if(xTaskGetTickCount()-saveDRequest>(TIMEDELAYREQUEST/portTICK_RATE_MS)){
saveDRequest=xTaskGetTickCount();
delayRequest();
}
#endif
}
void printfClock(Clock clock){
if(clock.sign==true){
pc.printf("%lu s,%u\r\n",clock.second,(unsigned int)clock.halfmillis);
}
else{
pc.printf("-%lu s,%u\r\n",clock.second,(unsigned int)clock.halfmillis);
}
}
void updateClock(void){
Clock diff;
if(timeProt.correction.previousSignOffset==timeProt.offset.sign){
timeProt.correction.previousSignOffset=timeProt.offset.sign;
timeProt.correction.previoustimeOffset.second=timeProt.correction.currentTimeOffsetSync.second;
timeProt.correction.previoustimeOffset.halfmillis=timeProt.correction.currentTimeOffsetSync.halfmillis;
readClock(&timeProt.correction.currentTimeOffsetSync);
if(timeProt.correction.previoustimeOffset.second!=0){
if(sup(timeProt.correction.currentTimeOffsetSync,timeProt.correction.previoustimeOffset)){
diff=subClock(timeProt.correction.currentTimeOffsetSync,timeProt.correction.previoustimeOffset);
//printf("diff: ");
//printfClock(diff);
timeProt.correction.sumTime=sumClock(timeProt.correction.sumTime,diff);
sumOffset=sumClock(sumOffset,timeProt.offset);
/*printf("sumOffset: ");
printfClock(sumOffset);
printf("sumClock: ");
printfClock(timeProt.correction.sumTime);
printf("nb corrr : %d",timeProt.correction.nbCorrection);
*/
timeProt.correction.nbCorrection++;
}
else{
resetSofftwareCorrection();
}
}
}
else{
resetSofftwareCorrection();
}
timeProt.correction.previousSignOffset=timeProt.offset.sign;
Clock timeCopy;
byte MCP7941x::getAlarm( byte almNr, byte *ckA ) {
byte err = readClock( mcAlarm+almNr*7, 6 );
if( err != 6 ) {
errCode = RTC_AL_RD_ERR;
return errCode;
} else {
for( byte ix = 0; ix < 6; ix++ ) *(ckA+ix) = Wire.read( );
return RTC_OK;
}
} // getAlarm
byte MCP7941x::getStatus( byte regadr, byte *val ) {
byte err = readClock( regadr, 1 ); //request one status byte
if( err != 1 ) {
errCode = RTC_ST_RD_ERR;
return errCode;
} else {
*val = Wire.read( );
}
return RTC_OK;
} // getStatus - single byte
byte MCP7941x::getStatus( byte regadr, byte cnt, byte *ckS ) {
byte err = readClock( regadr, cnt ); // request cnt status bytes
if( err != cnt ) {
errCode = RTC_ST_RD_ERR;
return errCode;
} else {
for( byte ix = 0; ix < cnt; ix++ ) *(ckS+ix) = Wire.read( );
}
return RTC_OK;
} // getStatus - block
sendP[3]=(uint8_t)(timeProt.saveTime[id].halfmillis&0x00FF);
sendP[4]=(uint8_t)((timeProt.saveTime[id].halfmillis>>8)&0x00FF);
timeProt.saveTime[id].second=0;
Clock timeSave={timeManage.second,timeManage.halfmillis,true};
sendP[5]=(uint8_t)(timeSave.second&0x00FF);
sendP[6]=(uint8_t)((timeSave.second>>8)&0x00FF);
sendP[7]=(uint8_t)(timeSave.halfmillis&0x00FF);
sendP[8]=(uint8_t)((timeSave.halfmillis>>8)&0x00FF);
send(type,9,sendP);
byte DS3231::getStatus( byte regadr, byte *ckS ) {
byte err = readClock( regadr, 1 ); //request single byte
if( err != 1 ) {
errCode = RTC_ST_RD_ERR;
return errCode;
} else {
*ckS = Wire.read( );
}
return RTC_OK;
} // getStatus - single byte
byte MCP7941x::getTime( Time &mct ) {
byte err = readClock( mcTime, 3 ); // request time
if( err != 3 ) {
errCode = RTC_TM_RD_ERR;
return errCode;
} else {
mct.sec = Wire.read( )&0x7f;
mct.min = Wire.read( );
mct.hr = Wire.read( );
return RTC_OK;
} // if err
} // getTime
sendHMI(" Erreur type unknow");
}
}
else{
hmi.printf("wrong type");
}
}
else{
hmi.printf("error CRC!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n");
byte DS3231::getAlarm( byte almNr, byte *ckA ) {
byte nrbytes = 3;
if( almNr == 0 ) nrbytes = 4;
byte err = readClock( dsAlarm+almNr*4, nrbytes );
if( err != nrbytes ) {
errCode = RTC_AL_RD_ERR;
return errCode;
} else {
for( byte ix = 0; ix < nrbytes; ix++ ) *(ckA+ix) = Wire.read( );
return RTC_OK;
}
} // getAlarm
byte DS3231::getTime( Time &dst ) {
byte err = readClock( dsTime, 3 ); // request time
if( err != 3 ) {
errCode = RTC_TM_RD_ERR;
return errCode;
} else {
dst.sec = Wire.read( );
dst.min = Wire.read( );
dst.hr = Wire.read( );
return RTC_OK;
} // if err
} // getTime
byte MCP7941x::getDate( Date &mcd ) {
byte err = readClock( mcDate, 4 ); // request date
if( err != 4 ) {
errCode = RTC_DT_RD_ERR;
return errCode;
} else {
mcd.dow = Wire.read( )&0x07;
mcd.dom = Wire.read( );
mcd.mo = Wire.read( );
mcd.yr = Wire.read( );
return RTC_OK;
} // if err
} // getDate
byte DS3231::getDate( Date &dsd ) {
byte err = readClock( dsDate, 4 ); // request date
if( err != 4 ) {
errCode = RTC_DT_RD_ERR;
return errCode;
} else {
dsd.dow = Wire.read( );
dsd.dom = Wire.read( );
dsd.mo = Wire.read( );
dsd.yr = Wire.read( );
return RTC_OK;
} // if err
} // getDate
// Propagates and updates the state estimate from tlefile to the current time
// and places the new position and velocity in the corresponding variables.
void currentOrbitState(const char* rvfile, const char* init_tlefile, const char* clockfile, double* rvtime, double posn[3], double vel[3]) {
const gravconsttype GRAV_CONSTS = wgs72;
// Check whether these are the right ones to hard-code.
elsetrec satrecord;
// This is an object which contains the satellite info.
// Initialise satrecord directly from TLE file...
// ... trust me, it's cleaner than using sgp4init()
FILE *tle_fptr;
tle_fptr = fopen( init_tlefile, "r" );
if (tle_fptr == NULL) {
printf("Error opening file: %s\n", init_tlefile);
return;
}
char tle_line1[130], tle_line2[130];
fgets(tle_line1, 130, tle_fptr);
fgets(tle_line2, 130, tle_fptr);
fclose(tle_fptr);
double startmfe, stopmfe, deltamin;
// The twoline2rv() function initialises the satrecord object
twoline2rv(tle_line1, tle_line2, 'v', 'm', 'i', GRAV_CONSTS, startmfe, stopmfe, deltamin, satrecord);
// Again, check whether these are the inputs we want.
// Propagate to new state
*rvtime = readClock(clockfile);
sgp4(GRAV_CONSTS, satrecord, 1440.0*(*rvtime - satrecord.jdsatepoch), posn, vel);
// rvtime, posn, vel will be stored in the pointers as outputs, but we'll write to file as well.
writeRV(rvfile, *rvtime, posn, vel);
}
void ppsISR(void)
{
Disable_global_interrupt();
Clock timeCopy={0,0,true};
//Disable_global_interrupt();
Clock timeMaster={0,0,true};
readClock(&timeCopy);
//Enable_global_interrupt();
timeMaster.second=timeCopy.second;
timeMaster.halfmillis=timeCopy.halfmillis;
if(timeMaster.halfmillis>=RTC_FREQ/2){//for the accurate 500ms
timeMaster.second++;
}
timeMaster.halfmillis=0;
/*if((timeMaster.halfmillis>RTC_FREQ)||(timeMaster.halfmillis<0)){
printf("timeMasterpps");
printfClock(timeMaster);
}
if((timeCopy.halfmillis>RTC_FREQ)||(timeCopy.halfmillis<0)){
printf("timeCopypps:'");
printfClock(timeCopy);
}*/
timeProt.offset=subClock(timeMaster,timeCopy);
//timeProt.offset.second=0;
#ifdef MASTERMODE
updateClock();
#else
if(timeProt.offset.sign==true){
sprintf(messageHMIError," error pps: %lus %u t:%lus",timeProt.offset.second,(unsigned int)(timeProt.offset.halfmillis/2),timeMaster.second);
}
else{
sprintf(messageHMIError," error pps: -%lus %u t:%lus",timeProt.offset.second,(unsigned int)(timeProt.offset.halfmillis/2),timeMaster.second);
}
sendHMI(messageHMIError);
#endif
Enable_global_interrupt();
}
void main(void)
{
// initialise the RTC communication line
I2C_Init() ;
// initialise the LCD display
LCDInit(LS_NONE);
// initialise the actual RTC
DS1307_Init() ;
//clear the display
LCDClear();
// read back our running time
DS1307_readRam(&runningMinutes,0,2) ;
DS1307_readRam(&runningHours,2,2) ;
LCDWriteString("Starting counter");
LCDGotoXY(0,1) ;
LCDWriteString("at ");
LCDWriteInt(runningHours,1);
LCDWriteString(":");
LCDWriteInt(runningMinutes,1);
__delay_ms(750) ;
__delay_ms(750) ;
__delay_ms(750) ;
__delay_ms(750) ;
// compensate for our handling on the first run of the readClock routine
runningMinutes-- ;
LCDClear();
// infinite loop, read the clock, display on the LCD, check for the button, and if needed, process the menus
while(1)
{
readClock();
showClock() ;
readInputs() ;
if (bButton)
doMenu();
else if (state & 0x30)
{
// rotate the encoder to select a menu function, well, that was the aim, but encoder reading
// seems a tad slow or inaccurate.
//
// there is a timeout if the button isn't pressed after selecting the menu option
if (state & DIR_CW)
{
menuFunction++ ;
if (menuFunction == MENU_LAST)
menuFunction = MENU_NONE ;
}
else if (state & DIR_CCW)
{
menuFunction-- ;
if (menuFunction < MENU_NONE)
menuFunction = MENU_LAST-1 ;
}
if (menuFunction != MENU_NONE)
{
next_menu_clear = minute * 60 + seconds + 20 ;
LCDGotoXY(9,0);
if (menuFunction == MENU_TIME)
LCDWriteString("Time ?");
if (menuFunction == MENU_DATE)
LCDWriteString("Date ?");
}
else
clearPrompt();
}
else if (next_menu_clear && ((minute * 60 + seconds) > next_menu_clear))
{
clearPrompt();
}
}
}
if(xTaskGetTickCount()-saveDRequest>(TIMEDELAYREQUEST/portTICK_RATE_MS)){
saveDRequest=xTaskGetTickCount();
delayRequest();
}
#endif
}
void printfClock(Clock clock){
if(clock.sign==true){
hmi.printf("%lu s,%u\r\n",clock.second,(unsigned int)clock.halfmillis);
}
else{
hmi.printf("-%lu s,%u\r\n",clock.second,(unsigned int)clock.halfmillis);
}
}
void updateClock(void){
Clock diff;
if(timeProt.correction.previousSignOffset==timeProt.offset.sign){
timeProt.correction.previousSignOffset=timeProt.offset.sign;
timeProt.correction.previoustimeOffset.second=timeProt.correction.currentTimeOffsetSync.second;
timeProt.correction.previoustimeOffset.halfmillis=timeProt.correction.currentTimeOffsetSync.halfmillis;
readClock(&timeProt.correction.currentTimeOffsetSync);
if(timeProt.correction.previoustimeOffset.second!=0){
if(sup(timeProt.correction.currentTimeOffsetSync,timeProt.correction.previoustimeOffset)){
diff=subClock(timeProt.correction.currentTimeOffsetSync,timeProt.correction.previoustimeOffset);
//printf("diff: ");
//printfClock(diff);
timeProt.correction.sumTime=sumClock(timeProt.correction.sumTime,diff);
sumOffset=sumClock(sumOffset,timeProt.offset);
/*printf("sumOffset: ");
printfClock(sumOffset);
printf("sumClock: ");
printfClock(timeProt.correction.sumTime);
printf("nb corrr : %d",timeProt.correction.nbCorrection);
*/
timeProt.correction.nbCorrection++;
}
else{
resetSofftwareCorrection();
}
}
}
else{
resetSofftwareCorrection();
}
timeProt.correction.previousSignOffset=timeProt.offset.sign;
Clock timeCopy;
readClock(&timeCopy);
timeCopy=sumClock(timeCopy,timeProt.offset);//add offset
writeClock(timeCopy);
uint8_t state;
state=stateLed;
report(timeProt.offset);
if(timeManage.halfmillis<(RTC_FREQ/2)){//all 500ms
stateLed=LOW;
}
else{
stateLed=HIGH;
