///////////////////////////////////////////////////////////////

//

// Organization: UIC Chicago EDT

// Engineer(s): Krystian Gebis Ammar Subei

// E-Mail(s): krgebis@gmail.com ammarsubei@gmail.com

//

// Project Title: Sigmux.c

// Micro controller: Atmega32U4

//

///////////////////////////////////////////////////////////////

#include "Sigmux.h"

int main (void)

{

Initialization();

while(1)

{

#ifdef CC3000_ENABLED

Recieve_WiFi_Data(); // We pull for data

#endif

#ifdef ROUTER_WATCHDOG_ENABLED

//Call the reset vector to restart the system from the beginning.

if (Count >= 6) {((void (*)(void))0)();}

#endif

#ifdef POWER_SAVING

//COULD IT BE BETTER TO NOT JUST SLEEP, BUT POWER DOWN THE CPU?

sleep_cpu(); /*Enter sleep mode.*/

#endif

}

return 0;

}

/*

* @brief Initialization is used to configure all of the registers of the microcontroller

* Steps:

* 1) Initialize CC3000

* 2) Set MUX Select_A to LOW, so we can send the Kill command from Atmega TX line

* (C0 input on MUX)

* 3) Set Mode to Safety Mode

* 4) Set MUX Select A to HIGH, so we get into Autonomous mode by default

* (C1 input on MUX)

*/

inline void Initialization (void)

{

#ifdef WATCHDOG_ENABLED

wdt_enable(WDTO_8S); // WDTO_8S means set the watchdog to 8 seconds.

#endif

//Turn on the Power LED to identify that the device is on.

// [UNUSED] DDRC |= (1 << DDC7); //STATUS LED

//Set up the LEDs for WLAN_ON and DHCP:

DDRC |= (1 << DDC6); //WLAN_INIT LED

DDRC |= (1 << DDC7); //DHCP_Complete LED. This will turn on and very slowly blink

DDRB |= (1 << DDB7); // MUX Select line, setting as output.

DDRE |= (1 << DDE2); // DDRF set outbound for Safe Mode LED

DDRD |= (1 << DDD6); // DDRF set outbound for Manual Mode LED

DDRD |= (1 << DDD4); // DDRF set outbound for Auto Mode LED

PORTF |= (1 << PF0); // Extra GPIO Pin

PORTF |= (1 << PF1); // Extra GPIO Pin

#ifndef SKIP_BOOT

DDRB |= (1 << DDB4);

DDRD |= (1 << DDD7);

DDRD |= (1 << DDD6);

PORTB |= (1 << PB4);

_delay_ms(200);

PORTD |= (1 << PD7);

_delay_ms(200);

PORTD |= (1 << PD6);

_delay_ms(200);

PORTB &= ~(1 << PB4);

_delay_ms(200);

PORTD &= ~(1 << PD7);

_delay_ms(200);

PORTD &= ~(1 << PD6);

#endif

_delay_ms(500);

PORTF &= ~(1 << PF0);

PORTF &= ~(1 << PF1);

// #ifdef ENERGY_ANALYSIS_ENABLED

// //Enable Timer/Counter0 Interrupt on compare match of OCR0A:

// TIMSK0 = (1 << OCIE0A);

// //Set the Output Compare Register for the timer to compare against:

// OCR0A = Energy_Analysis_Interval;

// //Configure the ADC to have the reference pin be AREF on pin 21, and make sure everything is set to defaults:

// ADMUX = 0x00;

// //Enable the Analog to Digital Conversion (ADC):

// ADCSRA = (1 << ADEN); //25 Clock cycles to initialize.

// #endif

#ifdef CC3000_ENABLED

//Enable the CC3000, and setup the SPI configurations.

init_spi();

//Set up the CC3000 API for communication.

wlan_init(CC3000_Unsynch_Call_Back,

Send_WLFW_Patch,

Send_Driver_Patch,

Send_Boot_Loader_Patch,

Read_WLAN_Interrupt_Pin,

WLAN_Interrupt_Enable,

WLAN_Interrupt_Disable,

Write_WLAN_Pin);

PORTB |= (1 << PB6); //Set the WLAN_INIT LED on.

sei();

//Enable the CC3000, and wait for initialization process to finish.

wlan_start(0);

wlan_set_event_mask(HCI_EVNT_WLAN_KEEPALIVE|HCI_EVNT_WLAN_UNSOL_INIT|HCI_EVNT_WLAN_ASYNC_PING_REPORT);

//Make sure we disconnect from any previous routers before we connect to a new one to prevent confusion on the device.

wlan_disconnect();

wlan_connect(WLAN_SEC_UNSEC, ROUTER_SSID, SSID_LENGTH, NULL, NULL, 0);

while(!DHCP_Complete)

{

_delay_ms(1000);

}

#ifdef WATCHDOG_ENABLED

wdt_reset();

#endif

//Bind a socket to receive data:

//sockaddr Mission_Control_Address;

memset((char *) &Mission_Control_Address, 0, sizeof(Mission_Control_Address));

Mission_Control_Address.sa_family = AF_INET;

//The Source Port:

Mission_Control_Address.sa_data[0] = (char)HEX_PORT_1; //(char)0x09;

Mission_Control_Address.sa_data[1] = (char)HEX_PORT_2; //(char)0x56;

//Configure the socket to not time out to keep the connection active.

//--------------------------------------------------------------------

unsigned long aucDHCP = 14400;

unsigned long aucARP = 3600;

unsigned long aucKeepalive = 10;

unsigned long aucInactivity = 0;

netapp_timeout_values(&aucDHCP, &aucARP, &aucKeepalive, &aucInactivity);

//TODO:

//Should check the CC3000's profiles. In the case that there are no profiles found, then

//inform the PC system, or use an LED.

//Open a UDP socket that grabs datagram:

Socket_Handle = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);

switch(Socket_Handle)

{

case -1: //Error

//Flag somehow.

break;

default: //Success

//Set the socket configuration for blocking (since it is the only thing that is allowed).

switch( bind(Socket_Handle, &Mission_Control_Address, sizeof(sockaddr)))

{

case -1:

//Flag as ERROR.

break;

default:

//Flag as good.

break;

}

break;

}

#endif

// NEED TO SETUP A QUICK REMOVAL FLAG FOR THIS CODE TO TEST THE CC3000.

// #ifdef MOTOR_CONTROL_FLAG

// Set up our Motor Controller Selection lines and the output for the RS232 lines:

// DDRD |= (1 << DDD3) | (1 << DDD4) | (1 << DDD5);

DDRD |= (1 << DDD3) | (1 << DDD5);

// Initialize the UART (RS-232 communications) for the motor controller interface:

// Set the Baud rate to 115200 bits/s. ((System Oscillator clock frequency / (2 * BAUD) ) - 1)

// NOTE: The value may not be correct, according to the data sheet (pg. 213).

// With the value 16, the error is 2.1% (lower than 8, being -3.5%).

// This comes from util/setbaud.h

UBRR1H = UBRRH_VALUE; /*Set baud rate*/

UBRR1L = UBRRL_VALUE; /*Set baud rate*/

//Defined in util/setbaud.h:

#if USE_2X

UCSR1A |= (1 << U2X1); //Double the baud rate for asynchronous communication.

#else

UCSR1A &= ~(1 << U2X1);

#endif

// Set to no parity and in Asynchronous mode.

// 1 Stop bit.

// 1 Start bit.

// Set to 8-bit data.

UCSR1C |= (1 << UCSZ11) | (1 << UCSZ10);

//Enable the Rx and Tx lines.

UCSR1B |= (1 << TXEN1);

#ifdef TWI_ENABLED

//Set the SCL frequency to 200 KHz. From the equation: f(SCL) = F_CPU/(16 + (2*TWBR) * (4^TWPS))

TWBR = 12;

DDRB |= (1 << DDB4); //Setup PortB4 as the TWI error LED.

#endif //End TWI_ENABLED

_delay_ms(1000); //Wait for one second for the RoboteQs to finish booting.

Set_Mode(SAFETY_MODE); // Set to Safe Mode to send Kill Command to Roboteq's

Set_Mode(AUTONOMOUS_MODE);

#ifdef ROUTER_WATCHDOG_ENABLED

Count = 0; //Clear the Count variable out.

TCNT1 = 0; //Clear the TCNT register.

TCCR1B = (1 << CS12) | (1 << CS10); //Set the prescaler for 1024.

TIMSK1 = (1 << OCIE1A); //Enable output compare for 1A.

OCR1A = 39063; //Set the system to interrupt every 5 seconds.

//OCR1A = (Multiplier) * (F_CPU) / (Prescaler)

//39063 = (5) * (8000000) / (1024)

#endif

}

//==========================================================================================================

void Mux_Select(uint8_t selection)

{

switch (selection)

{

case ATMEGA_TX:

PORTD &= ~(1 << PD4); // Set MUX Select A low to allow Atmega TX line to go through MUX

break;

case ARM_FTDI_SELECT:

PORTD |= (1 << PD4); // Set MUX Select A high to allow FTDI to go through MUX

break;

}

}

/*Set_Mode*/

/**

* @breif

**/

uint8_t Set_Mode(uint8_t New_Mode)

{

unsigned char Kill_Command[] = {'!', 'E', 'X', '\r'};//"!EX\r";

unsigned char Go_Command[] = {'!', 'M', 'G', '\r'};//"!MG\r";

if (New_Mode != Current_Mode)

{

switch (New_Mode)

{

case SAFETY_MODE:

Mux_Select(ATMEGA_TX);

/* Need to make this only send to one motor controller

Select_Motor_Controller(1);

USART_Transmit(Kill_Command, 4);

Select_Motor_Controller(2);

USART_Transmit(Kill_Command, 4);

*/

// Stop the Linear Actuator 01/11

// PORTD &= ~(1 << PD7);

// PORTD &= ~(1 << PD6);

//Signal that the unit is in safety mode.

PORTC &= ~(1 << PORTC7);

Current_Mode = SAFETY_MODE;

break;

case AUTONOMOUS_MODE:

//Listen to all communications by the computer.

//Do not forward any CC3000 motor controller commands.

Mux_Select(ARM_FTDI_SELECT);

Current_Mode = AUTONOMOUS_MODE;

break;

case RC_MODE:

//unsigned char Go_Command[] = "!MG\r";

Mux_Select(ATMEGA_TX);

Select_Motor_Controller(1);

USART_Transmit(Go_Command, 4);

Select_Motor_Controller(2);

USART_Transmit(Go_Command, 4);

PORTC |= (1 << PORTC7); // Krystian Note- Should check what this does

Current_Mode = RC_MODE;

break;

default:

return -1;

break;

}

return Current_Mode; // After setting the mode, this should now be the current mode we return

}

else

{

return Current_Mode; // The current mode is not different from the new requested mode

}

}

//==========================================================================================================

//==========================================================================================================

// #ifdef USB_ENABLED

// inline void Enable_USB_Controller()

// {

// USBCON = (1 << USBE); //Enable the USB Controller.

// UDCON &= ~(1 << LSM); //Make sure the USB is in full speed mode.

// UDCON &= ~(1 << DETACH); //Re-attach all devices.

// }//End Enable_USB_Controller

// inline void Disable_USB_Controller()

// {

// UDCON |= (1 << DETACH); //Detach all devices on the USB line.

// }//End Diable_USB_Controller

// #endif

//==========================================================================================================

//==========================================================================================================

#ifdef CC3000_ENABLED

char* Send_Driver_Patch(unsigned long *usLength)

{

*usLength = 0;

return NULL;

}

char* Send_Boot_Loader_Patch(unsigned long *usLength)

{

*usLength = 0;

return NULL;

}

char* Send_WLFW_Patch(unsigned long *usLength)

{

*usLength = 0;

return NULL;

}

void CC3000_Unsynch_Call_Back(long Event_Type, char * Data, unsigned char Length)

{

switch (Event_Type)

{

case HCI_EVNT_WLAN_ASYNC_SIMPLE_CONFIG_DONE: //First-time configuration process is complete.

break;

case HCI_EVNT_WLAN_KEEPALIVE: //Periodic keep-alive event.

break;

case HCI_EVNT_WLAN_UNSOL_CONNECT: //WLAN-connected event.

break;

case HCI_EVNT_WLAN_UNSOL_DISCONNECT: //CC3000 disconnected from AP.

break;

////COMPILER CANNOT FIND THESE.

case HCI_EVNT_WLAN_UNSOL_DHCP: //DHCP state change.

if ( * (Data + NETAPP_IPCONFIG_MAC_OFFSET) == 0)

{

//DHCP_Complete = 1;

PORTC |= (1 << PC6);

}

else

{

//DHCP_Complete = 0;

PORTC &= ~(1 << PC6);

}

break;

//case HCI_EVENT_CC300_CAN_SHUT_DOWN:

//break;

case HCI_EVNT_WLAN_ASYNC_PING_REPORT: //Notification of ping results.

break;

//case HCI_EVNT_BSD_TCP_CLOSE_WAIT:

//break;

case HCI_EVNT_WLAN_UNSOL_INIT: //CC3000 finished the initialization process.

break;

default:

break;

}

}

/*Read_Interrupt_Pin*/

/**

* @breif This function listens to the interrupt pin, and if it is high, return 1, or low return 0.

**/

long Read_WLAN_Interrupt_Pin()

{

return bit_is_set(PIND, PIND2);

}

void Write_WLAN_Pin(unsigned char val)

{

switch (val)

{

case 0:

PORTB &= ~(1 << PORTB5);

break;

case 1:

PORTB |= (1 << PORTB5);

break;

}

}

void WLAN_Interrupt_Enable()

{

//Set the interrupt to occur when the pinout is falling:

EICRA = (1 << ISC21);

EIMSK |= (1 << INT2);

}

void WLAN_Interrupt_Disable()

{

EIMSK &= ~(1 << INT2);

}

uint8_t Recieve_WiFi_Data()

{

unsigned char Temp_Buffer[1];

unsigned long Rx_Packet_Length = 0;

//uint8_t Index = 0;

//uint8_t End_Found = 0;

switch(Socket_Handle)

{

case -1:

return -1;

break;

case 0:

// return -1;

break;

}

Temp_Buffer[0] = 0;

// Begin receiving data:

recvfrom(Socket_Handle, Temp_Buffer, CC3000_APP_BUFFER_SIZE, 0, &Mission_Control_Address, &Rx_Packet_Length);

// Since it matches the protocol, we need to keep scanning to find the deliminating character.

// Check if Temp_Buffer index 0

//Decipher the data transmitted to see if it matches the protocol (if it doesn't ERROR):

if(Temp_Buffer[0])

Decrypt_Data(Temp_Buffer[0]);

return 0;

}//End Recieve_WiFi_Data

#endif

void Select_Motor_Controller(uint8_t Motor)

{

switch(Motor)

{

case 0: //Wheel Controller

case 1:

PORTD &= ~(1 << PORTD5);

break;

case 2: //Mechanism & Linear Actuator Controller

PORTD |= (1 << PORTD5);

break;

default: //Invalid intput

return;

break;

}

_delay_ms(10);

}

uint8_t Decrypt_Data(unsigned char Data)

{

// @00 means broadcast to ALL CAN ID's

unsigned char Output_Command[MAX_COMMAND_SIZE] = {'@', '0', '0', '!', 'G', ' '};

unsigned char dataIndexSize;

#ifdef WATCHDOG_ENABLED

wdt_reset();

#endif

/*

switch(Data)

{

case 71:

Output_Command[5] = '1';

Output_Command[6] = '0';

Output_Command[7] = '0';

Output_Command[8] = '0';

Output_Command[9] = '\r';

dataIndexSize = 10;

break;

}

*/

dataIndexSize = (sizeof(Output_Command) / sizeof(char));

USART_Transmit(Output_Command, dataIndexSize);

return 0;

}

#ifdef TWI_ENABLED

/*Transmit_Energy_Data*/

inline void Transmit_Energy_Data()

{

unsigned char Energy_Data [4];

//Use TWI to recieve data from energy monitor:

TWI_SEND_START();

TWI_WAIT_FOR_START();

TWI_CHECK_START();

TWI_SEND_SLA_R();

TWI_TRANSMIT();

TWI_WAIT_FOR_START();

TWI_CHECK_RECIEVE();

//FOR THIS CASE LET US ASSUME THAT THERE WILL BE NO ERRORS DURRING COMMUNICATION.

//--------------------------------------------------------------------------------

TWI_RECIEVE();

TWI_WAIT_FOR_START();

Energy_Data[0] = TWDR;

TWI_CHECK_RECIEVE();

TWI_WAIT_FOR_START();

Energy_Data[1] = TWDR;

TWI_RECIEVE();

TWI_WAIT_FOR_START();

Energy_Data[2] = TWDR;

TWI_RECIEVE();

TWI_WAIT_FOR_START();

Energy_Data[3] = TWDR;

//--------------------------------------------------------------------------------

TWI_SEND_STOP();

//Transmit Data from Energy Monitor:

sendto(Socket_Handle, Energy_Data, 4, 0, &Mission_Control_Address, (socklen_t)sizeof(Mission_Control_Address));

}//End Transmit_Energy_Data

#endif //End TWI_ENABLED

//==========================================================================================================

//==========================================================================================================

//***********************************************************************************************************

//Interrupts:

//***********************************************************************************************************

///NEEDS TO BE REVISED:

//Energy Analysis:

// #ifdef ENERGY_ANALYSIS_ENABLED

// ISR (TIMER0_COMPA_vect)

// {

// uint16_t Temp_Power = 0;

// //Set the ADMUX to collect data from ADC0 and compare it against AREF to find the battery voltage:

// ADMUX = 0x00;

// ADCSRA |= (1 << ADSC); //Trigger ADC conversion.

// //Wait until the conversion is complete (ADSC = 0) then complete:

// while (ADCSRA & (1 << ADSC));

// //Collect the data:

// Temp_Power = 0;

// }//End Timer/Counter 0 Compare Match

// #endif //End ENERGY_ANALYSIS_ENABLED

//------------------------------------------------------------------------------------------------------

//CC3000 Data Output Request:

ISR (INT2_vect)

{

SPI_IRQ();

return;

}//End External Interrupt (INT0) [CC3000 IRQ]

//------------------------------------------------------------------------------------------------------

//Pseudo_Watchdog_System:

#ifdef ROUTER_WATCHDOG_ENABLED

ISR (TIMER1_COMPA_vect)

{

///DEBUG:

PORTC ^= (1 << PORTC7);

///

++Count; //Multiply count by five to get the number of seconds that have passed.

}//End Timer1_Compare_A Match

#endif //End ROUTER_WATCHDOG_ENABLED