void getIMU(nav_struct* nav_data)
{
/// getMagnetometerData(magn); No magnetometer
getAccelerometerData(acc);
getGyroscopeData(gyro);
convertTemp(gyro);
if (bias_flag == true)
{
bias_flag = computeBias(acc,acc_bias,ACC_VAR,&acc_bias_count);
bias_flag = computeBias(gyro,gyro_bias,GYRO_VAR,&gyro_bias_count);
}
else
{
removeBias(acc,acc_bias,ACC_VAR);
removeBias(gyro,gyro_bias,GYRO_VAR);
setGravity(acc);
// Eliminate Hard-Iron offsets
magn[0] = magn[0] - MX_OFFSET;
magn[1] = magn[1] - MY_OFFSET;
/// set IMU values
nav_data->imu_lan.abbx = (double)acc[0];
nav_data->imu_lan.abby = (double)acc[1];
nav_data->imu_lan.abbz = -(double)acc[2];
nav_data->imu_lan.wbbx = -(double)gyro[0];
nav_data->imu_lan.wbby = -(double)gyro[1];
nav_data->imu_lan.wbbz = -(double)gyro[2];
}
}
/**
* @brief Temperature monitoring thread
* @param none
* @retval none
*/
void Thread_Temperature (void const *argument) {
while(1) {
HAL_ADC_Start(&ADC1_Handle); /* start ADC conversion */
if (HAL_ADC_PollForConversion(&ADC1_Handle, 10000) == HAL_OK) { /* wait for the conversion to be done and get data */
adc_val = HAL_ADC_GetValue(&ADC1_Handle); /* get the value */
kalmanUpdate(&adcState, adc_val); /* filter the data and update the filter parameters */
temperature = convertTemp(adcState.x);
__HAL_ADC_CLEAR_FLAG(&ADC1_Handle, ADC_FLAG_EOC);
}
// check if the alarm needs to be triggered
if (temperature > THRESHHOLD_TEMP_URGENT) {
flash_alarm = 2;
} else if (temperature > THRESHHOLD_TEMP) {
flash_alarm = 1;
} else {
flash_alarm = 0;
}
osDelay(TEMP_DELAY);
}
}
void manage_temperatures()
{
static uint8 tempMeasureCount = 0;
uint16 *result; // Va servir à récupérer les données des ADCs en pointant vers le régistre correspondant
uint8 i;
int32 val;
// Timeout reached, we start measure procedure
if(gTempState == START)
{
}
// Les mesures de temperatures sont pretes a etre récupérées et utilisées
else if (gFlags.ADC0done && gFlags.ADC1done) // gTempState = 2, but no need to test the value
{
tempMeasureCount++;
// ------------ Récupération des mesures des ADC ---------------
// ####### ADC0 ######
result = (uint16*) &ATD0DR0H; // &ATD0DR0H Pointe sur le début du registre de l'ADC0
// On récupère les données dans le premier registre et les registres subséquents
for(i=0; i < 8; i++){
gTempRaw[gTempIndex[i]] = *result; // On récupère les données en les mettant en ordre (T0, T1, ...) dans gTempRaw[]
result++;
}
// ####### ADC1 #######
result = (uint16*) &ATD1DR0H; // Pointe sur le registre de l'ADC1
// On récupère les données dans le premier registre et les registres subséquents
for(i=0; i < 4; i++){
gTempRaw[gTempIndex[i + 8]] = *result; // On récupère les données en les mettant en ordre (T0, T1, ...) dans gTempRaw[]
result++;
}
// Arithmetic average on the values measured since the last temperature message sent to the master
for(i = 0; i < NB_CELL; i++) {
val = (int32)convertTemp(gTempRaw[i]) + ((int32)gTemp[i] * (tempMeasureCount - 1));
gTemp[i] = val / tempMeasureCount;
}
#ifdef CAN_ENABLE
// Send the temperatures to master via CAN
if(tempMeasureCount >= NB_TEMP_SAMPLES) {
// TODO: we do nothing with this flag so far...
gFlags.canTxError = CAN_SendTemperatures(gSlaveID, gTemp);
tempMeasureCount = 0;
}
#endif
gFlags.ADC0done = 0;
gFlags.ADC1done = 0;
gTempState = T_STANDBY;
}
}
void ds18x20Process(void)
{
if (getTempTimer() == 0) {
/* Convert temperature */
if (ds18x20IsOnBus())
convertTemp();
}
return;
}
/* =================================================
FUNCTION: getIMU
CREATED: 16-05-2014
DESCRIPTION: This main loop function for the IMU
sensor suite
PARAMETERS: vec
GLOBAL VARIABLES: None.
RETURNS: vec.
AUTHOR: P. Kantue
================================================== */
void getIMU(int vec[], unsigned int time_el)
{
getMagnetometerData(magn);
getAccelerometerData(acc);
getGyroscopeData(gyro);
convertTemp(gyro);
if (bias_flag == true){
bias_flag = computeBias(acc,acc_bias,ACC_VAR,&acc_bias_count);
bias_flag = computeBias(gyro,gyro_bias,GYRO_VAR,&gyro_bias_count);
}
else{
removeBias(acc,acc_bias,ACC_VAR);
removeBias(gyro,gyro_bias,GYRO_VAR);
setGravity(acc);
// Eliminate Hard-Iron offsets
magn[0] = magn[0] - MX_OFFSET;
magn[1] = magn[1] - MY_OFFSET;
// Compute Euler angles from acceleration raw values
PitchandRoll(acc,temp_euler);
// Apply LPF to both pitch and roll angles
LPF_euler(Euler,temp_euler,EULER_LPF);
// Compute tilt compensation for magnetic heading - NOT WORKING
heading = tiltCompensation(magn,Euler);
// Store IMU data to be passed to other subsystems
storeIMU(acc,gyro,magn,Euler,heading,vec, time_el);
//----ADD EXTRA CODE HERE ------------//
}
}
int main(void)
{
unsigned char dev1_access, dev2_access, dev3_access, dev4_access, dev5_access, dev6_access, dev7_access, dev8_access; // Indique si les informations ont bien été prise du capteur
init(); // Initialisations globales
dev1_access = initDS7505(ADD1_DS7505); // Initialiser le capteur de T° n°1
dev2_access = initDS7505(ADD2_DS7505); // Initialiser le capteur de T° n°2
dev3_access = initDS7505(ADD3_DS7505); // Initialiser le capteur de T° n°3
dev4_access = initDS7505(ADD4_DS7505); // Initialiser le capteur de T° n°4
dev5_access = initDS7505(ADD5_DS7505); // Initialiser le capteur de T° n°5
dev6_access = initDS7505(ADD6_DS7505); // Initialiser le capteur de T° n°6
dev7_access = initDS7505(ADD7_DS7505); // Initialiser le capteur de T° n°7
dev8_access = initDS7505(ADD8_DS7505); // Initialiser le capteur de T° n°8
/* boucle infinie */
for(;;)
{
if( data[0] != 0x00 ) // Envoie des informations à la foxboard
{
switch(data[0])
{
case CMD_INCLINAISON : // Envoie les informations d'inclinaisons du sous-marin
transmission(CMD_INCLINAISON, ACCL, ACCH);
break;
case CMD_HYGROMETRE1 : // Envoie les informations d'humidité du premier capteur hygrométrique
transmission(CMD_HYGROMETRE1, HUM1L, HUM1H);
break;
case CMD_HYGROMETRE2 : // Envoie les informations d'humidité du deuxième capteur hygrométrique
transmission(CMD_HYGROMETRE2, HUM2L, HUM2H);
break;
case CMD_BALLAST : // Envoie les informations de la position du ballast
transmission(CMD_BALLAST, IMP1L, IMP1H);
break;
case CMD_SYSTEME_BALLAST : // Envoie les informations de la position du chariot portant le ballast
transmission(CMD_SYSTEME_BALLAST, IMP2L, IMP2H);
break;
case CMD_TEMP1 : // Envoie les informations de température du premier capteur
dev1_access = get_DS7505_Devices(ADD1_DS7505, listTemp); // Récupérer T° capteur n°1
convertTemp(listTemp, tempResult);
TEMP1H = tempResult[0];
TEMP1L = tempResult[1];
transmission(CMD_TEMP1, TEMP1L, TEMP1H);
break;
case CMD_TEMP2 : // Envoie les informations de température du deuxième capteur
dev2_access = get_DS7505_Devices(ADD3_DS7505, listTemp); // Récupérer T° capteur n°2
convertTemp(listTemp, tempResult);
TEMP2H = tempResult[0];
TEMP2L = tempResult[1];
transmission(CMD_TEMP2, TEMP2L, TEMP2H);
break;
case CMD_TEMP3 : // Envoie les informations de température du troisième capteur
dev3_access = get_DS7505_Devices(ADD3_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP3H = tempResult[0];
TEMP3L = tempResult[1];
transmission(CMD_TEMP3, TEMP3L, TEMP3H);
break;
case CMD_TEMP4 : // Envoie les informations de température du quatrième capteur
dev4_access = get_DS7505_Devices(ADD4_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP4H = tempResult[0];
TEMP4L = tempResult[1];
transmission(CMD_TEMP4,TEMP4L, TEMP4H);
break;
case CMD_TEMP5 : // Envoie les informations de température du cinquième capteur
dev5_access = get_DS7505_Devices(ADD5_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP5H = tempResult[0];
TEMP5L = tempResult[1];
transmission(CMD_TEMP5, TEMP5L, TEMP5H);
break;
case CMD_TEMP6 : // Envoie les informations de température du sixième capteur
dev6_access = get_DS7505_Devices(ADD6_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP6H = tempResult[0];
TEMP6L = tempResult[1];
transmission(CMD_TEMP6, TEMP6L, TEMP6H);
break;
case CMD_TEMP7 : // Envoie les informations de température du septième capteur
dev7_access = get_DS7505_Devices(ADD7_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP7H = tempResult[0];
TEMP7L = tempResult[1];
transmission(CMD_TEMP7, TEMP7L, TEMP7H);
break;
case CMD_TEMP8 : // Envoie les informations de température du huitième capteur
dev8_access = get_DS7505_Devices(ADD8_DS7505, listTemp); // Récupérer T° capteur n°3
convertTemp(listTemp, tempResult);
TEMP8H = tempResult[0];
TEMP8L = tempResult[1];
transmission(CMD_TEMP8, TEMP8L, TEMP8H);
break;
case CMD_PROFONDEUR : // Envoie les informations de pression reçue par le capteur de pression comme indicatif de la profondeur
StartADC(0);
ReadADC(listTemp);
ADC1L = listTemp[0];
ADC1H = listTemp[1];
transmission(CMD_PROFONDEUR, ADC1L, ADC1H);
cbiBF(PORTD,2);
cbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC2 : // Envoie les informations du deuxième convertisseur ADC
StartADC(1);
ReadADC(listTemp);
ADC2L = listTemp[0];
ADC2H = listTemp[1];
transmission(CMD_ADC2, ADC2L, ADC2H);
sbiBF(PORTD,2);
cbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC3 : // Envoie les informations du troisième convertisseur ADC
StartADC(2);
ReadADC(listTemp);
ADC3L = listTemp[0];
ADC3H = listTemp[1];
transmission(CMD_ADC3, ADC3L, ADC3H);
cbiBF(PORTD,2);
sbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_ADC4 : // Envoie les informations du quatrième convertisseur ADC
StartADC(3);
ReadADC(listTemp);
ADC4L = listTemp[0];
ADC4H = listTemp[1];
transmission(CMD_ADC4, ADC4L, ADC4H);
sbiBF(PORTD,2);
sbiBF(PORTD,3);
sbiBF(PORTD,4);
break;
case CMD_SENS_0_POSITIF :
Sens_0 = 1 ;
transmission(CMD_SENS_0_POSITIF,Conf_sens0p, 0x00 );
break;
case CMD_SENS_0_NEGATIF :
Sens_0 = 0 ;
transmission(CMD_SENS_0_NEGATIF,Conf_sens0n, 0x00 );
break;
case CMD_SENS_1_POSITIF :
Sens_1 = 1 ;
transmission(CMD_SENS_1_POSITIF,Conf_sens1p, 0x00 );
break;
case CMD_SENS_1_NEGATIF :
Sens_1 = 0 ;
transmission(CMD_SENS_1_NEGATIF, Conf_sens1n, 0x00 );
break;
default :
asm("nop");
}
for(decalage=0;decalage<=4;decalage++) // Décale les demandes pour supprimer la première et passer au traitement de la demande suivante
{
data[decalage]=data[decalage+1];
}
data[4] = 0x00 ;
}
else
{
asm("nop");
}
}
return 0;
}
/**************************************************************************************************
* @fn DataUpdate_ProcessEvent
*
* @brief Update values from A/D sensor and diags
*
* @param uint8 task_id
* @param uint16 events - event mask
*
* @return uint16 - 0 (for now)
**************************************************************************************************
*/
uint16 DataUpdate_ProcessEvent(uint8 task_id, uint16 events)
{
#if ADV_DEBUG_MESSAGE_FORMAT==1
// variables that are needed if we're running the advanced debugging message format
int vdd_div_3;
int vdd;
int16 tempvalCC2541;
int spare;
#endif
int tempval;
int16 tempval2;
int16 tempval3;
int16 tempval4;
int16 tempavg;
uint16 timeval;
uint16 sensorval;
#if USE_SEPARATE_TEMP_AD_CHANNEL==0
uint8 lmp_configured;
uint8 lmp_configure_tries;
#endif
#ifdef FAKE_SENS_DATA
#ifdef O2_SENSOR
uint16 max_fake = 1000;
uint16 min_fake = 600;
static int16 fake_adj = 1;
static uint16 fakesensorval = 600;
#endif
#ifdef CO_SENSOR
uint16 max_fake = 1300;
uint16 min_fake = 380;
static int16 fake_adj = 1;
static uint16 fakesensorval = 380;
#endif
#endif
if (events & 1)
{
timeval = (uint16) (osal_GetSystemClock() & 0xffff);
cyclecount++;
if (cyclecount>9)
{
cyclecount=0;
// Also, set P1_0 (the LED) as an output, and drive high
P1DIR = P1DIR | 0x01;
P1 = P1 | 0x01;
}
/* Enable channel */
ADCCFG |= 0x80;
P0DIR = 0x83; // force P0.0, P0.1, and P0.7 to be inputs
APCFG = 0x83;
HalAdcSetReference (0x40); // use AIN7 for ref (0x08 would be AVDD5, 0x00 would be internal ref
#if USE_SEPARATE_TEMP_AD_CHANNEL==0
// Configure LMP9100 to output temperature
if (lmp91KinitComplete)
{
// Because the processor may have been sleeping, re-configure I2C intf. before
// performing the I2C transaction
HalI2CExitSleep();
lmp_configure_tries=0;
lmp_configured=0;
// We can't hang out in this loop forever, but we can retry a couple
// of times, to get over any instability on the I2C bus
while ((lmp_configure_tries<4) && (!lmp_configured))
{
// Set this flag so that we presume that communication is working.
// The flag will get cleared (quickly) as a side-effect in the
// communication routines if we fail again.
lmp91kOK=1;
lmp_configured=LMP91000_I2CSwitchVoutToTempSensor();
lmp_configure_tries++;
} // end while
// Because the processor may go into sleep mode, save the state of the I2C
// interface before continuing.
HalI2CEnterSleep();
} // end if (lmp91KinitComplete)
#endif
// Read temperature from LMP9100
if (!lmp91kOK)
{
// If we're not communicating, then the LMP91000 may not be in the right
// state, so just use a previous value.
tempval = oldtempval;
}
else
{
tempval = HalAdcRead(HAL_ADC_CHANNEL_0, HAL_ADC_RESOLUTION_12);
tempval2 = HalAdcRead(HAL_ADC_CHANNEL_0, HAL_ADC_RESOLUTION_12);
tempval3 = HalAdcRead(HAL_ADC_CHANNEL_0, HAL_ADC_RESOLUTION_12);
tempval4 = HalAdcRead(HAL_ADC_CHANNEL_0, HAL_ADC_RESOLUTION_12);
// Get a bit of noise out of the temperature measurment by averaging 4
// samples.
// By the way, we expect nominal values to be around 1100 or so
// at room temperature, so we can fairly safely add 4 16-bit values
// together without thinking too much about overflow.
// If the nominal values were larger, we'd promote to a larger
// data type before averaging.
tempavg = (tempval+tempval2+tempval3+tempval4)/4;
oldtempval=tempavg;
}
// Convert temp to tenths of degrees C, based on the table in
// the datasheet for the LMP91000, and assuming a 2.5v ref
tempval = convertTemp(tempavg);
// Now, get ready to measure the oxygen sensor
HalAdcSetReference (0x40); // use AIN7 for ref
#if USE_SEPARATE_TEMP_AD_CHANNEL==0
if (lmp91KinitComplete)
{
// Because the processor may have been sleeping, re-configure I2C intf. before
// performing the I2C transaction(s)
HalI2CExitSleep();
lmp_configure_tries=0;
lmp_configured=0;
// we can't hang out in this loop forever, but we can retry a couple
// of times, to get over any instability on the I2C
while ((lmp_configure_tries<4) && (!lmp_configured))
{
// Set this flag so that we presume that communication is working.
// The flag will get cleared (quickly) as a side-effect in the
// communication routines if we fail again.
lmp91kOK=1;
// Likely redundant, but doesn't hurt
LMP91000_I2CConfigureForO2Sensor( SensTIAGain , SensRLoad, SensRefVoltageSource, SensIntZSel);
if (lmp91kOK)
{
lmp_configured = LMP91000_I2CSwitchVoutToO2Sensor(SensModeOp);
}
lmp_configure_tries++;
} // end while
// Because the processor may go into sleep mode, save the state of the I2C
// interface before continuing.
HalI2CEnterSleep();
} // end if (lmp91KinitComplete)
#endif
if (!lmp91kOK)
{
// If we're not communicating, then the LMP91000 may not be in the right
// state, so just use a previous value.
sensorval = oldsensorval;
}
else
{
#if USE_SEPARATE_TEMP_AD_CHANNEL==1
sensorval = HalAdcRead(HAL_ADC_CHANNEL_1,HAL_ADC_RESOLUTION_12);
#else
sensorval = HalAdcRead(HAL_ADC_CHANNEL_0,HAL_ADC_RESOLUTION_12);
#endif
oldsensorval = sensorval;
}
// Depending on compile options, build the message, or gather
// additional diagnostic info and then build the debug mode message
#ifdef FAKE_SENS_DATA
fakesensorval += fake_adj;
if ((fakesensorval >= max_fake) || (fakesensorval <= min_fake))
fake_adj = -1 * fake_adj;
sensorval = fakesensorval;
#endif
#if ADV_DEBUG_MESSAGE_FORMAT==0
updateSensorData ((uint16)timeval, (uint16)tempval, (uint16)sensorval);
DataReadyFlag = 1;
#else
// Gather additional interesting diagnostic info before updating structure
spare = HalAdcRead(0x01, HAL_ADC_RESOLUTION_12); // Spare A/D chan - use for battery measurement later
// Turn on the test mode to enable temperature measurement
// from the CC2544's internal temp sensor
ATEST=1; // ATEST.ATEST_CTRL=0x01;
TR0=1; // TR0.ADCTM=1;
HalAdcSetReference(0); // use internal ref voltage (1.15 V)
//HalAdcSetReference ( 0x80); // use AVDD5 pin for ref
// CC2541 Internal temp sensor is A/D input 14 (0x0e)
tempvalCC2541 = HalAdcRead(0x0E, HAL_ADC_RESOLUTION_12);
/* Turn off test modes */
TR0=0; // TR0.ADCTM=0;
ATEST=0;
// The analog temperature sensor in the CC2544 should give back a value
// of 1480 at 25 degrees C and VDD=3,
// and will change by a value of 4.5 per degree C
//
// So, to get temperature in 0.1 degrees C units, consider the
// following formula:
//
tempval2 = tempvalCC2541-1480;
tempvalCC2541 = (int16) (250.0 + (tempval2/4.5));
HalAdcSetReference(0); // use internal ref voltage (1.15 V)
// Pick up VDD divided by 3
vdd_div_3 = HalAdcRead(0x0F, HAL_ADC_RESOLUTION_12); // VDD/3
// Convert to millivolts (and get rid of the divide by 3, since we're doing math
// vdd = (int) (1.15*vdd_div_3*3.0*1000.0 / 2047.0); // convert to millivolts
// vdd = (int) (vdd_div_3 * 1.6853932584269662921348314606742); // more precisely
vdd = (int) (vdd_div_3 * 1.6853); // close enough
// Pick up the spare A/D input
HalAdcSetReference (0x40); // use AIN7 for ref
spare = HalAdcRead(0x01, HAL_ADC_RESOLUTION_12);
updateSensorData ((uint16)timeval, (uint16)tempval, (uint16)sensorval, (uint16)tempvalCC2541, (uint16)vdd, (uint16)spare);
DataReadyFlag = 1;
#endif
// Set the light control I/O (LightOn=1 => P1_1=0)
nuSOCKET_updateLight();
// Also, set P1_0 (the LED) as an output, and drive low
P1DIR = P1DIR | 0x01;
P1 = P1&0xFE;
return (events ^ 1);;
}
return (0);
} // end DataUpdate_ProcessEvent()
int main(void)
{
initADCPotentiometer(); //Initialize ADC for Potentiometer
initUART(); //Initialize UART
initLCD(); //Initialize LCD
TRISDbits.TRISD6 = 1; //Botão
TRISDbits.TRISD13 = 1;
TRISAbits.TRISA0 = 0; //Led
long int i = 0;
char buff[100]; //Support buffer
char password[100]; //Buffer that stores the password
int potentiometerValue = 0; //Value of potentiometer
int temperatureValue = 0; //Value of temperature
int alarm = 0;
int enteredPassword = 0;
long int flux = 20000;
int eraseBuff = 0;
while(1){
/***************** Potentiometer Value **************/
AD1PCFG = 0xFFDF;
AD1CHS = 0x0005;
AD1CON1bits.SAMP = 1; // start sampling...
for( i = 0 ; i < 200 ; i++){}; // Ensure the correct sampling time has elapsed before starting conversion.
AD1CON1bits.SAMP = 0; // start Converting
while (!AD1CON1bits.DONE); // conversion done?
potentiometerValue = ADC1BUF0; // yes then get ADC value
sprintf(buff,"P: %4d",potentiometerValue);
/***************** Potentiometer Value **************/
/***************** Temperature Value ****************/
AD1PCFG = 0xFFFB;
AD1CHS = 0x0002;
AD1CON1bits.SAMP = 1; // start sampling...
for( i = 0 ; i < 200 ; i++){}; // Ensure the correct sampling time has elapsed before starting conversion.
AD1CON1bits.SAMP = 0; // start Converting
while (!AD1CON1bits.DONE); // conversion done?
temperatureValue = ADC1BUF0; // yes then get ADC value
temperatureValue = convertTemp(temperatureValue, 1);
sprintf(buff,"T: %4d",temperatureValue);
/***************** Temperature Value ****************/
/******************* UART Receiving ***************/
if(U2STAbits.URXDA){ //If there is something to receive
char c = getcharUART();
if(c == 'T' || c == 't'){
putcharUART(c);
putstringUART("\n");
sprintf(buff,"Temperature: %d\n", temperatureValue); //buff is the pointer to an array of char elements where the resulting C string is stored.
putstringUART(buff); //Sends the temperature value to UART in normal state
}
if(c == 'P' || c == 'p'){
putcharUART(c);
putstringUART("\n");
sprintf(buff,"Potentiometer: %d\n", potentiometerValue); //buff is the pointer to an array of char elements where the resulting C string is stored.
putstringUART(buff); //Sends the potentiometer value to UART in normal state
}
}
/******************* UART Receiving ***************/
/******************* Set Sprinklers Flux ***************/
if(potentiometerValue >= 0 && potentiometerValue <= 200){
flux = 4000;
}
if(potentiometerValue > 200 && potentiometerValue <= 400){
flux= 2350;
}
if(potentiometerValue > 600 && potentiometerValue <= 800){
flux = 1000;
}
if(potentiometerValue > 800 && potentiometerValue <= 1023){
flux = 750;
}
if(potentiometerValue > 1023){
flux = 100;
}
/******************* Set Sprinklers Flux ***************/
/******************* Set Led's Blinking if alarm is ON ***************/
if(alarm == 1){
PORTAbits.RA0 = 1; //LED On
for( i = 0 ; i < flux ; i++){}; //Time that the LED stays on
PORTAbits.RA0 = 0; //LED Off
for( i = 0 ; i < flux ; i++){}; //Time that LED stays off
}
/******************* Set Led's Blinking if alarm is ON ***************/
/******************* Set Alarm State ***************/
if(temperatureValue >= 8 && alarm == 0){
alarm = 1;
putstringUART(stringAlarmeAtivadoUART);
putstringUART(stringAlarmeUART);
clearLCD();
homeLCDL1();
putStringLCD(stringAlarmeAtivadoLCD);
homeLCDL2();
putStringLCD(stringAlarmeLCD);
}
else if(temperatureValue < 8 && alarm == 1){
putstringUART(stringSystemClearUART);
clearLCD();
homeLCDL1();
putStringLCD(stringSystemClearLCD);
homeLCDL2();
sprintf(buff,"T: %d P: %d", temperatureValue, potentiometerValue); //buff is the pointer to an array of char elements where the resulting C string is stored.
putStringLCD(buff);
}
else if(temperatureValue < 7 && alarm == 0){
clearLCD();
homeLCDL1();
putStringLCD(stringSituacaoNormal);
homeLCDL2();
sprintf(buff,"T: %d P: %d", temperatureValue, potentiometerValue); //buff is the pointer to an array of char elements where the resulting C string is stored.
putStringLCD(buff);
}
/******************* Set Alarm State ***************/
/******************* Reset Alarm ***************/
if(alarm == 1 && !PORTDbits.RD6 && !PORTDbits.RD13){
enteredPassword = 0;
putstringUART(stringEnterPasswordUART);
while(!enteredPassword){
if(U2STAbits.URXDA){ //If there is something to receive
char c;
int x = 0;
while(x < 11){
c = getcharUART();
buff[x] = c;
x++;
}
buff[x] = '\0';
if (strcmp(buff, stringPassword) == 0){
putstringUART(stringCarriageReturnLineFeed);
putstringUART(stringCorrectPasswordUART);
putstringUART(stringSystemClearUART);
clearLCD();
homeLCDL1();
putStringLCD(stringCorrectPasswordLCD);
homeLCDL2();
putStringLCD(stringSystemClearLCD);
alarm = 0;
} else{
putstringUART(stringCarriageReturnLineFeed);
putstringUART(stringWrongPasswordUART);
putstringUART(stringAlarmeAtivadoUART);
clearLCD();
homeLCDL1();
putStringLCD(stringWrongPasswordLCD);
homeLCDL2();
putStringLCD(stringAlarmeAtivadoLCD);
}
enteredPassword = 1;
}
}
}
/******************* Reset Alarm ***************/
}
}
int main(void)
{
/* MCU Configuration----------------------------------------------------------*/
HAL_Init(); /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
SystemClock_Config(); /* Configure the system clock */
ADC1_Config(); /* configure ADC1 */
Display_GPIO_Config(); /* Configure 7-Segment Displays */
Alarm_GPIO_Config(); /* Configure alarm pins */
initLCD(); /* configure LCD */
/* print temperature on the first line of the LCD */
returnHome(); /* just makes sure that start writing at the right place */
LCD_WriteString(" Temperature"); /* The 2 initial space are for centering */
adcState = malloc(sizeof(kalmanState)); /* Init Kalman Filter */
kalmanInit(adcState, INIT_q, INIT_r, INIT_x, INIT_p, INIT_k);
/* main program to run in this infinite loop */
while (1) {
if (adcTimer >= ADC_PERIOD) { /* 100Hz */
adcTimer = 0;
HAL_ADC_Start(&ADC1_Handle); /* start ADC conversion */
/* wait for the conversion to be done and get data */
if (HAL_ADC_PollForConversion(&ADC1_Handle, 1000000) == HAL_OK) {
adc_val = HAL_ADC_GetValue(&ADC1_Handle); /* get the value */
kalmanUpdate(adcState, adc_val); /* filter the data and update the filter parameters */
/* DON'T DELETE printf for matlab script */
//printf("%f,%f,%f,%f,%f,%f\n",adc_val, adcState->q,adcState->r, adcState->x, adcState->p, adcState->k);
temp = convertTemp(adcState->x); /* convert the filterd value of the ADC into temperature */
/* Alarm triggering */
if (temp > THRESHHOLD_TEMP) {
if ( filterAlarmCounter > 5 ){ /* 5 consecutive to avoid false positive */
trigger_alarm();
}
else {
filterAlarmCounter++;
}
}
else {
shutoff_alarm();
filterAlarmCounter = 0;
}
/* Update Measurement to Display at 2Hz */
if (updateMeasureForDisplayTimer >= UPDATE_MEASURE_PERIOD) {
updateMeasureForDisplayTimer = 0; /* reset the displayTimer tick */
displayTemp = temp;
displayTemp = floor(10 * displayTemp) / 10; /* truncate to 1 decimal without rounding */
/* LCD DISPLAY */
SetAdress(64); /* go to line 2 of LCD */
sprintf(tempToLCD, " %.1f", displayTemp); /* convert the float to a string and formats it */
LCD_WriteString(tempToLCD); /* print value to the LCD display */
/* LCD DISPLAY END */
}
}
}
/* here display runs at DISPLAY_7_SEGMENT_PERIOD speed, but displayTemp gets updated at 2Hz */
if(display7segTimer >= DISPLAY_7_SEGMENT_PERIOD) {
display7segTimer = 0;
display(displayTemp); /* display on 7-segment display */
}
}
}
