clk->isGood()){
currentClk = m_clk->currentTime();
for(uint8 i=0; i < _MTEMP_ROOM_VEC_SIZE; i++){
prg = m_rooms[i].program(currentClk.Weekday());
if(m_rooms[i].isAuto()){
if(prg.isEnabled()){
if( ((prg.startHours() == currentClk.hours() && prg.startMinutes() <= currentClk.minutes())
||
(prg.startHours() < currentClk.hours()))
&&
((prg.endHours() == currentClk.hours() && prg.endMinutes() >= currentClk.minutes())
||
(prg.endHours() > currentClk.hours()))) {
if(m_rooms[i].currentTemperature() <= prg.targetTemperature()){
m_rooms[i].on();
}else{
m_rooms[i].off();
}
}else{
m_rooms[i].off();
}
}else{
m_rooms[i].off();
}
}
if(m_rooms[i].isForcedOff()){ //se lo spegnimento è forzato
m_rooms[i].off(); //metto off la porta
}
if(m_rooms[i].isForcedOn()){
m_rooms[i].on(); //metto on la porta
}
}
}else{
m_lcd->clear();
m_lcd->write("Errore ora");
System::delay(1000);
}
return false;
}
//Give me temperature in fahrenheit!
float Weather::readTempF()
{
return((readTemp() * 1.8) + 32.0); // Convert celsius to fahrenheit
}
double Adafruit_MLX90614::readAmbientTempC(void) {
return readTemp(MLX90614_TA);
}
double Adafruit_MLX90614::readObjectTempC(void) {
return readTemp(MLX90614_TOBJ1);
}
double Adafruit_MLX90614::readAmbientTempF(void) {
return (readTemp(MLX90614_TA) * 9 / 5) + 32;
}
double Adafruit_MLX90614::readObjectTempF(void) {
return (readTemp(MLX90614_TOBJ1) * 9 / 5) + 32;
}
void updateTemp() {
float t = readTemp();
ss_setValueFloat(&Disp, t, 1);
}
