int main(void)
{
/* perform the needed initialization here */
LEDsInit();
Tec1Init();
Tec2Init();
Tec3Init();
Tec4Init();
ADCInit();
DACInit();
UARTInit();
TimerInit(100);
for(;;)
{
if(LeerTec1()==0)
{
A += 0.1;
UARTSendString(msj1);
}
if(LeerTec2()==0)
{
A -= 0.1;
UARTSendString(msj2);
}
if(LeerTec3()==0)
{
A = 0;
UARTSendString(msj3);
}
if(LeerTec4()==0)
{
UARTSendString(msj4);
}
}
return 0;
}
__interrupt void Timer_A (void)
{
UARTSendString("Capture");
}
/*will send full data about temperature and parameters*/
void sendUARTData(){
sprintf(displayTemp, "now: %i; min: %i; max: %i; thermostate: %i", currentTemp, thermostatSettings.minimalTemp, thermostatSettings.maximalTemp, thermostatSettings.isActive);
UARTSendString(displayTemp);
UARTSend(0x0A);
UARTSend(0x0D);
}
uint8_t main(){
char line[ LINE_BUFFER_LENGTH ];
char c;
int lineIndex;
uint8_t lineIsComment, lineSemiColon;
lineIndex = 0;
lineSemiColon = 0;
lineIsComment = 0;
UARTConfig();
STEEPERCONTROLLING_INIT();
UARTSendString( "\n\rWaiting for commands:");
while (1){
c = UARTReceive();
if(( c == '\n') || (c == '\r') ) // End of line reached
{
if( lineIndex > 0 ) // Line is complete. Then execute!
{
line[ lineIndex ] = '\0'; // Terminate string
#ifdef verbose
UARTSendString( "\n\rReceived : ");
UARTSendString( line );
#endif // verbose
processIncomingLine( line, lineIndex );
lineIndex = 0;
}
else
{
// Empty or comment line. Skip block.
}
lineIsComment = 0;
lineSemiColon = 0;
UARTSendString("\n\rok");
UARTSendString( "\n\rWaiting for commands:");
}
else
{
if ( (lineIsComment) || (lineSemiColon) ) // Throw away all comment characters
{
if ( c == ')' )
lineIsComment = 0; // End of comment. Resume line.
}
else
{
if ( c <= ' ' ) // Throw away whitepace and control characters
{
}
else if ( c == '/' ) // Block delete not supported. Ignore character.
{
}
else if ( c == '(' ) // Enable comments flag and ignore all characters until ')' or EOL.
{
lineIsComment = 1;
}
else if ( c == ';' )
{
lineSemiColon = 1;
}
else if ( lineIndex >= LINE_BUFFER_LENGTH-1 )
{
UARTSendString( "\n\rERROR - lineBuffer overflow" );
lineIsComment = 0;
lineSemiColon = 0;
}
else if ( c >= 'a' && c <= 'z' ) // Upcase lowercase
{
line[ lineIndex++ ] = c-'a'+'A';
}
else
{
line[ lineIndex++ ] = c;
}
}
}
}
return 0;
}
/*********************************
* Draw a line from (x0;y0) to (x1;y1).
* Bresenham algo from https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/
* int (x1;y1) : Starting coordinates
* int (x2;y2) : Ending coordinates
**********************************/
void drawLine(float x1, float y1){
#ifdef verbose
UARTSendString("\n\rDrawline:fx1, fy1: ");
UARTSendFloat(x1,2);
UARTSendString(",");
UARTSendFloat(y1,2);
#endif // verbose
// Bring instructions within limits
if (x1 >= Xmax)
{
x1 = Xmax;
}
if (x1 <= Xmin)
{
x1 = Xmin;
}
if (y1 >= Ymax)
{
y1 = Ymax;
}
if (y1 <= Ymin)
{
y1 = Ymin;
}
#ifdef verbose
UARTSendString("\n\rXpos, Ypos: ");
UARTSendFloat(Xpos,2);
UARTSendString(",");
UARTSendFloat(Ypos,2);
UARTSendString("\n\rx1, y1: ");
UARTSendFloat(x1,2);
UARTSendString(",");
UARTSendFloat(y1,2);
#endif // verbose
// Convert coordinates to steps
x1 = (int)(x1*StepsPerMillimeterX);
y1 = (int)(y1*StepsPerMillimeterY);
float x0 = Xpos;
float y0 = Ypos;
// Let's find out the change for the coordinates
long dx = abs(x1-x0);
long dy = abs(y1-y0);
//int sx = x0<x1 ? StepInc : -StepInc;
//int sy = y0<y1 ? StepInc : -StepInc;
long i;
long over = 0;
if (dx > dy)
{
for (i=0; i<dx; ++i)
{
x0<x1 ? fowardA(1,steepdelay) : backwardA(1,steepdelay);
over+=dy;
if (over>=dx)
{
over-=dx;
y0<y1 ? fowardB(1,steepdelay) : backwardB(1,steepdelay);
}
delay_ms(StepDelay);
}
}
else
{
for (i=0; i<dy; ++i)
{
y0<y1 ? fowardB(1,steepdelay) : backwardB(1,steepdelay);
over+=dx;
if (over>=dy)
{
over-=dy;
x0<x1 ? fowardA(1,steepdelay) : backwardA(1,steepdelay);
}
delay_ms(StepDelay);
}
}
#ifdef verbose
UARTSendString("\n\rdx, dy:");
UARTSendFloat(dx,2);
UARTSendString(",");
UARTSendFloat(dy,2);
UARTSendString("\n\rGoing to (");
UARTSendFloat(x0,2);
UARTSendString(",");
UARTSendFloat(y0,2);
#endif // verbose
//Relasing the motor coils set outputs to low
MotorX = 0;
MororY = 0;
MotorZ = 0;
// Delay before any next lines are submitted
delay_ms(LineDelay);
// Update the positions
Xpos = x1;
Ypos = y1;
}
void processIncomingLine( char* line, int charNB ){
int currentIndex = 0;
char buffer[ 64 ]; // Hope that 64 is enough for 1 parameter
struct point newPos;
char *indexY , *indexX;
newPos.x = 0.0;
newPos.y = 0.0;
// Needs to interpret
// G1 for moving
// G4 P300 (wait 150ms)
// G1 X60 Y30
// G1 X30 Y50
// M300 S30 (pen down)
// M300 S50 (pen up)
// Discard anything with a (
// Discard any other command!
while( currentIndex < charNB )
{
switch ( line[ currentIndex++ ] ) // Select command, if any
{
case 'U':
upZ(steepdelayZ);
break;
case 'D':
downZ(steepdelayZ);
break;
case 'G':
buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 2 digit commands @OPTIMALIZING
// buffer[1] = line[ currentIndex++ ];
// buffer[2] = '\0';
buffer[1] = '\0';
switch ( atoi( buffer ) ) // Select G command || line[currentIndex]+48
{
case 0: // G00 & G01 - Movement or fast movement. Same here
case 1:
// /!\ Dirty - Suppose that X is before Y
indexX = find_char( line, 'X' ); // Get X/Y position in the string (if any)
indexY = find_char( line, 'Y' );
if ( indexY <= 0 )
{
newPos.x = atof( indexX + 1);
newPos.y = actuatorPos.y;
UARTSendString("\n\rGET_---X:");
UARTSendString(indexX);
}
else if ( indexX <= 0 )
{
newPos.y = atof( indexY + 1);
newPos.x = actuatorPos.x;
UARTSendString("\n\rGET_Y");
}
else
{
#ifdef verbose
UARTSendString("\n\rPOS_in_BUFFER_XY--X:");
UARTSendString(indexX);
UARTSendString("--Y:");
UARTSendString(indexY);
#endif // verbose
newPos.y = atof( indexY + 1);
indexY = '\0';
newPos.x = atof( indexX + 1);
}
drawLine(newPos.x, newPos.y );
// Serial.println("ok");
actuatorPos.x = newPos.x;
actuatorPos.y = newPos.y;
break;
}
break;
case 'M':
buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 3 digit commands
buffer[1] = line[ currentIndex++ ];
buffer[2] = line[ currentIndex++ ];
buffer[3] = '\0';
switch ( atoi( buffer ) )
{
case 300:
{
char* indexS = strchr( line+currentIndex, 'S' );
float Spos = atof( indexS + 1);
// Serial.println("ok");
if (Spos == 30)
{
downZ(steepdelayZ);
}
if (Spos == 50)
{
upZ(steepdelayZ);
}
break;
}
case 114: // M114 - Repport position
UARTSendString( "\n\rAbsolute position : X = " );
UARTSendFloat( actuatorPos.x, 2);
UARTSendString( " - Y = " );
UARTSendFloat( actuatorPos.y, 2);
break;
default:
UARTSendString( "\n\rCommand not recognized : M");
UARTSendString( buffer );
}
}
}
}
int main(void)
{
int value;
int junk;
millisec = 0;
value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );
// Enable the cache for the best performance
CheKseg0CacheOn();
//Setupt input for inteface button JF8 (RA01) (0x02)
TRISASET = 0x02;
//RED LED - JF9 (RA04) (0x10)
TRISACLR = 0x10;
ODCACLR = 0x10;
LATASET = 0x10;
//Green LED -JF7 (RE9) (0x200)
TRISECLR = 0x200;
ODCECLR = 0x200;
LATESET = 0x200;
//Setupt Input for DataFlag Button - JF10 - RA5 0x20
TRISASET = 0x20;
//Setup Output for Clutch Hold (Launch) JE1 RD14 0x4000
//This function is active low, driving the FET on the PDU
TRISDCLR = 0x4000;
ODCDCLR = 0x4000;
LATDSET = 0x4000; //Default state is high (off)
CAN1Init();//CAN1 ACCL 500kbs
CAN2Init();//Motec 1mbs
DelayInit();
initUART2(); // GPS UART
prevButton1 = 0;
prevButton2 = 0;
millisec = 0;
// Configure Timer 2 to request a real-time interrupt once per millisecond.
// The period of Timer 2 is (16 * 5000)/(80 MHz) = 1 ms.
OpenTimer2(T2_ON | T2_IDLE_CON | T2_SOURCE_INT | T2_PS_1_16 | T2_GATE_OFF, 5000);
// Configure the CPU to respond to Timer 2's interrupt requests.
INTEnableSystemMultiVectoredInt();
INTSetVectorPriority(INT_TIMER_2_VECTOR, INT_PRIORITY_LEVEL_2);
INTClearFlag(INT_T2);
INTEnable(INT_T2, INT_ENABLED);
//UART GPS Interrupts
INTSetVectorPriority(INT_UART_2_VECTOR ,INT_PRIORITY_LEVEL_1); //Make sure UART interrupt is top priority
INTClearFlag(INT_U2RX);
INTEnable(INT_U2RX, INT_ENABLED);
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
deviceAttached = FALSE;
//Initialize the stack
USBInitialize(0);
shouldLog = FALSE;
shouldStop = FALSE;
//count = 0;
angularRateInfoRec = FALSE;
accelerationSensorRec = FALSE;
HRaccelerationSensorRec = FALSE;
//init tim er 3 to convert adc at 100hz
OpenTimer3(T3_ON|T3_PS_1_256|T3_SOURCE_INT, 1562);
//initialize i2c for the psoc
initI2CPSoC();
state = wait;
logNum = 0;
initI2CEEPROM();
short addy = 0x0000;
BYTE num = 0x00;
logNum = readEEPROM(addy);
if(logNum >= 0xEF) //Address stored in EEPROM if greater than 0xEF reset to zero, limited to a single byte with current code configuration
{
writeEEPROM(addy, 0x00);
}
char GroupString[550];//Group Names (Line1)
char UnitString[550];//Units (line2)
char ParamString[650];//Paramater Names (line3)
sprintf(GroupString,"Time,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Accelerometer,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Engine,Drivetrain,Drivetrain,Electrical,Drivetrain,Drivetrain,Drivetrain,Drivetrain,Engine,Engine,Engine,Engine,Electrical,Electrical,Electrical,Electrical,Electrical,Electrical,Suspension,Suspension,Suspension,Suspension,Suspension,Drivetrain,Driver\n");
sprintf(UnitString,"ms,deg/s,deg/s,deg/s,m/s^2,m/s^2,m/s^2,m/s^2,m/s^2,m/s^2,rpm,%,kpa,degF,degF,lambda,psi,degF,na,na,psi,psi,V,mph,mph,mph,mph,s,gal,degF,degBTDC,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,mV,\n");
sprintf(ParamString, "Millisec,pitch(deg/sec),roll(deg/sec),yaw(deg/sec),lat(m/s^2),long(m/s^2),vert(m/s^2),latHR(m/s^2),longHR(m/s^2),vertHR(m/s^2),rpm,tps(percent),MAP(kpa),AT(degF),ect(degF),lambda,fuel pres,egt(degF),launch,neutral,brake pres,brake pres filtered,BattVolt(V),ld speed(mph), lg speed(mph),rd speed(mph),rg speed(mph),run time(s),fuel used,Oil Temp (deg F), Ignition Adv (degBTDC),Overall Consumption(mV),Overall Production(mV),Fuel Pump(mV),Fuel Injector(mV),Ignition(mV),Vref(mV),Back Left(mV),Back Right(mV),Front Left(mV),Front Right(mV),Steering Angle(mV),Brake Temp(mV),Data Flag,GPRMC,Time,Valid,Lat,N/S,Long,E/W,Speed,Course,Date,Variation,E/W\n");
LATACLR = 0x10; //Turn on Red LED
// LATECLR = 0x200;
UARTSendString(UART2,PMTK_HOT_RESTART);
int i = 0;
while(!UARTTransmissionHasCompleted(UART2)){
i++;
}
while(1)
{
GPSDataRead();
GPSSentenceParse();
ClutchHold(); //This function handles the venting direction of the clutch actuator
DataFlagFunc(); //This function handles the updates of the data flag variable
//USB stack process function
USBTasks();
switch(state){
case wait:
USBTasks();
millisec = 0;
if(CheckLogStateChange() == 1){ //start the transition from wait to log
state = startLog;
}
break;
case startLog:
//if thumbdrive is plugged in
if(USBHostMSDSCSIMediaDetect())
{
deviceAttached = TRUE;
//now a device is attached
//See if the device is attached and in the right format
if(FSInit())
{
//Opening a file in mode "w" will create the file if it doesn't
// exist. If the file does exist it will delete the old file
// and create a new one that is blank.
logNum = readEEPROM(addy);
sprintf(nameString, "test%d.csv", logNum);
myFile = FSfopen(nameString,"w");
FSfwrite(GroupString,1,strlen(GroupString),myFile);
FSfwrite(UnitString,1,strlen(UnitString),myFile);
FSfwrite(ParamString,1, strlen(ParamString),myFile);
millisec = 0;
//LATDSET = 0x4000; //Send sync pulse (aeroprobe)
// while(millisec < 1000){} //Wait 1s then move to log, the aeroprobe ADC waits 1s.
state = log;
LATECLR = 0x200; //Turn on Green
LATASET = 0x10; //Turn off Red
}
}
break;
case log:
//This uses MOTEC as the master timer. Data is only written to the USB after all the motec Data is received
if(motec0Read && motec1Read && motec2Read && motec3Read && motec4Read && motec5Read){
WriteToUSB();
}
else{}//Wait for motec data to write the next row
if(CheckLogStateChange() == 2){ //Start the transition from log to wait
state = stopLog;
}
if(millisec > 2000){
LATDCLR = 0x4000; //After 2 seconds pass no need to keep output high
}
//Add a function to check for a flag button and set a variable
break;
case stopLog:
//Always make sure to close the file so that the data gets written to the drive.
FSfwrite("endFile", 1, 7, myFile);
FSfclose(myFile);
state = wait;
logNum++;
writeEEPROM(addy, logNum);
LATACLR = 0x10; //Turn on Red
LATESET = 0x200; //Turn off Green
break;
default:
state = wait;
break;
}
//CAN Handlers
CANRxMessageBuffer* CAN1RxMessage = CAN1RxMsgProcess();
if(CAN1RxMessage){
WriteAccelData(CAN1RxMessage); //Accel is on CAN 1
}
CANRxMessageBuffer* CAN2RxMessage = CAN2RxMsgProcess();
if(CAN2RxMessage){
writeCan2Msg(CAN2RxMessage); //Motec is on CAN 2
}
}
return 0;
}
